CN210442682U - Double-beam electronic fence - Google Patents
Double-beam electronic fence Download PDFInfo
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- CN210442682U CN210442682U CN201920969568.2U CN201920969568U CN210442682U CN 210442682 U CN210442682 U CN 210442682U CN 201920969568 U CN201920969568 U CN 201920969568U CN 210442682 U CN210442682 U CN 210442682U
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Abstract
The utility model discloses a double-beam electronic fence, which comprises a virtual boundary station and an outdoor mobile robot, wherein the virtual boundary station is provided with a shell and a ground pin, the top of the shell is provided with a solar cell, the side surface of the shell is provided with a first infrared emission window and a second infrared emission window at intervals, a first infrared emission module is arranged in the first infrared emission window and emits a first infrared code signal, and a second infrared emission module is arranged in the second infrared emission window and emits a second infrared code signal; the outdoor mobile robot is arranged in the middle of a working area, the working area is a polygon, and the virtual boundary station is arranged at the vertex of the working area; the first infrared emission window and the second infrared emission window are aligned to the right side boundary of the working area, and the first infrared emission window is positioned on the inner side of the working area; the outdoor mobile robot is provided with an omnidirectional infrared receiving device at the top, and the outdoor mobile robot judges the position of the boundary of the working area according to the received infrared coding signal.
Description
Technical Field
The utility model relates to a double-beam electronic fence belongs to mobile robot control field.
Background
The robot completes set tasks in an outdoor environment, identification of a working area is required to be achieved, the robot is guaranteed to execute the tasks in the specified working area, otherwise danger or damage may occur, for example, the robot mows, and patrols and examines the robot. Apart from the inherent barriers of the work area, such as fencing, other parts require robotic identification. Because the image processing is not only affected by the ambient light, it cannot be guaranteed that an image meeting the processing requirements is obtained, but also the current image recognition technology cannot cope with the complex and variable conditions in the actual environment. The RFID technology is adopted for identification, so that large-range coverage cannot be carried out; color marking of floors, such as painting, is highly variable from environment to environment and is subject to fading, requiring frequent maintenance. Therefore, at present, signal cables are often laid for identification and definition, which is very reliable, but increases the cost and is difficult to implement in some cases.
Disclosure of Invention
The utility model aims at providing a double-beam electronic fence for the not enough of prior art, the technical scheme who adopts is:
a double-beam electronic fence comprises a virtual boundary station and an outdoor mobile robot, wherein the outdoor mobile robot is provided with an inertial navigation system and is used for calculating the direction theta of the mobile robot, the virtual boundary station is provided with a shell and a ground pin connected with the shell, the top of the shell is provided with a solar cell, the side surface of the shell is provided with a first infrared emission window and a second infrared emission window at intervals, a first infrared emission module is arranged in the first infrared emission window and transmits a first infrared code signal, a second infrared emission module is arranged in the second infrared emission window and transmits a second infrared code signal, the double-beam electronic fence also comprises a charging circuit connected with the solar cell, a charging battery connected with the charging circuit and a multi-way switch connected with the charging battery, and the control end of the multi-way switch is connected with an oscillating circuit, the output end A is connected with the first infrared emission module, and the output end B is connected with the second infrared emission module; the outdoor mobile robot is arranged in the middle of a working area, the working area is a polygon, and the virtual boundary station is arranged at the vertex of the working area; the first infrared emission window and the second infrared emission window of the virtual boundary station are aligned to the right boundary of the working area, and the first infrared emission window is positioned on the inner side of the working area; the omnidirectional infrared receiving device is arranged at the top of the outdoor mobile robot, and the omnidirectional infrared receiving device, the first infrared emission window and the second infrared emission window are arranged at the same height.
Implement the utility model discloses an actively the effect is: 1. the infrared light is adopted for identifying the working area, the environment is not influenced, equipment is only required to be installed at a plurality of vertex positions, and the engineering quantity and the cost are greatly reduced; 2. the virtual fence is set by adopting double light beams, so that the boundary of a working area can be identified, the direction of the working area can be indicated, and necessary information is provided for path planning of the mobile robot.
Drawings
FIG. 1 is an external view of a virtual border station;
FIG. 2 is a functional block diagram of an electronic control device;
fig. 3 is an installation schematic.
Detailed Description
The present invention will now be further described with reference to the accompanying drawings:
referring to fig. 1-3, a dual beam electronic fence for defining a work area of an outdoor mobile robot to prevent the outdoor mobile robot from exceeding the work area, resulting in unexpected results. The system comprises a virtual boundary station and an outdoor mobile robot, wherein the virtual boundary station is used for establishing a double-beam electronic fence of a working area.
The outdoor mobile robot is provided with an inertial navigation system for calculating the direction theta of the mobile robot. The inertial navigation system can adopt the combination of various inertial navigation sensors such as an acceleration sensor, an electronic gyroscope, a visual odometer and the like.
The virtual boundary station is provided with a shell 8 and a ground pin 9 connected with the shell 8, the top of the shell 8 is provided with a solar cell, the side surface of the shell is provided with a first infrared emission window 10 and a second infrared emission window 11 at intervals, the first infrared emission window 10 is internally provided with a first infrared emission module 6 for emitting a first infrared coding signal, and the second infrared emission window 11 is internally provided with a second infrared emission module 7 for emitting a second infrared coding signal. The virtual boundary station can be directly inserted into the boundary of the working area, and is convenient to use.
Still include with charging circuit 2 that solar cell 1 connect, with charging battery 3 that charging circuit 2 connect, with multi-way switch 5 that charging battery 3 connect, multi-way switch 5's control end connect and vibrate circuit 4, output A connects first infrared emission module 6, output B connects second infrared emission module 7. The oscillator circuit 4 can adopt a 555 chip to form a square wave signal generator with a duty ratio of 50%, and acts on the control end of the multi-way switch 5 to provide the power supply provided by the rechargeable battery 3 to the first infrared emission module 6 and the second infrared emission module 7 in a time-sharing manner. The solar cell 1 converts solar energy into electric energy, so that cables can be prevented from being laid, and meanwhile, the rechargeable battery 3 is used for storing the electric energy, is charged in sunny days and supplies power to the outside in cloudy and rainy days.
The outdoor mobile robot is arranged in the middle of a working area, the working area is a polygon, and the virtual boundary station is arranged at the vertex of the working area; the first infrared emission window 10 and the second infrared emission window 11 of the virtual boundary station are aligned with the right side boundary of the working area, and the first infrared emission window 10 is positioned at the inner side of the working area. Therefore, two groups of infrared light emitted by the virtual boundary station can form a closed area to limit the working range of the outdoor mobile robot, the inner side of the closed area is provided with a first infrared coding signal, and the outer side of the closed area is provided with a second infrared coding signal. In most cases, the working area is a convex polygon, infrared light emitted by the virtual boundary station cannot enter the working area, and the setting precision of the virtual boundary station is not high; however, if the working area is a concave polygon, the two sets of infrared lights emitted from the virtual boundary stations may enter the inside of the working area, which can be overcome by the mutual shielding of the virtual boundary stations.
The outdoor mobile robot is provided with an omnidirectional infrared receiving device at the top, and the omnidirectional infrared receiving device and the first infrared emission window 10 and the second infrared emission window 11 are arranged at the same height, so that two groups of infrared light emitted by the virtual boundary station can be received no matter what angle enters the boundary of a working area. The omnidirectional infrared receiving device mainly comprises an omnidirectional optical lens and an infrared receiving sensor arranged at the bottom.
The working process of the outdoor mobile robot for identifying the double-beam electronic fence comprises the following steps:
(1) and when the outdoor mobile robot receives the first infrared coding signal in the working process, stopping working, retreating for a certain distance, and continuing working after the outdoor mobile robot does not receive the first infrared coding signal or the second infrared coding signal.
In this case, when the mobile robot works normally, the mobile robot encounters the boundary of the working area, and only needs to retreat, so that the problem can be solved as if the mobile robot encounters a wall to retreat.
(2) If the outdoor mobile robot receives the first infrared coding signal and the second infrared coding signal at the same time, recording the current direction theta0(ii) a The outdoor mobile robot rotates clockwise in situ, the rotation center deviates from the omnidirectional infrared receiving device, and when the first infrared coding signal is received again, the outdoor mobile robot stops and records the angle theta1And if the second infrared code signal has not been received, rotating the angle counterclockwise by (theta)1-θ0) 2, continuing to work in a straight line; otherwise, rotate pi- (theta) clockwise1-θ0) 2, continuing to work in a straight line;
in this case, the outdoor mobile robot is in the middle of the dual-beam electric fence, and is not successfully out of the boundary in step 1, but is moved one step further outward, so that it is impossible to determine the direction of the working area. In order to determine the direction of the working area, the outdoor mobile robot rotates clockwise in situ, the rotation center deviates from the omnidirectional infrared receiving device, so that the omnidirectional infrared receiving device can draw a section of circular arc by taking the double-beam electronic fence as an edge, the direction of the working area is determined according to the sequence of the received first infrared coding signal and the received second infrared coding signal, and then the central line of the rotation angle or the extension line of the central line is used as the direction for continuing working.
(3) And if the outdoor mobile robot receives the second infrared coding signal in the working process, stopping working and displaying fault information.
In this case, the outdoor mobile robot is already located outside the dual-beam electronic fence, and theoretically, the outdoor mobile robot is moved by a person, so that the outdoor mobile robot is stopped and fault information is displayed.
In summary, the virtual boundary station arranged at the vertex of the working area establishes the dual-beam electronic fence, sets the working range for the outdoor mobile robot, and can provide the direction of the working area for the outdoor mobile robot, thereby ensuring the safe execution of the task and providing necessary information for path planning.
Claims (1)
1. A dual-beam electronic fence comprising a virtual boundary station and an outdoor mobile robot, said outdoor mobile robot being provided with an inertial navigation system for calculating the direction θ of said mobile robot, characterized in that: the virtual boundary station is provided with a shell and a ground pin connected with the shell, the top of the shell is provided with a solar cell, the side surface of the shell is provided with a first infrared emission window and a second infrared emission window at intervals, a first infrared emission module is arranged in the first infrared emission window and transmits a first infrared code signal, a second infrared emission module is arranged in the second infrared emission window and transmits a second infrared code signal, the virtual boundary station also comprises a charging circuit connected with the solar cell, a charging battery connected with the charging circuit and a multi-way switch connected with the charging battery, the control end of the multi-way switch is connected with an oscillating circuit, the output end A is connected with the first infrared emission module, and the output end B is connected with the second infrared emission module; the outdoor mobile robot is arranged in the middle of a working area, the working area is a polygon, and the virtual boundary station is arranged at the vertex of the working area; the first infrared emission window and the second infrared emission window of the virtual boundary station are aligned to the right boundary of the working area, and the first infrared emission window is positioned on the inner side of the working area; the omnidirectional infrared receiving device is arranged at the top of the outdoor mobile robot, and the omnidirectional infrared receiving device, the first infrared emission window and the second infrared emission window are arranged at the same height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920969568.2U CN210442682U (en) | 2019-06-16 | 2019-06-16 | Double-beam electronic fence |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920969568.2U CN210442682U (en) | 2019-06-16 | 2019-06-16 | Double-beam electronic fence |
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| CN210442682U true CN210442682U (en) | 2020-05-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227335A1 (en) * | 2020-05-09 | 2021-11-18 | 苏州科瓴精密机械科技有限公司 | Method and apparatus for docking self-moving device to charging station, and self-moving device and readable storage medium |
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2019
- 2019-06-16 CN CN201920969568.2U patent/CN210442682U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227335A1 (en) * | 2020-05-09 | 2021-11-18 | 苏州科瓴精密机械科技有限公司 | Method and apparatus for docking self-moving device to charging station, and self-moving device and readable storage medium |
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