WO2016050215A1 - 一种自移动表面行走机器人系统及回归主充电座的方法 - Google Patents

一种自移动表面行走机器人系统及回归主充电座的方法 Download PDF

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Publication number
WO2016050215A1
WO2016050215A1 PCT/CN2015/091257 CN2015091257W WO2016050215A1 WO 2016050215 A1 WO2016050215 A1 WO 2016050215A1 CN 2015091257 W CN2015091257 W CN 2015091257W WO 2016050215 A1 WO2016050215 A1 WO 2016050215A1
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WIPO (PCT)
Prior art keywords
charging stand
self
moving surface
robot
walking robot
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PCT/CN2015/091257
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English (en)
French (fr)
Inventor
汤进举
陈茂勇
朱磊
廖亮亮
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科沃斯机器人有限公司
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Priority to DE112015004472.8T priority Critical patent/DE112015004472T5/de
Priority to US15/515,506 priority patent/US10940767B2/en
Publication of WO2016050215A1 publication Critical patent/WO2016050215A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/305—Communication interfaces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present invention relates to an intelligent robot, and more particularly to a self-moving surface walking robot system and a method of returning to a main charging stand.
  • Intelligent cleaning robots include mopping robots, vacuum robots, air purifiers, etc., which combine mobile robots and cleaning technology, and are the most challenging hot research topics in the field of household appliances. Since 2000, the commercialization of cleaning robots has been listed one after another, becoming a new high-tech product in the field of service robots, with considerable market prospects.
  • the intelligent robot is generally applied to an indoor environment and is equipped with a plurality of charging stands for charging.
  • a charging stand may be randomly searched for charging. Therefore, the user cannot find the specific location of the robot in time, so that the starting point of each work of the robot cannot be determined in time, and the route of the next cleaning work cannot be arranged in time, so that the work efficiency is lowered.
  • the technical problem to be solved by the present invention is to provide a self-moving surface walking robot system and a method for returning to the main charging base for the deficiencies of the prior art, so that the robot can return to the main charging stand in time after completing the cleaning work, which is convenient for the user to When the robot is not working, find the charging stand according to the habit; also determine the starting point of each working of the robot, and set the charging position of the important position that needs to work first as the main charging seat, which is convenient for arranging the priority working position.
  • a method for returning to a main charging cradle from a moving surface walking robot system comprising a surface walking robot and at least two charging cradle for charging thereof, comprising the steps of:
  • the main charging stand is manually determined or the main charging stand is automatically determined.
  • the step of manually determining the main charging stand specifically includes:
  • the main cradle coordinates are manually entered in the area map created by S1.
  • the step of automatically determining the main charging stand specifically includes:
  • the walking robot from the moving surface begins to walk, and the first found charging stand is determined as the main charging stand and its position is recorded in the established area map.
  • the method further includes: S3': if the walking robot needs to be charged from the moving surface during the working process, the charging stand or the main charging stand closest to the moving mobile body is searched for charging.
  • the self-moving surface walking robot searches for the charging from the charging stand closest to the moving robot body by the distance measuring device of the surface walking robot.
  • the self-moving surface walking robot determines, by the distance measuring device of the surface walking robot, whether the self-moving surface walking robot body is within a preset range from the main charging stand, and if so, looks for the main charging stand for charging, Otherwise, look for the charging stand closest to the body of the walking robot from the moving surface for charging.
  • the regional map is established by the ranging data obtained by the laser ranging device.
  • the invention also provides a self-moving surface walking robot system, a self-moving surface walking robot system, comprising: a self-moving surface walking robot and at least two charging seats for charging, the self-moving surface walking robot comprising: measuring a distance device, a walking unit, a driving unit, a functional component, a control unit and a storage unit; the control unit is respectively connected to the distance measuring device, the storage unit and the driving unit, and the driving unit is connected to the walking unit to drive the
  • the walking unit walks, the control unit processes the distance data collected by the distance measuring device to establish an area map, and stores the area map in the storage unit, and the self-moving ground processing robot adopts the above method for returning the main charging stand .
  • the functional components are cleaning components, waxing components, security alarm components, air purification components or/and polishing components.
  • the self-moving surface walking robot system further includes: a user client, the user client receiving map data sent by the robot;
  • the user client is provided with an interaction interface, and the user manually inputs the coordinates of the main charging cradle through the interaction interface.
  • the utility model has the beneficial effects that the robot returns to the set main charging stand position after the work is completed, so that the user can find the robot in the position of the main charging stand according to the habit when the robot is not working; or the robot can be determined to work each time.
  • the starting point is to set the charging position of the important position that needs to work first as the main charging stand, which is convenient for arranging the priority working position; or setting the main charging stand where the cleaning frequency is the highest, so as to improve the utilization efficiency of the robot.
  • FIG. 1 is a flow chart showing the steps of a method for returning a mobile surface walking robot to a main charging stand according to the present invention
  • FIG. 2 is a flow chart showing the steps of a method for returning a main charging stand from a moving surface walking robot in Embodiment 1 of the present invention
  • FIG. 3 is a flow chart showing the steps of a method for returning a main charging stand from a moving surface walking robot in Embodiment 2 of the present invention
  • FIG. 4 is a structural block diagram of a self-moving surface walking robot system of the present invention.
  • FIG. 1 is a flow chart of a method for returning a main charging cradle from a moving surface walking robot according to the present invention.
  • FIG. 2 is a flow chart of a method for returning a main charging cradle from a moving surface walking robot according to Embodiment 1 of the present invention
  • FIG. 4 is a flowchart of the method of the present invention. Block diagram of the mobile surface walking robot system. As shown in FIG. 2 and with reference to FIG. 1 and FIG. 4, the embodiment provides a method for returning to a main charging stand for a self-moving surface walking robot system.
  • the robot establishes a regional map.
  • a distance measuring device is provided on the moving surface walking robot 1, and the area map is established by the distance data obtained by the distance measuring device.
  • the laser performs a 360° scan of the area, and collects a laser to sweep the distance between all objects and the self-moving surface walking robot 1 within 360°, thereby establishing an area map.
  • the self-moving surface walking robot 1 is calculated as a distance by the running unit 12 such as the driving wheel in the number of rotations in the work, and assists and inspects the established area map.
  • S2 setting a charging stand as a main charging stand and recording the position of the main charging stand in the area map.
  • the user manually inputs the coordinates of the main charging stand in the area map established by S1 through an interactive interface on the user client 2 connected to the mobile surface walking robot 1, such as a touch screen on the mobile phone or the ipad, and then passes the user.
  • the client 2 transmits the main cradle coordinates to the self-moving surface walking robot 1.
  • the user can set the charging seat in the master bedroom and the living room as the main charging stand.
  • the specific reason is as follows: First, the user appears in the master bedroom or the living room most of the time, that is, the main sleeping room or the living room is the main activity space or needs The important position of the first work; the second is that the user can find the self-moving surface walking robot in the master bedroom or the living room to facilitate the subsequent control of the walking robot from the moving surface.
  • the charging device is searched for the charging device closest to the moving robot body by the distance measuring device. It should be noted here that if the walking robot 1 from the moving surface simultaneously finds the two nearest charging cradle, the control unit 15 first determines which of the best walking distances from the moving surface walking robot 1 to the two charging cradle is determined. The number of obstacles included in the walking distance; if the distance from the moving surface walking robot 1 to the two charging seats is judged to be equal difficulty, then the route is set according to the default setting (such as the default left turn or right turn).
  • FIG. 3 is a flow chart showing the steps of a method for returning the main charging stand from the moving surface walking robot in Embodiment 2 of the present invention.
  • the method for returning the main charging stand from the moving surface walking robot 1 in this embodiment is basically the same as that in Embodiment 1, except that in S2, walking from the moving surface
  • the robot begins to walk and automatically determines the main charging stand, such as determining the first found charging stand as the main charging stand and recording its position in the area map established in S1. Or, the robot automatically sets the charging dock in the largest room (usually corresponding to the bedroom) in the map as the main charging dock.
  • the present invention can identify the charging stand by various means.
  • the charging stand body emits an infrared signal
  • the charging stand is set as the main charging stand, and the distance of the charging stand can be separated according to the distance Determine the position of the charging stand; if the marking is set on the charging stand, for example, the reflective material is set, the robot finds the mark to identify the charging stand, and records the position of the robot.
  • the walking robot 1 needs to be charged from the moving surface during the working process, it is determined by the distance measuring device 11 whether the body of the self-moving surface walking robot 1 is within a preset range from the main charging stand, and if so, the main charging stand is sought. Charging is performed, otherwise, the charging stand closest to the body of the moving surface walking robot 1 is searched for charging.
  • the invention also provides a self-moving surface walking robot system, comprising: a self-moving surface walking robot 1, at least two charging seats for charging.
  • the robot system also includes a user client 2 when manual setting of the main charging stand is required.
  • the self-moving surface walking robot 1 includes: a distance measuring device 11, a traveling unit 12, a driving unit 13, a functional component 14, a control unit 15, and a storage unit 16; the control unit 15 and the ranging device 11, respectively, store
  • the unit 16 is connected to the drive unit 13, and the drive unit 13 is connected to the travel unit 12, the drive unit 13 accepts an instruction from the control unit 15, drives the travel unit 12 to walk, and the control unit 15 measures the distance.
  • the distance data collected by the device 11 is processed to establish an area map and stored in the storage unit 16.
  • the distance measuring device can adopt a camera component, a code wheel, a laser scanning range finder and the like.
  • the functional component 14 can employ a cleaning component, a waxing component, a security alarm component, an air purification component, or/and a buffing component.
  • the user client 2 receives the map data sent by the mobile ground processing robot, and the user client 2 includes an interaction interface, and the user can manually input the main charging cradle coordinates through the interaction interface; the self-moving ground processing robot 1 The method of returning to the main charging stand in the above embodiment is employed.
  • the present invention returns to the set position of the main charging stand after the robot completes the work, so that the user can find the robot in the position of the main charging stand according to the habit when the robot is not working;
  • the charging station with the important position that needs to work first is set as the main charging seat, which is convenient for arranging the priority working position; or the main charging seat is set to the place with the highest cleaning frequency to improve the utilization efficiency of the robot.

Abstract

一种应用于自移动表面行走机器人（1）系统回归主充电座的方法，所述机器人（1）系统包含表面行走机器人（1）和至少两个供其充电的充电座，包括如下步骤：S1：机器人建立区域地图；S2：设定一个充电座为主充电座并在区域地图中记录所述主充电座的位置；S3：该自移动表面行走机器人（1）工作完成后，依据区域地图中主充电座的位置，返回主充电座。本方法在机器人（1）完成工作后回到设定的主充电座位置，方便用户在机器人（1）不工作时按习惯在主充电座位置即可发现机器人（1）；也可确定机器人（1）每次工作的出发点，把需要先工作的重要位置充电座设为主充电座，利于安排优先工作位置。

Description

一种自移动表面行走机器人系统及回归主充电座的方法 技术领域
本发明涉及一种智能机器人，具体地说，涉及一种自移动表面行走机器人系统及回归主充电座的方法。
背景技术
智能清洁机器人包括拖地机器人、吸尘机器人、空气净化器等，其融合了移动机器人和清洁技术，是目前家用电器领域最具挑战性的热门研发课题。从2000年后清洁机器人商用化产品接连上市，成为服务机器人领域中的一种新型高技术产品，具有可观的市场前景。
通常，为了适应大面积清洁和多个空间清洁，这种智能机器人一般应用于室内环境并且配备多个充电座进行充电，在现有技术中，机器人工作完成后可能随机寻找一个充电座进行充电待命，这样用户不能够及时找到机器人的具体位置，因此导致不能及时的确定机器人每次工作的出发点，以及不能及时安排下一次清洁工作的路线，使工作效率下降。
发明内容
本发明所要解决的技术问题在于，针对现有技术的不足提供一种自移动表面行走机器人系统及回归主充电座的方法，使机器人在完成清洁工作后能够及时回到主充电座，便于用户在机器人不工作时按习惯找到充电座；也可确定机器人每次工作的出发点，把需要先工作的重要位置充电座设为主充电座，利于安排优先工作位置。
本发明所要解决的技术问题是通过如下技术方案实现的：
一种应用于自移动表面行走机器人系统回归主充电座的方法，所述机器人系统包含表面行走机器人和至少两个供其充电的充电座，包括如下步骤：
S1：机器人建立区域地图；
S2：设定一个充电座为主充电座并在区域地图中记录所述主充电座的位置；
S3：该自移动表面行走机器人工作完成后，依据区域地图中主充电座的位置，返回主充电座。
为了更好地建立主充电座，在S2中，手动确定主充电座或自动确定主充电座。
进一步地，在S2中，手动确定主充电座的步骤具体包括：
在S1建立的区域地图中手动输入主充电座坐标。
或者进一步地，在S2中，自动确定主充电座的步骤具体包括：
自移动表面行走机器人开始行走，将第一个发现的充电座确定为主充电座并在建立区域地图中记录其位置。
另外，在S3之前还包括：S3’：若在工作过程中自移动表面行走机器人需要充电，则寻找离该自移动表面行走机器人本体最近的充电座或主充电座进行充电。
进一步地，在S3’中，自移动表面行走机器人通过表面行走机器人的测距装置寻找离该自移动表面行走机器人本体最近的充电座进行充电。
或者进一步地，在S3’中，自移动表面行走机器人通过表面行走机器人的测距装置判断该自移动表面行走机器人本体距离主充电座是否在预设范围内，若是则寻找主充电座进行充电，否则寻找距离该自移动表面行走机器人本体最近的充电座进行充电。
为了更好的建立区域地图，在S1中，通过激光测距装置获得的测距数据来建立区域地图。
本发明还提供一种自移动表面行走机器人系统，一种自移动表面行走机器人系统，包括：自移动表面行走机器人和至少两个供其充电的充电座，所述自移动表面行走机器人包括：测距装置、行走单元、驱动单元、功能部件、控制单元和存储单元；所述控制单元分别与测距装置、存储单元和驱动单元相连接，驱动单元与所述的行走单元相连接，驱动所述行走单元行走，所述控制单元对测距装置采集到的距离数据进行处理后建立区域地图，并将区域地图存储到存储单元中，所述自移动地面处理机器人采用上述的回归主充电座的方法。
更好地，所述的功能部件为清扫部件、打蜡部件、安保报警部件、空气净化部件或/和磨光部件。
进一步地，该自移动表面行走机器人系统还包括：用户客户端，该用户客户端接收机器人发送的地图数据；
所述用户客户端设有交互界面，用户通过所述交互界面手动输入主充电座坐标。
本发明的有益效果在于，在机器人完成工作后回到设定的主充电座位置，方便用户在机器人不工作时，按习惯在主充电座所在位置即可找到机器人；也可确定机器人每次工作的出发点，把需要先工作的重要位置充电座设为主充电座，利于安排优先工作位置；或者将需清洁频率最高的地方来设置主充电座，提高机器人的利用效率。
下面结合附图和具体实施例对本发明的技术方案进行详细地说明。
附图说明
图1为本发明自移动表面行走机器人回归主充电座的方法步骤流程图；
图2为本发明实施例1中自移动表面行走机器人回归主充电座的方法步骤流程图；
图3为本发明实施例2中自移动表面行走机器人回归主充电座的方法步骤流程图；
图4为本发明自移动表面行走机器人系统结构框图。
具体实施方式
实施例1
图1为本发明自移动表面行走机器人回归主充电座的方法步骤流程图，图2为本发明实施例1中自移动表面行走机器人回归主充电座的方法步骤流程图，图4为本发明自移动表面行走机器人系统结构框图。如图2并参考图1和图4所示，本实施例提供一种应用于自移动表面行走机器人系统回归主充电座的方法，
S1：机器人建立区域地图。自移动表面行走机器人1上设置测距装置，通过测距装置获得的距离数据来建立区域地图。具体地说：激光对区域进行平面360°的扫射，采集360°内激光扫到所有物体与该自移动表面行走机器人1之间的距离，从而建立区域地图。为了更好地验证和辅助建立的区域地图，在本实施例中，自移动表面行走机器人1通过行走单元12如驱动轮在工作中旋转圈数核算成距离，辅助并检验建立的区域地图。
S2：设定一个充电座为主充电座并在区域地图中记录所述主充电座的位置。在本步骤中，用户通过与自移动表面行走机器人1连接的用户客户端2上的交互界面，如手机或ipad上的触摸屏，在S1建立的区域地图中手动输入主充电座坐标，然后通过用户客户端2将主充电座坐标传输给自移动表面行走机器人1。举例来说，用户可以将主卧和客厅中的充电座设置为主充电座，具体原因为：一是用户大部分时间出现在主卧或客厅，即视主卧或客厅为主要活动空间或需要先工作的重要位置；二是用户在主卧或客厅就能找到自移动表面行走机器人，方便后续控制自移动表面行走机器人工作。
S3’：若在工作过程中自移动表面行走机器人1需要充电，则通过测距装置寻找离该自移动表面行走机器人本体最近的充电座进行充电。在这里需要说明的是，如果自移动表面行走机器人1同时找到最近的两个充电座，那么控制单元15首先判断自移动表面行走机器人1行走到两个充电座的路程哪个最好走，具体判断包括在行走路程中障碍物的个数；若自移动表面行走机器人1行走到两个充电座的路程均判断为同等难度，那么按照默认设定(如默认左转或右转)的路线行走。
S3：该自移动表面行走机器人工作完成后，依据区域地图中主充电座的位置，返回主充电座。
实施例2
图3为本发明实施例2中自移动表面行走机器人回归主充电座的方法步骤流程图。如图3并参考图1和图4所示，在本实施例中自移动表面行走机器人1回归主充电座的方法与实施例1基本一致，不同之处在于，在S2中，自移动表面行走机器人开始行走，并自动确定主充电座，如将第一个发现的充电座确定为主充电座并在S1中建立的区域地图中记录其位置。又或者，机器人将地图中最大房间(通常对应卧室)中的充电座自动设为主充电座。需要说明的是，本发明可通过各种手段来识别充电座。如充电座本体发射红外信号，当机器人走到该充电座红外信号发射范围内，接收到该充电座的红外信号后将该充电座设置为主充电座，并可依据间隔该充电座的距离来确定该充电座的位置；又如在充电座上设标记，举例来说，设置反光材料，机器人发现标记即可识别充电座，并记录机器人的位置。在S3’中：若在工作过程中自移动表面行走机器人1需要充电，通过测距装置11判断该自移动表面行走机器人1本体距离主充电座是否在预设范围内，若是则寻找主充电座进行充电，否则寻找距离该自移动表面行走机器人1本体最近的充电座进行充电。
本发明还提供一种自移动表面行走机器人系统，包括：自移动表面行走机器人1、至少两个供其充电的充电座。当需要人工设定主充电座时，机器人系统还包含用户客户端2。所述自移动表面行走机器人1包括：测距装置11、行走单元12、驱动单元13、功能部件14、控制单元15和存储单元16；所述控制单元15分别与所述测距装置11、存储单元16和驱动单元13相连接，驱动单元13与所述的行走单元12相连接，所述驱动单元13接受控制单元15的指令，驱动所述行走单元12行走，所述控制单元15对测距装置11采集到的距离数据进行处理后建立区域地图并存储到存储单元16中。其中，测距装置可以采用摄像头组件、码盘、激光扫描测距仪等。所述的功能部件14可采用清扫部件、打蜡部件、安保报警部件、空气净化部件或/和磨光部件。
所述用户客户端2接收所述自移动地面处理机器人发送的地图数据，所述用户客户端2包括交互界面，用户可通过所述交互界面手动输入主充电座坐标；所述自移动地面处理机器人1采用上述实施例中的回归主充电座的方法。
综上两个实施例所述，本发明通过机器人完成工作后回到设定的主充电座位置，方便用户在机器人不工作时，按习惯在主充电座所在位置即可找到机器人；也可确定 机器人每次工作的出发点，把需要先工作的重要位置充电座设为主充电座，利于安排优先工作位置；或者将需清洁频率最高的地方来设置主充电座，提高机器人的利用效率。

Claims (11)

  1. 一种应用于自移动表面行走机器人系统回归主充电座的方法，所述机器人系统包含表面行走机器人和至少两个供其充电的充电座，其特征在于，包括如下步骤：
    S1：机器人建立区域地图；
    S2：设定一个充电座为主充电座并在区域地图中记录所述主充电座的位置；
    S3：该自移动表面行走机器人工作完成后，依据区域地图中主充电座的位置，返回主充电座。
  2. 如权利要求1所述的回归主充电座的方法，其特征在于，在S2中，手动确定主充电座或自动确定主充电座。
  3. 如权利要求2所述的回归主充电座的方法，其特征在于，在S2中，手动确定主充电座的步骤具体包括：
    在S1建立的区域地图中手动输入主充电座坐标。
  4. 如权利要求2所述的回归主充电座的方法，其特征在于，在S2中，自动确定主充电座的步骤具体包括：
    自移动表面行走机器人开始行走，将第一个发现的充电座确定为主充电座并在建立区域地图中记录其位置。
  5. 如权利要求1所述的回归主充电座的方法，其特征在于，在S3之前还包括：S3’：若在工作过程中自移动表面行走机器人需要充电，则寻找离该自移动表面行走机器人本体最近的充电座或主充电座进行充电。
  6. 如权利要求5所述的回归主充电座的方法，其特征在于，在S3’中，自移动表面行走机器人通过表面行走机器人的测距装置寻找离该自移动表面行走机器人本体最近的充电座进行充电。
  7. 如权利要求5所述的回归主充电座的方法，其特征在于，在S3’中，自移动表面行走机器人通过表面行走机器人的测距装置判断该自移动表面行走机器人本体距离主充电座是否在预设范围内，若是则寻找主充电座进行充电，否则寻找距离该自移 动表面行走机器人本体最近的充电座进行充电。
  8. 如权利要求1所述的回归主充电座的方法，其特征在于，在S1中，通过激光测距装置获得的测距数据来建立区域地图。
  9. 一种自移动表面行走机器人系统，包括：自移动表面行走机器人(1)和至少两个供其充电的充电座，所述自移动表面行走机器人(1)包括：测距装置(11)、行走单元(12)、驱动单元(13)、功能部件(14)、控制单元(15)和存储单元(16)；所述控制单元(15)分别与测距装置(11)、存储单元(16)和驱动单元(13)相连接，驱动单元(13)与所述的行走单元(12)相连接，驱动所述行走单元(12)行走，所述控制单元(15)对测距装置(11)采集到的距离数据进行处理后建立区域地图，并将区域地图存储到存储单元(16)中；
    其特征在于，所述自移动地面处理机器人(1)采用权利要求1-7任一项所述的回归主充电座的方法。
  10. 如权利要求9所述的自移动表面行走机器人系统，其特征在于，所述的功能部件(14)为清扫部件、打蜡部件、安保报警部件、空气净化部件或/和磨光部件。
  11. 权利要求9所述的自移动表面行走机器人系统，其特征在于，该自移动表面行走机器人系统还包括：用户客户端(2)，该用户客户端接收机器人发送的地图数据；
    所述用户客户端(2)设有交互界面，用户通过所述交互界面手动输入主充电座坐标。
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