CN2881746Y - Self-propelled device with faultdevice with fault detection function - Google Patents

Self-propelled device with faultdevice with fault detection function Download PDF

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Publication number
CN2881746Y
CN2881746Y CN 200620002910 CN200620002910U CN2881746Y CN 2881746 Y CN2881746 Y CN 2881746Y CN 200620002910 CN200620002910 CN 200620002910 CN 200620002910 U CN200620002910 U CN 200620002910U CN 2881746 Y CN2881746 Y CN 2881746Y
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surface
light
region
self
light emitter
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CN 200620002910
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Chinese (zh)
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陈鸿凯
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雅一国际有限公司
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Abstract

The utility model relates to a self-propelled device with faultdevice with fault detection function, which comprises: a moving device which can move on a surface; a control circuit equipped in the moving device and can control the movement mode and direction of the moving device; a detection system equipped in the moving device and has an electric connection with the control circuit. The detection system has a light emitter, a light receiver and a reflection surface, wherein the light on the surface from the light emitter is reflected on the reflection surface first and then is reflected to the light receiver. The light receiver has a receiving area which does not cross with the surface. Hence, the self-propelled device with faultdevice with fault detection function has better environment light pollution avoidance effects and better surface detection effects.

Description

具有检测障碍功能的自走装置 Self-propelled device with obstacle detection function

技术领域 FIELD

本实用新型是与自走装置有关,特别是指一种具有检测障碍功能的自走装置。 The present invention is related to a self-propelled apparatus, particularly to a detected obstacle having a function self-propelled apparatus.

背景技术 Background technique

美国公告第6,594,844号专利案中,揭露出一种自走装置的障碍检测系统,揭露出一种检测技术,其是以一发光组件配合一接收组件,在该自走装置所行进的表面(例如地面)上进行照射及接收,其中,该发光组件是在该表面上形成一照射区域,该接收组件是在该表面上形成一接收区域,借由该照射区域与该接收区域交接,而可形成发射出来的光可被该光接收器接收的效果,此时即代表该自走装置处于平坦地面。 U.S. Patent Publication No. 6,594,844 case, discloses an obstacle detection system for a self-propelled apparatus for detecting the disclosed technique, which is a light emitting element with a receiving component, the surface of the self-propelled travel device (e.g. be ground on) irradiation and reception, wherein the light emitting element is formed in an irradiated area on the surface of the receiving component is formed a reception area on the surface, by means of the irradiation region to interface with the receiving area, but may be formed light may be received by the light receiver emitted effect, which represents this time the apparatus is self-propelled on a flat ground. 而在该自走装置行进的过程中,当遇到楼梯或坑洞时,即代表行进的表面的高度突然变低,此时,该照射区域与该接收区域即不交接,而产生与交接时不同的状态,此时即会判断为遇到障碍的状态。 In the process of self-propelled travel device, when faced stair or holes, i.e., the height of the representative surface travel suddenly becomes low at this time, the irradiation region that is not transferred to the receiving area, and the transfer is generated when different states, that is, at this time will determine the state of obstacles.

前述公知技术虽可解决自走装置在遇到障碍时的问题,然而,仍有缺失有待改进。 Although the aforementioned known technical means solve the problem in the face of obstacles of self-propelled, however, there is still lack of room for improvement. 其缺失在于:直接使光发射器与光接收器的照射区域与接收区域形成于地面上,会有容易被外在光害干扰的问题,亦即,若外界的偏光直接经由反射而照射于该光接收器,则会产生误判的情况;又,若外界的光直接进入该接收区域,则该光接收器同样有可能接收到光而产生误判。 Lack thereof wherein: direct irradiation area of ​​the light receiving area of ​​the transmitter and the light receiver on the ground in question is formed, there is likely to be harmful interference of external light, i.e., if the outside via reflective polarizer directly irradiated to the the light receiver, a misjudgment occurs; and, if the external light directly enters the receiving area, the light receiver receives the light is equally possible to generate false positives.

有鉴于上述缺点,本实用新型乃经过不断的试作与实验后,才终有本实用新型的产生。 In view of the above drawbacks, the present invention is the test for the continuous after the experiment, until eventually the present novel type of utility.

实用新型内容本实用新型的主要目的在于提供一种具有检测障碍功能的自走装置,其可在行进的过程中,对经过或即将经过的表面进行更为精确的障碍检测,进而具有更佳的障碍回避效果。 SUMMARY OF THE INVENTION The main object of the invention to provide a self-propelled apparatus having an obstacle detecting function, which can travel in the process, or is about to pass through the surface more accurate obstacle detection, and thus have better obstacle avoidance effect.

本实用新型的次一目的在于提供一种具有检测障碍功能的自走装置,其较不会受到环境光害的影响,检测更为灵敏。 The present invention aims to provide a secondary self-propelled apparatus having an obstacle detecting function, which is not affected by ambient light than harmful, more sensitive detection.

为达到上述目的,依据本实用新型所提供的一种具有检测障碍功能的自走装置,包含有:一机体,具有在一表面上运动的功能;一控制电路,设于该机体,具有控制该机体运动方式及方向的功能;以及一检测系统,设于该机体且电性连接于该控制电路,具有一光发射器,一光接收器,以及一反射面,该光发射器是沿预定角度朝向该表面照光,而于该表面上定义出一照射区域,该反射面以预定角度朝向该照射区域,该光发射器照射于该照射区域的光反射至该反射面,并于该反射面上定义出一反射区域,该反射区域会随着该表面的高度不同而位于该反射面上不同的位置,该光接收器是朝向该反射面,并于该反射面上定义出一接收区域,该接收区域是未与该表面交接;在该表面与该光发射器相距预定距离时,该反射区域是与该接收区域交接,当该表面与 To achieve the above object, according to the present invention a self-propelled apparatus having a function of detecting a new obstacle is provided, comprising: a body having a surface on the motion function; a control circuit, disposed in the body, which has a control function of the body motion and orientation; and a detection system arranged in the body and electrically connected to the control circuit, having a light emitter, a light receiver, and a reflecting surface, the light emitter along a predetermined angle towards the surface illumination, defined on the surface of the shot area, the reflecting surface at a predetermined angle toward the irradiated region, the light emitter is irradiated beam to the reflecting surface to the light of the irradiation region, and to the reflecting surface defining a reflective region, the reflective region may vary from the height of the surface being located at different positions of the reflecting surface, the light receiver toward the reflective surface, and defining a receiving area to the reflecting surface, the receiving area is not transferred to the surface; the surface at a predetermined distance from the light emitter, the reflective region is transferred to the receiving area, and when the surface 光发射器距离较远时,即会发生该反射区域不与该接收区域交接的状态,该光接收器是借由该接收区域是否与该反射区域交接来接收该光发射器的光。 When distant, i.e., the reflective region is not the handover state receiving area occurs from the light emitter, the light receiver is the receiver whether the handover region and the reflective region of the light received by means of the light emitter.

所述的具有检测障碍功能的自走装置,其中该检测系统更包含有:一壳体,设于该机体,具有一开口朝向该表面,该壳体内部具有至少一隔板而分隔出二容置区,该光发射器及该光接收器是分别位于该二容置区内,该反射面是设于该壳体内。 Away from said obstacle having a detection function device, wherein the detection system further comprising: a housing disposed on the body, having an opening towards the surface, the inner housing having at least one separator and the two separated receiving home region, the light emitter and said light receiver are located respectively two accommodating area, the reflective surface is disposed in the housing.

所述的具有检测障碍功能的自走装置,其中:该反射面是为一镜面或一金属表面。 The obstacle detection function having a self-propelled apparatus, wherein: the reflecting surface is a mirror surface or a metal surface.

所述的具有检测障碍功能的自走装置,其中:该光发射器是包含红外线发射器,该光接收器包含红外线接收器。 The obstacle detection function having a self-propelled apparatus, wherein: the light emitter comprising an infrared emitter, the light receiver comprises an infrared receiver.

由上可知,本实用新型的优点在于:一、障碍检测更为精确:本实用新型较不易受到外界环境的干扰,可对地面或墙面的接近状态进行更为精确的检测,进而具有更好的障碍回避效果。 From the above, the present invention is advantageous in that: an obstacle detection more precisely: the present invention is less susceptible to interference from external environment, or may be on the ground near the wall more accurate detection of the state, and thus better obstacle avoidance effect.

二、较不受环境光害的影响:本实用新型在使用光学组件来做为发射及接收的组件时,较不会受到环境光害的影响,检测上更为灵敏、确实。 Second, the impact is relatively unaffected by ambient light pollution: in the present invention is the use of optical components do transmission and receiving components, less likely to be harmful influence of ambient light, the more sensitive detection, indeed.

附图说明 BRIEF DESCRIPTION

图1是本实用新型一较佳实施例的底视示意图;图2是本实用新型一较佳实施例的侧视示意图;图3是本实用新型一较佳实施例的局部构件立体示意图,显示检测系统的各构件间的关系;图4是本实用新型一较佳实施例的操作示意图,显示地面有高度差的状态;图5是本实用新型一较佳实施例的俯视图,显示检测系统设置于机体侧边的状态。 FIG. 1 is a diagrammatic bottom view of the present invention a preferred embodiment; FIG. 2 is a side schematic illustration of a preferred embodiment of the present invention; FIG. 3 is a partial perspective view of a new member of the preferred embodiment of the present invention, the display relationships among components of the detection system; FIG. 4 is a schematic view of the operation of the present invention a preferred embodiment, the ground height difference of the display state; FIG. 5 is a plan view of the present invention a preferred embodiment, the detection system display settings in the state of the body side.

具体实施方式 Detailed ways

为了详细说明本实用新型的构造及特点所在,兹举以下的较佳实施例并配合图式说明如后:如图1至图3所示,本实用新型一较佳实施例所提供的一种具有检测障碍功能的自走装置10,主要由一机体11,一控制电路21,以及一检测系统31所组成,其中:该机体11,具有在一表面99上运动的功能,例如,在地面运动,该机体11本身是具有传统自走装置所具备的动力装置,以及滚轮等机构,由于是属公知且非本实用新型的申请重点,容不赘述。 For a detailed description of the present invention where the structure and features, embodiments and preferred hereby give the following be described with the drawings as: one kind of embodiment is provided in FIG. 1 to FIG. 3, a preferred embodiment of the present invention a self-propelled apparatus having a detecting obstacles function 10 is mainly composed of a body 11, a control circuit 21, and a detection system 31, where: the body 11, with motion on one surface 99 functions, for example, the ground motion the body 11 itself is a conventional self-propelled means provided in the power, and the roller mechanism and the like, as is well known and belong to the non-application of the present invention focus, capacity is not repeated here.

该控制电路21,设于该机体11,具有控制该机体11运动方式及方向的功能,由于该控制电路21是属公知且非本实用新型的申请重点,容不赘述。 The control circuit 21 is provided in the body 11, the body 11 includes a control and direction of motion functions, since the control circuit 21 are of the well known and not the focus of the application of the present invention, capacity is not repeated here.

本实用新型的特点在于:该检测系统31,电性连接于该控制电路21,具有一壳体32,一光发射器34,一光接收器36,以及一反射面38,该壳体32设于该机体11,且具有一开口39朝向该表面99(即地面),该壳体32内部具有二隔板33而分隔出二容置区331、332,该光发射器34及该光接收器36是电性连接于该控制电路21,且分别位于该二容置区331、332内,该反射面38是设于该壳体32内。 The present invention is characterized in that: the detection system 31, electrically connected to the control circuit 21 having a housing 32, a light emitter 34, a light receiver 36, and a reflective surface 38, the housing 32 is provided to the body 11, and has an opening 39 facing the surface 99 (i.e. ground), the inner housing 32 having two partitions 33 and two partitioned accommodating area 331, the light emitter 34 and the light receiver 36 is electrically connected to the control circuit 21, 331, 332 and located within the two accommodation area, the reflective surface 38 is disposed within the housing 32. 该光发射器34是可为一红外线发射器,沿预定角度朝向该表面99照光,而于该表面99上定义出一照射区域341。 The light emitter 34 may be an infrared transmitter, towards the illumination surface 99 in a predetermined angle so as to define an irradiated region 341 on the surface 99. 该反射面38是可为一镜面或一金属表面99,以预定角度朝向该照射区域341,该光发射器34照射于该照射区域341的光反射至该反射面38,并于该反射面38上定义出一反射区域381,该反射区域381会随着该表面99的高度不同而位于该反射面38上不同的位置。 The reflective surface 38 is 99, at a predetermined angle toward the irradiated region 341 is a mirror or a metallic surface, illumination of the light emitter 34 is reflected to the reflective surface 38 the light of the irradiated region 341, and to the reflective surface 38 defining a region of the 381 reflection, the reflection region 381 may vary from the height of the surface 99 is located on the reflective surface 38 different positions. 该光接收器36是可为一红外线接收器,朝向该反射面38,并于该反射面38上定义出一接收区域361,该接收区域361是未与该表面99交接。 The light receiver 36 may be an infrared receiver, towards the reflective surface 38, and defines a receiving area 361 on the reflection surface 38, the receiving region 361 is not interface with the surface 99.

如图2所示,本实用新型在操作时,例如,在该表面99做为地面而于其上运动时,在该表面99与该光发射器34相距预定距离时,例如4公分(cm),该反射区域381是与该接收区域361交接,此时该光接收器36即会接收到该光发射器34所发出的光,而判定为地面平坦,而不需进行回避动作。 As shown, when the present invention is in operation, for example, when the ground surface 99 as the movement thereon, to the surface 99 when the light emitter 34 at a predetermined distance, for example 4 centimeters (cm) 2 the reflective region 381 is transferred to the receiving area 361, at which time the light receiver 36 receives light that is the light emitted by emitter 34, and the flat surface is determined, without the need for avoidance operation. 如图3及图4所示,当该表面99产生高度差而与该光发射器34距离较远时,例如,15公分高的阶梯,即会发生照射区域341的光无法反射至该反射面38来形成反射区域的状态,换言之,未形成反射区域即未与该接收区域361交接,该光接收器36是借由该接收区域361是否与该反射区域381交接来接收该光发射器34的光;借以判定与该表面99的接近或远离的状态,并传送该状态至该控制电路21,该控制电路21即依据判断来控制该自走装置进行对应动作(例如回避动作或转弯动作)。 3 and 4, when the surface height difference 99 generated 34 distant to the light emitter, e.g., 15 cm high step, i.e., the occurrence of light irradiation area 341 will not be reflected to the reflective surface 38 to a state reflecting area, in other words, not formed reflection region that is not 361 interface with the receiving area, the light receiver 36 by means of the receiving area 361 if 381 interface with the reflective region to receive the light emitter 34 light; thereby determines the surface close to or from state 99, and transmits the state to the control circuit 21, the control circuit 21, i.e., according to a determination to control the self-propelled apparatus corresponding to the operation (e.g. avoidance operation or a turning operation).

请再参阅图5配合图3,该检测系统31亦可配合设置于该机体11的侧边,而配合用来检测与机体11旁的墙面99'接近状态,其检测方式与前述的地面检测方式相反,亦即,在该反射区域381与该接收区域361交接时,判断为距墙面99'较近,而未交接时判断为距墙面99'较远,该控制电路21亦可借此判断并进行对应的动作(例如回避动作或转弯动作)。 Please refer to FIG. 5 with FIG. 3, the detection system 31 may also be disposed on the side of the fitting body 11, and with the wall body 11 for detecting the next 99 'proximity state, the detection mode which detects the ground the opposite way, i.e., when the receiver 381 interface with region 361 in the reflective region, is determined from the wall 99 'close, it is determined that the transfer from the wall 99 without' far, the control circuit 21 may take this is determined and a corresponding operation (e.g. avoidance operation or a turning operation).

其中,由于本实用新型的该光接收器36是位于该壳体32内,且其接收区域361是未与该表面99交接,换言之,外界的光害照射于该表面99(地面或墙面)上时,均不易被该光接收器36直接接收到,而必须由该表面99反射至该反射区域381的光,才会确实的被该光接收器36所接收。 However, since the present invention the light receiver 36 is located within the housing 32, and the receiving region 361 is not transferred to the surface 99, in other words, the external light is irradiated to the surface damage 99 (ground or wall) when on, are not susceptible to the light receiver 36 is directly received, and the light reflected by the region 381 must be reflected to the surface 99, it will actually be received by the light receiver 36. 而且,能反射至该反射区域381的光,通常必须以特定角度照射于该表面99才能达到(例如该光发射器34所发射的光,即满足此条件),其它角度照射至该表面99的偏光,即不易直接反射至该反射区域381,换言之,本实用新型较不易产生误判的情形。 Further, capable of reflecting to the reflecting area of ​​the light 381, generally must be irradiated to the surface 99 can be achieved (e.g., the light emitted by the emitter 34 of light, i.e., this condition is met) at a certain angle, other angles is irradiated to the surface 99 polarization, i.e., not easy to directly reflected to the reflective region 381, in other words, the case of the present invention is less likely to produce false positives.

Claims (4)

1.一种具有检测障碍功能的自走装置,包含有:一机体,具有在一表面上运动的功能;一控制电路,设于该机体,具有控制该机体运动方式及方向的功能;其特征在于:一检测系统,设于该机体且电性连接于该控制电路,具有一光发射器,一光接收器,以及一反射面,该光发射器是沿预定角度朝向该表面照光,而于该表面上定义出一照射区域,该反射面以预定角度朝向该照射区域,该光发射器照射于该照射区域的光反射至该反射面,并于该反射面上定义出一反射区域,该反射区域会随着该表面的高度不同而位于该反射面上不同的位置,该光接收器是朝向该反射面,并于该反射面上定义出一接收区域,该接收区域是未与该表面交接;在该表面与该光发射器相距预定距离时,该反射区域是与该接收区域交接,当该表面与该光发射器距离较远时,即会发 An obstacle detection function having a self-propelled apparatus comprising: a body having a surface on the motion function; a control circuit, disposed in the body, the body having a control function and direction of motion; wherein comprising: a detection system disposed on the body and electrically connected to the control circuit, having a light emitter, a light receiver, and a reflecting surface, the light emitter toward the surface illuminated in a predetermined angle, and in defines a surface on which an irradiated region, the reflecting surface at a predetermined angle toward the irradiated region, irradiated with the reflected light emitter to the light reflecting surface in the irradiation region, and defining a reflective region in the reflective surface, the reflection region may vary from the height of the surface being located at different positions of the reflecting surface, the light receiver toward the reflective surface, and defining a receiving area of ​​the reflecting surface to the receiving surface and the region is not delivery; when the surface is a predetermined distance from the light emitter, the reflective region is transferred to the receiving area, when the surface far from the light emitter, i.e., will send 该反射区域不与该接收区域交接的状态,该光接收器是借由该接收区域是否与该反射区域交接来接收该光发射器的光。 The reflection region is not the handover state with the receiving area, which is a light receiver to receive light emitter of the light receiving area whether the handover by means of the reflection region.
2.依据权利要求1所述的具有检测障碍功能的自走装置,其特征在于,其中该检测系统更包含有:一壳体,设于该机体,具有一开口朝向该表面,该壳体内部具有至少一隔板而分隔出二容置区,该光发射器及该光接收器是分别位于该二容置区内,该反射面是设于该壳体内。 A self-propelled apparatus having obstacle detection function according to claim 2 1, wherein the detection system further comprising: a housing disposed on the body, having a surface, an opening toward the interior of the housing and a separator having at least two partitioned accommodating area, the light emitter and said light receiver are located respectively two accommodating area, the reflective surface is disposed in the housing.
3.依据权利要求1所述的具有检测障碍功能的自走装置,其特征在于,其中:该反射面是为一镜面或一金属表面。 3. The self-propelled apparatus according to claim obstacle detecting function has to claim 1, characterized in that, wherein: the reflecting surface is a mirror surface or a metal surface.
4.依据权利要求1所述的具有检测障碍功能的自走装置,其特征在于,其中:该光发射器是包含红外线发射器,该光接收器包含红外线接收器。 A self-propelled apparatus having obstacle detection function according to claim 1 4, characterized in that, wherein: the light emitter comprising an infrared emitter, the light receiver comprises an infrared receiver.
CN 200620002910 2006-01-10 2006-01-10 Self-propelled device with faultdevice with fault detection function CN2881746Y (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102171621A (en) * 2009-07-30 2011-08-31 松下电器产业株式会社 Travelling vehicle and bed
CN102288969A (en) * 2010-05-11 2011-12-21 三星电子株式会社 Sensing system and the mobile robot having the sensing system
CN102608612A (en) * 2010-12-20 2012-07-25 美泰有限公司 Proximity sensor apparatus for a game device
CN103144575A (en) * 2013-02-27 2013-06-12 浙江吉利汽车研究院有限公司杭州分公司 Anti-rolling system of automobile
CN105137992A (en) * 2015-09-02 2015-12-09 深圳市朗特电子有限公司 Control system, control method, and control circuit board for intelligent cleaning robot
CN105167717A (en) * 2015-09-14 2015-12-23 国网天津市电力公司物资公司 Multifunctional integrated robot for automatic warehouse cleaning and patrolling
CN105539624A (en) * 2015-12-30 2016-05-04 广东出入境检验检疫局检验检疫技术中心 Metal surface climbing and detecting robot

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102171621A (en) * 2009-07-30 2011-08-31 松下电器产业株式会社 Travelling vehicle and bed
CN102171621B (en) 2009-07-30 2013-04-10 松下电器产业株式会社 Travelling vehicle and bed
CN102288969A (en) * 2010-05-11 2011-12-21 三星电子株式会社 Sensing system and the mobile robot having the sensing system
CN102288969B (en) * 2010-05-11 2015-01-14 三星电子株式会社 Sensing system and moving robot having the same
CN102608612A (en) * 2010-12-20 2012-07-25 美泰有限公司 Proximity sensor apparatus for a game device
CN102608612B (en) * 2010-12-20 2015-07-15 美泰有限公司 Proximity sensor apparatus for a game device
CN103144575A (en) * 2013-02-27 2013-06-12 浙江吉利汽车研究院有限公司杭州分公司 Anti-rolling system of automobile
CN103144575B (en) * 2013-02-27 2016-03-30 浙江吉利汽车研究院有限公司杭州分公司 An automobile anti-grind system
CN105137992A (en) * 2015-09-02 2015-12-09 深圳市朗特电子有限公司 Control system, control method, and control circuit board for intelligent cleaning robot
CN105137992B (en) * 2015-09-02 2018-12-28 深圳朗特智能控制股份有限公司 The control system and its control method and control circuit board of Intelligent cleaning robot
CN105167717A (en) * 2015-09-14 2015-12-23 国网天津市电力公司物资公司 Multifunctional integrated robot for automatic warehouse cleaning and patrolling
CN105539624A (en) * 2015-12-30 2016-05-04 广东出入境检验检疫局检验检疫技术中心 Metal surface climbing and detecting robot

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