CN205507535U - Restriction device and restriction system of robot - Google Patents
Restriction device and restriction system of robot Download PDFInfo
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- CN205507535U CN205507535U CN201620076387.3U CN201620076387U CN205507535U CN 205507535 U CN205507535 U CN 205507535U CN 201620076387 U CN201620076387 U CN 201620076387U CN 205507535 U CN205507535 U CN 205507535U
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Abstract
The utility model provides a restriction device of robot, including portable shell, install signal receiver and signal emission device in the portable shell, signal receiver includes the orientation of two at least horizontal settings portable shell the place ahead and respectively at preset position and angle within range received signal's signal receiving unit, signal receiver with the signal emission device electricity is connected, in order to set for signal emission device in response to signal receiver's signal receiving unit successively received the signal the condition and with the robot communicates. The utility model provides an adopt the restriction system of above -mentioned restriction device, including above -mentioned restriction device and robot. The utility model provides a robot restriction device and restriction system can realize not only that it works to restrict the robot in specific physical space, just have the power saving and can reduce emergent events to result in the robot to break away from the advantage of the probability of original physical space.
Description
Technical field
This utility model relates to confining device and the system for restricting of a kind of robot.
Background technology
" robot " is to move in working area in the case of need not user's manipulation, performs task simultaneously.Such as robot cleaner performs such as, but not limited to the clean operation from floor draw dust, impurity or the like；Domestic robot monitor performs family's monitoring；Self-propelled mobile device performs particular task etc..
When using robot to perform task, it is sometimes necessary to robot restriction is worked in specific physical space.The patent of invention of Patent No. ZL03103501.9 discloses a kind of location for robot and the method and system of restriction, this patent uses a portable obstacle signal conveyer to launch restriction beam along an axle, when robot detects this restriction beam, then avoid this restriction beam, thus robot is constrained in specific physical space, but this portable obstacle signal conveyer needs to send restriction beam continuously at machine man-hour, and therefore power consumption is bigger；If user use when forget close swap switch, then, electricity will soon run out of；Separately, when robot is when moving to restrict at beam, if occurring in that barrier between portable obstacle signal conveyer and robot, people or house pet is the most just had to pass by, block obstacle signal, cause robot cannot receive restriction beam so that restriction beam is crossed by robot, enter into next physical space work departing from original physical space.
Utility model content
The defect existed for prior art, this utility model provides the confining device of a kind of robot and the method and system of restriction, and this utility model has power saving and can reduce accident and cause robot to depart from the advantage of probability of original physical space.
This utility model is achieved in that
A kind of confining device of robot, including portable enclosure, the signal receiving device for receiving the signal that machine Crinis Carbonisatus is penetrated that is arranged in described portable enclosure, with for the sender unit that communicates with robot, described signal receiving device include at least two horizontally set towards described portable enclosure front the signal receiving unit that receives signal respectively in precalculated position and angular range；Described signal receiving device and the electrical connection of described sender unit, successively receive the situation of signal in response to the signal receiving unit of described signal receiving device and communicate with described robot setting described sender unit.
Above-mentioned confining device and robot with the use of time, described confining device is placed at the open edge of predetermined space (at the doorway in such as room), robot is provided with sender unit, due to described confining device front end signal receiving unit horizontally set and respectively in precalculated position and angular range receive signal, therefore, when robot moves to confining device front, the signal receiving unit of described confining device front end successively receives the signal that described robot launches, as N(N > 1) individual signal receiving unit receive robot launch signal after, the sender unit of the most described confining device launches a signal to described robot, described robot is made to perform avoidance action, return predetermined space and continue executing with task.Thus in described robot is limited in predetermined space, perform task.Wherein, the sender unit of confining device to robot launch signal condition be, successively have two signal receiving units receive robot launch signal.Owing to described confining device is when being not received by the signal of described robot, it is in dormancy or holding state, do not launch any signal, only it is only possible to transmit signals to described robot after receiving the signal of robot and meeting some requirements, after launching signal, can return to again resting state, therefore power consumption is little.
If robot is positioned at confining device front, barrier is had to keep off between described confining device and described robot, the signal that robot is launched can only be received by first signal receiving unit a angle the least, when robot continues to move along, within a period of time, first signal receiving unit and second signal receiving unit all possibly cannot receive the signal that robot launches, when robot is moved along again, during close to the edge of the received signal of second signal receiving unit, the signal that robot launches likely is received by second signal receiving unit, so that the sender unit of described confining device launches signal to described robot, make described robot perform the avoidance action described predetermined space of return and continue executing with task.Thus reduce accident and cause robot to depart from the probability of original physical space.Certainly, if barrier is too big, the signal that robot launches will be unable to be received by confining device.Therefore smaller at barrier, and exist the time the shortest in the case of (such as people or house pet are just past time between robot and confining device), the technical scheme that this utility model provides can effectively reduce accident and cause robot to depart from the probability of original physical space.
Specifically, described portable enclosure front end is provided with slit corresponding to each signal receiving unit front end, is received by described signal receiving unit after described slit with the signal being limited in precalculated position and angular range.Described inner slit walls is provided with the reflecting plate of oblique described portable housing forward end, to prevent from being received by described signal receiving unit after inner slit walls reflects beyond the signal in preset range.
Further, described confining device top is provided with the omnidirectional signal electrically connected with the sender unit on described confining device and receives device, and described omnidirectional signal receives device for receiving the corresponding short-range signal that machine Crinis Carbonisatus is penetrated.If described omnidirectional signal receives device and receives the corresponding described short-range signal that robot launches, the sender unit that then can trigger described confining device launches wireless signal to robot, make described robot away from described confining device, thus avoid described robot to collide with described confining device.
Specifically, described signal receiving unit is that light wave receives unit or ultrasound wave receives unit, and described sender unit is radio communication device.Radio communication device can be unidirectional or two-way radio communication device.
This utility model also provides for the system for restricting of a kind of robot, including above-mentioned confining device and robot, described robot is provided with the omnidirectional signal discharger corresponding with the signal receiving unit on described confining device, and the signal receiving device communicated with the sender unit on described confining device, on described confining device, first signal receiving device near described robot side is firstly received the signal that robot launches, after on described confining device, n-th signal receiving unit receives the signal that described robot launches, sender unit on described confining device launches wireless signal to described robot, make robot perform avoidance action and continue executing with task to return predetermined space, wherein said N is more than 1.
Further, on the most described confining device, first signal receiving unit receiving the signal that robot launches triggers sender unit on described confining device and launches wireless signal to inform that described robot has been enter into limiting edge to robot, and described robot remains a constant speed after receiving the wireless signal that described confining device is launched advance or Easy abeadl or advance with pre-set velocity.
Further, in this system for restricting, the top of confining device is provided with the omnidirectional signal electrically connected with the sender unit on described confining device and receives device, the long range signals and one of the signal receiving unit that the omnidirectional signal discharger transmitting one in described robot corresponds to described confining device front end corresponds to the short-range signal of the omnidirectional signal reception device on described confining device top, after the omnidirectional signal on described confining device top receives the short-range signal of the omnidirectional signal discharger transmitting that device receives in described robot, sender unit on described confining device launches wireless signal to described robot, make described robot away from described confining device.
This utility model also provides for a kind of restriction method of robot, described restriction method is in above-mentioned system for restricting, comprise the following steps: a. places described confining device at the open edge of predetermined space so that the described signal receiving unit of confining device front end aligns with the open edge of predetermined space；B. making described robot perform task in predetermined space, the sender unit in described robot constantly launches omnidirectional signal；C. when described robot runs at the open edge of predetermined space, the signal that described robot launches successively is received by the signal receiving unit of described confining device front end, after the n-th signal receiving unit of described signal receiving device receives signal, signal transmitter unit on described confining device launches wireless signal to described robot, making described robot perform avoidance action and continue executing with task to return predetermined space, wherein N is more than 1.
Further, said method is further comprising the steps of: c1. is after the signal that described robot launches is received by first signal receiving unit of described confining device front end, signal transmitter unit on described confining device give described robot launch wireless signal so that described robot at the uniform velocity advance Easy abeadl or with pre-set velocity advance.
Further, in said method, described confining device top is provided with the omnidirectional signal electrically connected with the sender unit on described confining device and receives device, the long range signals and one of the signal receiving unit that the omnidirectional signal discharger transmitting one in described robot corresponds to described confining device front end corresponds to the short-range signal of the omnidirectional signal reception device on described confining device top, described restriction method also includes: after the omnidirectional signal on described confining device top receives the short-range signal of the omnidirectional signal discharger transmitting that device receives in described robot, sender unit on described confining device launches wireless signal to described robot, make described robot away from described confining device.
In said method, after described robot receives the signal of execution avoidance action, if now robot has been completed that the signal received is not responded by the cleaning to predetermined space, the most described robot, but perform other tasks according to pre-set programs.
In another kind of embodiment, after described robot receives the signal of execution avoidance action, if now robot has been completed that the cleaning to predetermined space, the most described robot send a wireless signal to confining device so that described confining device restPoses.
Known by foregoing, the confining device of the robot that this utility model provides and the system and method for restriction, not only can realize restricting robot to work in specific physical space, and there is power saving and accident can be reduced cause robot to depart from the advantage of probability of original physical space.
Accompanying drawing explanation
Fig. 1 is the structural representation of the confining device that a kind of embodiment of this utility model provides；
Fig. 2 a and Fig. 2 b is the top plan view structural representation of the confining device shown in Fig. 1；
Fig. 3, Fig. 4 and Fig. 5 are the schematic diagrams of the system for restricting that robot forms with confining device in a kind of embodiment；
Fig. 6 is the workflow schematic diagram of confining device in a kind of embodiment；
Schematic diagram when Fig. 7 and Fig. 8 is to have barrier obstruction in the system for restricting that in a kind of embodiment, robot and confining device form；
Fig. 9 is the schematic diagram of the system for restricting that robot forms with confining device in a kind of embodiment；
Figure 10 is the schematic diagram of the system for restricting that robot forms with confining device in a kind of embodiment；
Figure 11 is the workflow schematic diagram of confining device in a kind of embodiment；
Figure 12 is the workflow schematic diagram of confining device in a kind of embodiment；
Figure 13 is the schematic diagram of the structure of the confining device that another kind of embodiment provides；
Figure 14 is the schematic diagram of the system for restricting that robot forms with confining device in another kind of embodiment；
Detailed description of the invention
So that the purpose of this utility model, technical scheme and advantage are clearer, below in conjunction with drawings and Examples, this utility model is described in further details.
See Fig. 1, Fig. 2 a, Fig. 2 b and Fig. 3, the present embodiment provides the confining device 100 of a kind of robot, including portable enclosure 101, the signal receiving device 102 for receiving the signal that robot 200 launches being arranged in described portable enclosure 101, with the sender unit 103 for communicating with robot 200, described signal receiving device 102 include two horizontally sets towards described portable enclosure 101 front the signal receiving unit 1021 and 1022 that receives signal respectively in precalculated position and angular range, described signal receiving device 102 and described sender unit 103 electrically connect；Successively receive the situation of signal in response to the signal receiving unit of described signal receiving device 102 and communicate with described robot 200 setting described sender unit 103.
In the present embodiment, set described sender unit 103 and communicate with described robot 200 after second signal receiving unit 1022 receiving signal receives the signal that robot launches.Wherein, when robot 200 is through described portable enclosure 101 front, first signal receiving unit receiving the signal that described robot 200 launches is first signal receiving unit, by that analogy, N(N > 1) it is individual that to receive the signal receiving unit of signal that described robot 200 launches be N(N > 1) individual signal receiving unit.
Described portable enclosure 101 front end is provided with slit 1023 and 1024 corresponding to the front end of each signal receiving unit 1021 and 1022, is received by described signal receiving unit 1021 or 1022 after described slit 1023 or 1024 with the signal being limited in precalculated position and angular range.The inwall of described slit 1023 and 1024 is provided with the reflecting plate 1025 of oblique described portable housing forward end, to prevent from being received by described signal receiving unit 1021 or 1022 after the inwall of described slit 1023 or 1024 reflects beyond the signal in precalculated position and angular range.
In Fig. 2 a, region shown in dotted line respectively signal receiving unit 1021 and 1022 receives precalculated position and the angular range of signal, i.e., the theaomni-directional transmission signal signal of 360 degree of diffusion emitter in the horizontal direction (the theaomni-directional transmission signal here refer to) launched in shown region, can be received by corresponding signal receiving unit 1021 or 1022.
In Fig. 2 b, the region receiving signal of two signal receiving units 1021 and 1022 can form tetra-regions of A, B, C, D, when the direction of robot such as figure hollow core arrow instruction is moved, signal receiving unit 1021 is initially received the signal that robot sends, the first signal receiving unit can be defined as, signal receiving unit 1,022 second receives the signal that robot launches, and can be defined as secondary signal and receive unit.When robot is in A district, only signal receiving unit 1021 receives the signal that robot launches；When robot is in B district, two signal receiving units 1021 and 1022 all cannot receive the signal that robot launches；When robot is in C district, two signal receiving units 1021 and 1022 all can receive the signal that robot launches；When robot is in D district, only signal receiving unit 1022 receives the signal (robot must first pass through A district when robot moves to this district, and therefore signal receiving unit 1021 had received the signal that robot launches) that robot launches.Sender unit 103 successively receives, in response to two signal receiving units of described signal receiving device 100, signal that robot 200 launches and communicates with described robot 200.If only one of which signal receiving unit receives the signal that robot launches, then the sender unit 103 on confining device 100 will not launch the signal making robot 200 perform avoidance action.Specifically, robot is when A district or B district, sender unit 103 on confining device 100 will not launch the signal making robot 200 perform avoidance action, the only robot sender unit 103 in C district or D zone time system about device 100 just can launch the signal making robot 200 perform avoidance action.
As shown in Fig. 3, Fig. 4 and Fig. 5, above-mentioned confining device 100 and robot 200 with the use of time, form the system for restricting of a kind of robot.Described confining device 100 is placed at the open edge 300 of predetermined space (at the doorway in such as room, it is represented by dashed line in figure), robot 200 is provided with omnidirectional signal discharger 201, and the hollow arrow in Tu Zhong robot 200 represents direction of advance when robot normally moves.Omnidirectional signal discharger 201 is arranged on robot 200 top nose.So that the signal launched at edge 301 adnexa of open space 300 when robot 200 can be easier to receive by confining device 100, therefore in the present embodiment, the sender unit 201 of robot 200 uses omnidirectional signal discharger, owing to omnidirectional signal discharger 201 has used (in this patent, reference is the signaling zone that formed of the omnidirectional signal launched of region the second infrared transmitter of being that reference is 34 of 44) in the patent of invention of Patent No. ZL03103501.9, the present embodiment does not elaborates at this.In other embodiments, for Fig. 4, according to the sender unit of orientation, for example with the sender unit generally toward right side transmitting signal, then need to be positioned over described confining device 100 right side of robot.Due to signal receiving unit 1021 and 1022 horizontally set of described confining device 100 front end and respectively in precalculated position with determine reception signal in angular range, therefore, when robot 200 moves to confining device 100 front, the signal receiving unit 1021 and 1022 of described confining device 100 front end successively receives the signal (in the present embodiment, signal receiving unit 1021 first receives signal) that described robot 200 launches, after signal receiving unit 1022 receives the signal that robot 200 launches, the sender unit 103 of the most described confining device 100 launches a wireless signal to described robot 200, described robot 200 is made to perform avoidance action, return predetermined space and continue executing with task.Thus in described robot 200 is limited in predetermined space, perform task.Sender unit 103 gives the wireless signal that robot 200 sends, can be modulated, the burst of data that can be identified by robot 200, after robot 200 identifies these data, can be mapped to the internal processes algorithm of robot, thus perform this programmed algorithm and perform avoidance action.The avoidance action that robot 200 performs, can be the avoidance action having described that in patent ZL03103501.9.Or other the made robots 200 not described in other these patents finally return that the avoidance action in predetermined space.
As shown in Figure 6.Described confining device 100 is when being not received by the signal of described robot 200, it is in dormancy or holding state, do not launch any signal, only as N(N > 1) individual signal receiving unit (in the present embodiment, n-th signal receiving unit is 1022) just transmits signals to described robot 200 after receiving the signal of robot 200, can return to again dormancy or holding state after launching signal, therefore power consumption is little.
In this utility model embodiment, confining device 100 has N(N at signal receiving device 102 > 1) individual signal receiving unit (or successively) launches wireless signal to robot 200 in the case of receiving the signal that robot 200 launches simultaneously；Confining device 100 returns to dormancy or holding state after can only sending a signal, it is also possible at N(N > 1) individual signal receiving unit persistently receive robot launch signal in the case of, persistently send signal.
When confining device 100 described in this utility model is in dormancy or holding state, the signal receiving unit on confining device 100 is still in receiving the state of signal.
As shown in Figure 7 and Figure 8, if robot 200 is positioned at confining device 100 front, barrier is had to keep off between described confining device 100 and described robot 200, the signal that robot 200 is launched can only be received by described first signal receiving unit 1021 a angle the least, when robot 200 continues to move along, within a period of time, first signal receiving unit 1021 and second signal receiving unit 1022 all cannot receive the signal that robot 200 launches；Robot 200 is moved along again, during close to the edge of the received range of signal of second signal receiving unit 1022, the signal that robot 200 launches is received by second signal receiving unit 1022, thus the sender unit 103 of described confining device 100 launches wireless signal to described robot 200 so that described robot 200 performs avoidance action and returns described predetermined space 300 and continue executing with task.Thus reduce accident and cause robot 200 to depart from the probability of original physical space.Certainly, if barrier is too big, the signal that robot 200 launches will be unable to be received by confining device 100.Confining device 100 will lose original function.Therefore smaller at barrier, and exist the time the shortest in the case of (such as people or house pet are just past time between robot and confining device), the technical scheme that this utility model provides can effectively reduce accident and causes robot 200 to depart from the probability of original physical space.
Further, as it is shown in figure 9, in one improves embodiment, described confining device 100 top is provided with the omnidirectional signal electrically connected with the sender unit 103 on described confining device 100 and receives device 105.Having been described (structural representation that in this patent, the i.e. omnidirectional signal of accompanying drawing 4 receives device) in the patent of invention of Patent No. ZL03103501.9 owing to omnidirectional signal receives device 105, the present embodiment does not elaborates at this.Omnidirectional signal discharger 201 in described robot 200 is launched one and is received the short-range signal 203 of device 105 corresponding to the long range signals 202 of the signal receiving unit 1021 and 1022 of described confining device 100 front end and one corresponding to the omnidirectional signal on described confining device 100 top, and described omnidirectional signal receives device 105 for receiving the corresponding short-range signal 203 that robot 200 launches.If omnidirectional signal receives device 105 and receives the corresponding described short-range signal 203 that robot 200 launches, the sender unit 103 of the most described confining device 100 launches wireless signal to robot 200, make robot 200 away from described confining device 100, thus avoid robot to collide confining device 100 and change its position.Described robot 200 can sail out of confining device 100 by turning around to turn to, it is also possible to retreats away from described confining device 100.Long range signals 202 described here at least can cover the edge length of predetermined space so that robot 200 no matter when any position at the edge of predetermined space this long range signals can be received by the signal receiving unit of confining device 100 front end；Generally long range signals could be arranged to 3 ~ 5 meters；The scope of short-range signal 203 could be arranged to when robot 200 and confining device 100 adjacent to time at least can cover omnidirectional signal and receive device 105, with collision free.Generally short-range signal could be arranged to 0.3 ~ 0.5 meter.
Specifically, described signal receiving unit 1021 and the signal receiving unit that 1022 is that signal type that signal transmitter unit 201 with robot 200 is launched is corresponding, in the present embodiment, sender unit 201 in robot 200 is infrared signal discharger, therefore, the signal receiving unit 1021 and 1022 on confining device 100 is IR signal reception unit.Described sender unit 103 is 2.4G radio communication device.For reducing cost, in the present embodiment, radio communication device is one way communications devices, i.e. sender unit 103 launches signal can to robot 200, and cannot realize robot 200 and send wireless signal to sender unit 103.
In other embodiments, the sender unit 201 in robot 200 can also be ultrasonic transmission device, and accordingly, the signal receiving unit 1021 and 1022 on confining device 100 receives unit for ultrasound wave.In other embodiments, radio communication device can also be for bidirectional communication apparatus to realize more complicated programmed algorithm；Wifi, bluetooth and existing wireless communication technology can also be used.
Further, as shown in Figure 10, in one embodiment, on described confining device 100 first when receiving the signal receiving device 1021(of the signal that robot 200 launches corresponding to A district in figure 2b of robot) sender unit 103 that can trigger on described confining device 100 launches wireless signal to inform that robot 200 has been enter near the edge 301 of predetermined space 300 to robot 200, the most described robot 200 remain a constant speed advance Easy abeadl or with pre-set velocity advance, thus avoid robot to limit edge speed per hour degree in entrance and go out predetermined space 300 too soon.Figure 11 show confining device 100 workflow diagram in this state, under original state, confining device is in dormancy or standby mode (under this state, power consumption is little), when first signal receiving unit 1021 receives the signal that robot 200 launches, then trigger sender unit 103 launch to robot 200 remain a constant speed after wireless signal 1(robot receives this signal advance or Easy abeadl or advance with pre-set velocity), when second signal receiving unit 1022 receives the signal that robot launches, then sender unit 103 is launched to robot 200 to perform avoidance action after wireless signal 2(robot receives this signal and return predetermined space).
Under certain conditions, if the edge of predetermined space has been gone out because speed is too fast by robot 200, but, before going out predetermined space, the signal receiving unit 1022 of second signal receiving robot 200 has been triggered described sender unit 103 and has launched wireless signal to robot 200, therefore, in this case, robot 200 still may return in predetermined space.
As shown in figure 12, can arrange confining device 100 according to robot 200 return predetermined space time, the signal receiving unit 1021 that the signal that robot 200 launches is received signal by before first the most again receives arrival and determines whether robot returns in predetermined space 300, when confining device 100 determines that robot 200 has returned predetermined space 300, then stop sending wireless signal to robot 200, reenter park mode, to save electricity.
As shown in figure 13, in another kind of embodiment, it is provided that a kind of confining device 100 '.Unlike embodiment above, this confining device 100 ' includes 3 signal receiving units, i.e. add a signal receiving unit 1022 ' than the confining device 100 shown in Fig. 1 and Fig. 2.As shown in figure 14, the effect of signal receiving unit 1022 ' is similar with the effect of 1022 in aforesaid embodiment, the signal launched when robot 200 is received by signal receiving unit 1022 ', and receive, having signal receiving unit 1021 or 1022 before this, the signal that robot launches, the sender unit 103 of the most described confining device 100 sends wireless signal to robot, make robot 200 perform avoidance action, return in predetermined space 300.
In sum it can be gathered that a kind of restriction method of robot that provides of this utility model, described restriction method is in above-mentioned system for restricting, this restriction method comprises the following steps: a. is in predetermined space 300(such as room) open edge 301 at place described confining device 100 so that the signal receiving unit of described confining device 100 front end is concordant with the open edge of predetermined space 300；B. making robot 200 execution task in predetermined space 300, the sender unit 201 of robot 200 constantly launches omnidirectional signal；C. when robot 200 runs to open edge 301 vicinity of predetermined space 300, the signal that robot 200 launches successively is received by the signal receiving unit of described confining device 100 front end, N(N > 1 when described signal receiving device 100) individual signal receiving unit receive described robot 200 launch signal after, signal transmitter unit 103 on described confining device 100 launches wireless signal to described robot 200 so that described robot 200 performs avoidance action and continues executing with task to return predetermined space 300.
Further, with reference to Figure 10 and Figure 11, said method is further comprising the steps of: c1. is after the signal that the omnidirectional signal discharger 201 in described robot 200 is launched is received by first signal receiving unit 1021 of described confining device 100 front end, signal transmitter unit on described confining device 100 103 launches wireless signal to described robot 200 so that described robot 200 at the uniform velocity advances or Easy abeadl or with pre-set velocity advance.
nullFurther，In said method，Described confining device 100 top is provided with the omnidirectional signal electrically connected with the sender unit 103 on described confining device 100 and receives device 105，Omnidirectional signal discharger 201 in described robot 200 is launched one and is received the short-range signal 203 of device 105 corresponding to the long range signals 202 of the signal receiving unit of described confining device 100 front end and one corresponding to the omnidirectional signal on described confining device 100 top，Described restriction method also includes: after the omnidirectional signal on described confining device 100 top receives the short-range signal 203 of sender unit 201 transmitting that device 105 receives in described robot 200，Sender unit 103 on described confining device 100 launches wireless signal to described robot 200，Make described robot 200 away from described confining device 100.
In said method, after described robot 200 receives the signal of execution avoidance action, if now robot 200 has been completed that the signal received is not responded, but performs other tasks according to pre-set programs by the task to predetermined space, the most described robot 200.In such a case, it is possible to arrange two-way radio communication device between robot 200 and confining device 100 so that robot 200 can transmit wireless signals to confining device so that confining device 100 reenters park mode.Complete the space of task when robot 200 leaves, then confining device 100 can limit its space being again introduced into completing task, and can only stay the space of the task of being not carried out.
Known by foregoing, the location of the robot that this utility model provides and the system and method for restriction, not only can realize restricting robot to work in specific physical space, and there is power saving and accident can be reduced cause robot to depart from the advantage of probability of original physical space.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, those skilled in the art can also make some differentiation according to the description of above example；All made in design of the present utility model amendment, improvement, equivalent etc., should be included in protection domain of the present utility model.
This utility model accompanying drawing is principle and the schematic diagram of process being intended to be easy to that technical scheme is described, in figure, ratio may describe with word or actual product is not inconsistent, but does not affect the expression of technical solutions of the utility model.The product of diagram, size, ratio etc. are not used to limit this utility model.
Claims (10)
1. the confining device of a robot, it is characterised in that: include portable enclosure, be arranged in described portable enclosure
For receiving the signal receiving device of the signal that machine Crinis Carbonisatus is penetrated, with for the sender unit communicated with robot,
Described signal receiving device include at least two horizontally set towards described portable enclosure front and respectively in precalculated position
With the signal receiving unit receiving signal in angular range；Described signal receiving device and the electrical connection of described sender unit,
The feelings of signal are successively received setting described sender unit in response to the signal receiving unit of described signal receiving device
Condition and communicate with described robot.
Confining device the most according to claim 1, it is characterised in that: described portable enclosure front end corresponds to each signal
Receive unit front end and be provided with slit, with the signal that is limited in precalculated position and angular range after described slit by described letter
Number receive unit receive.
Confining device the most according to claim 2, it is characterised in that: described inner slit walls is provided with oblique described portable shell
The reflecting plate of body front end, to prevent the signal beyond precalculated position and angular range from being connect by described signal after inner slit walls reflects
Receipts unit receives.
Confining device the most according to claim 1, it is characterised in that: described confining device top is provided with and described restriction dress
The omnidirectional signal of the sender unit electrical connection put receives device, and described omnidirectional signal receives device and is used for receiving robot
The corresponding short-range signal launched.
Confining device the most according to claim 1, it is characterised in that: described signal receiving unit has three, horizontally set
And towards described portable enclosure front.
6. according to the confining device described in any one of Claims 1-4, it is characterised in that: described sender unit is wireless
Communicator.
Confining device the most according to claim 6, it is characterised in that: described radio communication device is can receiving and transmitting signal double
To radio communication device.
8. according to the confining device described in any one of Claims 1-4, it is characterised in that: described signal receiving unit is light wave
Receive unit or ultrasound wave receives unit.
9. the system for restricting of a robot, it is characterised in that: include confining device described in any one of claim 1 to 7 and
Robot, described robot is provided with the omnidirectional signal discharger corresponding with the signal receiving unit on described confining device,
And the signal receiving device communicated with the sender unit on described confining device.
System for restricting the most according to claim 9, it is characterised in that: described confining device top is provided with and described restriction
The omnidirectional signal of the sender unit electrical connection on device receives device, and the omnidirectional signal discharger in described robot is sent out
Penetrate the long range signals and of a signal receiving unit corresponding to described confining device front end corresponding to described confining device top
The omnidirectional signal of end receives the short-range signal of device, and the omnidirectional signal on described confining device top receives device and receives described
After the short-range signal that omnidirectional signal discharger in robot is launched, the sender unit on described confining device is to institute
State robot and launch wireless signal so that described robot is away from described confining device.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759814A (en) * | 2016-01-27 | 2016-07-13 | 深圳市银星智能科技股份有限公司 | Robot restraining device, restraining system and method |
| CN107803837A (en) * | 2017-12-01 | 2018-03-16 | 深圳市沃特沃德股份有限公司 | Confining device and vision sweeping robot and its control method |
-
2016
- 2016-01-27 CN CN201620076387.3U patent/CN205507535U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759814A (en) * | 2016-01-27 | 2016-07-13 | 深圳市银星智能科技股份有限公司 | Robot restraining device, restraining system and method |
| CN107803837A (en) * | 2017-12-01 | 2018-03-16 | 深圳市沃特沃德股份有限公司 | Confining device and vision sweeping robot and its control method |
| CN107803837B (en) * | 2017-12-01 | 2020-02-07 | 深圳市无限动力发展有限公司 | Restricting device, visual floor sweeping robot and control method of visual floor sweeping robot |
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