WO2016070835A1 - 引导式虚拟墙系统 - Google Patents

引导式虚拟墙系统 Download PDF

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Publication number
WO2016070835A1
WO2016070835A1 PCT/CN2015/093955 CN2015093955W WO2016070835A1 WO 2016070835 A1 WO2016070835 A1 WO 2016070835A1 CN 2015093955 W CN2015093955 W CN 2015093955W WO 2016070835 A1 WO2016070835 A1 WO 2016070835A1
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WO
WIPO (PCT)
Prior art keywords
signal
lighthouse
robot
virtual wall
wall system
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Application number
PCT/CN2015/093955
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English (en)
French (fr)
Inventor
汤进举
Original Assignee
科沃斯机器人有限公司
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Publication date
Application filed by 科沃斯机器人有限公司 filed Critical 科沃斯机器人有限公司
Priority to EP15857127.3A priority Critical patent/EP3216377B1/en
Priority to JP2017524457A priority patent/JP2018500641A/ja
Priority to US15/524,543 priority patent/US20180004212A1/en
Publication of WO2016070835A1 publication Critical patent/WO2016070835A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to a guided virtual wall system, belonging to the technical field of small household appliance manufacturing.
  • the technical problem to be solved by the present invention is to provide a guided virtual wall system capable of restricting the robot from entering a certain area without missing the area where the virtual wall is located, and also enabling the The robot enters the restricted area across the virtual wall.
  • a guided virtual wall system includes a lighthouse and a robot, and a transmitting module of the lighthouse is configured to emit a first signal, and an area covered by the first signal is a lighthouse signal area, and the robot includes a signal with the lighthouse
  • the lighthouse signal receiving module corresponding to the transmitting module after the robot enters the lighthouse signal area and the first signal is detected by the lighthouse signal receiving module, the robot walks toward the lighthouse until the robot detects the second signal, and then crosses or exits the lighthouse signal. region.
  • the beacon signal transmitting module has a plurality of sub-signal transmitting modules, and each sub-signal transmitting module transmits sub-signals in different directions.
  • the first signal or the second signal has certain coding information.
  • the robot detects the second signal, it determines whether to cross the beacon signal region or exit the beacon signal region according to the coding information.
  • the plurality of sub-signals have different coding information.
  • the robot when the robot detects the second signal, it exits the beacon signal region.
  • the robot further includes an obstacle detecting module, and the second signal is generated by the robot detecting the obstacle.
  • the obstacle detection module is an infrared sensor, an ultrasonic sensor or a travel switch.
  • the guided virtual wall system further includes a second signal generator, the second signal generator is disposed on a side close to the lighthouse or disposed on the lighthouse, and the robot is correspondingly disposed There is a second signal sensor, and the second signal is generated by a second signal generator.
  • the area covered by the signal generated by the second signal generator is a second signal area, and the lighthouse is disposed inside the second signal area.
  • the second signal generator is a passive device or an active device.
  • the passive device is an electronic tag, a magnetic strip or a color card
  • the active device is an infrared emitter, an ultrasonic transmitter or a radio wave transmitter.
  • the lighthouse signal transmitting module is an infrared emitting module or an ultrasonic transmitting module.
  • the infrared emitting module or the ultrasonic transmitting module comprises one or more transmitting sources.
  • the robot is a ground cleaning robot, an air purification robot or a monitoring robot.
  • the present invention also provides a guided virtual wall system, including a lighthouse and a robot, the transmitting module of the lighthouse is directional to emit a first signal, and the area covered by the first signal is a lighthouse signal area, and the robot includes a The lighthouse signal receiving module corresponding to the lighthouse signal transmitting module, after the robot enters the lighthouse signal region and the first signal is detected by the lighthouse signal receiving module, the robot walks toward or away from the lighthouse until the robot detects the second signal. Crossing or exiting the lighthouse signal area, the second signal is generated by the robot walking a distance or detecting an obstacle.
  • the invention has the beneficial effects that not only can the robot enter a certain area by attaching a second signal in the virtual wall system, but also the area where the virtual wall is located is not missed, and the robot can also enter the restricted area across the virtual wall when needed. .
  • FIG. 1 is a schematic diagram of an overall application of a guided virtual wall of the present invention
  • Figure 2 is a partial enlarged view of a region C of Figure 1 of the present invention.
  • FIG. 3 is a schematic diagram of another overall application of the guided virtual wall of the present invention.
  • the virtual wall system of the present invention includes a lighthouse 11 and a robot 12.
  • the lighthouse 11 is typically located at the entrance to the area, such as the doorway of the room.
  • Each room has a door with a lighthouse of the virtual wall system of the present invention installed at the bottom of the side door frame.
  • the lighthouse emits a first signal to the other side of the door frame, the area covered by the first signal is the lighthouse signal area 13, and the lighthouse signal area 13 constitutes the virtual wall of the present invention.
  • the robot 12 may be a floor cleaning robot, an air purification robot, or a monitoring robot.
  • the robot 12 When the robot 12 detects the first signal, the robot 12 walks toward or away from the lighthouse 11 until the second signal is detected before exiting or crossing the lighthouse signal region 13.
  • exiting the lighthouse signal area 13 means leaving the lighthouse signal area 13 from the side that begins to enter the lighthouse signal area
  • crossing the lighthouse signal area 13 means leaving the lighthouse signal area 13 from the opposite side of the lighthouse signal area.
  • the lighthouse 11 of the present embodiment includes a lighthouse signal transmitting module, such as an infrared transmitting module, an ultrasonic transmitting module, etc., according to the signal strength requirement.
  • the infrared signal transmitting module or the ultrasonic transmitting module may include one or more emitting sources that emit in the same direction.
  • the robot 12 includes a lighthouse signal receiving module corresponding to the lighthouse signal transmitting module, such as an infrared receiving module, an ultrasonic receiving module, and the like.
  • the robot 12 further includes an obstacle detecting module, and the obstacle detecting module may be an infrared sensor, an ultrasonic sensor, a travel switch, or the like.
  • the lighthouse is disposed at the bottom of one side of the door frame of the room, and is directed to transmit the lighthouse signal, that is, the first signal, to the other side of the door frame through the lighthouse signal transmitting module, and the area covered by the first signal is the lighthouse signal area 13.
  • the robot 12 After the robot 12 enters the lighthouse signal area 13 and the first signal is detected by the lighthouse signal receiving module, the robot 12 walks toward the lighthouse 11; until the obstacle detection module on the robot 12 detects the obstacle and generates the second signal, the robot 12 Exit the lighthouse signal area 13.
  • the obstacle in this embodiment is the lighthouse 11.
  • the obstacle may also be other objects such as a door frame, a wall, or the like.
  • the robot 12 when the robot 12 detects the first signal, that is, the lighthouse signal, and walks toward the lighthouse 11, but the position of the robot 12 entering the lighthouse signal region 13 is random, the robot 12 can be oriented in this embodiment. Walking in the direction of the lighthouse can also walk away from the lighthouse 11. If the vehicle 12 is walking away from the lighthouse 11, as shown in FIG. 2, the robot 12 may encounter an obstacle such as another door frame or a wall away from the lighthouse 11, and there is a possibility that nothing can be touched, so it is necessary to set a predetermined distance to make the robot Within this predetermined distance, if an obstacle is detected, a second signal is generated to exit the lighthouse area 13. If not, the robot walks to the said A second signal is also generated after the predetermined distance to exit the lighthouse signal region 13. Of course, this predetermined distance can also be applied when the robot is walking toward the lighthouse 11.
  • the first signal that is, the lighthouse signal
  • the difference in this embodiment is that the second signal is no longer generated by the collision obstacle or after reaching a predetermined distance, but on the side close to the lighthouse or the lighthouse.
  • a second signal generator is added to generate the second signal, and the second signal sensor is correspondingly disposed on the robot 12.
  • the area covered by the signal generated by the second signal generator is the second signal area 14, and the second signal generator may be an active device (such as an infrared transmitter, an ultrasonic transmitter or a radio wave transmitter), It can be a passive device (such as an electronic tag, a magnetic strip, a color card, etc.).
  • the robot 12 When the lighthouse signal receiving module on the robot 12 detects the first signal, the robot 12 walks toward the lighthouse 11 until the robot 12 enters the second signal region 14, and the second signal sensor on the robot 12 detects the first signal. At the time of the two signals, the robot 12 exits the lighthouse signal area 13. It should be noted that the reason why the second signal generator is disposed in the lighthouse signal region 13 near the lighthouse is because the directional emitted lighthouse signal is spindle-shaped, and when the robot 12 detects the first signal, it faces the lighthouse. Walking can better ensure that it detects the second signal.
  • the lighthouse 11 can be disposed inside the second signal region 14 to prevent deformation or damage of the lighthouse 11 caused by the collision of the lighthouse 11 with the lighthouse 11, that is, equivalent to the second signal being outside the lighthouse.
  • a virtual protective cover is formed.
  • the first signal or the second signal has certain coding information, and can mark a specific area such as a room.
  • the robot detects the second signal, it determines the cross according to the coded information. Pass the lighthouse signal area or exit the lighthouse signal area. Specifically, the robot can access the encoding information and the cleaning state information corresponding to each encoding information.
  • the robot detects a specific encoding information, the robot further extracts the cleaning state information corresponding to the encoding information, and performs corresponding according to the cleaning state information.
  • the action for example, when the cleaning status information is cleared, the robot exits the lighthouse signal area; when the cleaning status information is uncleaned, the robot crosses the lighthouse signal area.
  • the infrared transmitting module and the ultrasonic transmitting module generating the first signal may emit infrared rays or ultrasonic waves with the encoded information
  • active devices such as infrared emitters, ultrasonic transmitters or radio wave transmitters capable of generating the second signal may emit bands Infrared, ultrasonic or radio waves encoding the information
  • passive components such as electronic tags and magnetic strips that generate the second signal may first store the encoded information, and then read by the robot 12 as it enters the second signal region Encoding information, the color card can distinguish rooms by different colors, and its color also constitutes the encoded information.
  • the cleaning robot is taken as an example to illustrate that the robot 12 can access the room identification information of the coded information and the cleaning state information of each room.
  • the robot 12 detects the lighthouse signal and walks toward the lighthouse, when the second signal region 14 is walked, the code information of the second signal is read (take the case of walking to the room No. 1), and the robot recognizes the room as the room No. 1, further The stored cleaning status information of each room is retrieved, and it is judged whether the room No. 1 has been cleaned. If it is judged that the room No. 1 has been cleaned, the room is not entered, and the lighthouse signal area 13 is exited, that is, the light source signal area 13 is entered from the beginning.
  • One side leaves the lighthouse signal area 13, in other words, the robot 12 does not cross the lighthouse signal area 13, but exits from the original entry direction; if it is judged that the room No. 1 has not been cleaned, the room 1 is cleaned, and the robot 12
  • the other side opposite the side entering the lighthouse signal area 13 leaves the lighthouse signal area 13, that is to say the robot 12 crosses the lighthouse signal area 13. After the cleaning is completed, leave the room and update the cleaning status of room 1 to cleaned.
  • the beacon signal transmitting module has a plurality of sub-signal transmitting modules, and each sub-signal module transmits sub-signals in different directions.
  • the first signal includes two sub-signals that are transmitted in different directions.
  • the first signal of the lighthouse 44 located in the room No. 4 includes two mutually perpendicular sub-signals 441 and sub-signals 442.
  • the room 4 is divided into three areas by a lighthouse, preferably, Sub-signal 441 and sub-signal 442 carry different encoding information so that the robot recognizes different regions. It should be noted that those skilled in the art can adjust the set number of sub-signals and the launch angle of the sub-signals according to requirements to improve the working efficiency of the robot.
  • first signal or the second signal with the encoding information of this embodiment can also be applied in the first embodiment, the second embodiment and the third embodiment, when the robot 12 enters the lighthouse signal area 13 by the lighthouse.
  • the robot 12 After the signal receiving module detects the first signal, the robot 12 walks toward the lighthouse 11 until the robot 12 detects the second signal and determines to cross the lighthouse signal region or exit the lighthouse signal region based on the encoded information.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种引导式虚拟墙系统，所述系统包括灯塔（11、44）和机器人（12），所述灯塔（11、44）的发射模块定向发射第一信号，所述第一信号所覆盖的区域即为灯塔信号区域（13），所述机器人（12）包括一个与所述灯塔信号发射模块对应的灯塔信号接收模块，当机器人（12）进入灯塔信号区域（13）由所述灯塔信号接收模块检测到第一信号后，机器人（12）朝向灯塔（11、44）方向行走，直到机器人（12）检测到第二信号后才跨过或退出灯塔信号区域（13）。所述系统能够限制机器人（12）进入某个区域，并且不会遗漏虚拟墙所在的区域，同时也能够在需要时使机器人（12）跨越虚拟墙进入限制区域。

Description

引导式虚拟墙系统 技术领域
本发明涉及一种引导式虚拟墙系统，属小家电制造技术领域。
背景技术
现代生活中，机器人的应用越来越广泛，在实际工作中希望机器人有一个虚拟墙信号来限制它进入某个区域。现有的虚拟墙构成方式主要有两种：1、通过磁界线，即将磁条贴在限制区域的边界上，当机器人检测到磁条后避开，该方式操作较为繁琐；2、通过有源发射器件，如美国专利US7579803B2，通过一发射装置发射红外信号或超声波信号等，当机器人检测到这些信号后避开，该方式虽然操作方便，但会遗漏对部分信号覆盖区域的清扫。另外，上述方式均通过虚拟墙对限制区域绝对限制，但实际操作过程中，机器人有时需要跨过虚拟墙进入限制区域，现有技术方案均不能实现。
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，提供一种引导式虚拟墙系统，能够限制机器人进入某个区域，并且不会遗漏虚拟墙所在的区域，同时也能够在需要时使机器人跨越虚拟墙进入限制区域。
本发明所要解决的技术问题是通过如下技术方案实现的：
一种引导式虚拟墙系统，包括灯塔和机器人，所述灯塔的发射模块定向发射第一信号，所述第一信号所覆盖的区域即为灯塔信号区域，所述机器人包括一个与所述灯塔信号发射模块对应的灯塔信号接收模块，当机器人进入灯塔信号区域由所述灯塔信号接收模块检测到第一信号后，机器人朝向灯塔方向行走，直到机器人检测到第二信号后才跨过或退出灯塔信号区域。
较佳的，所述灯塔信号发射模块具有多个子信号发射模块，各个子信号发射模块发送不同方向的子信号。
本发明一实施例中，所述第一信号或第二信号具有一定编码信息，当机器人检测到第二信号后，根据所述编码信息确定跨过灯塔信号区域或退出灯塔信号区域。
较佳的，所述多个子信号具有不同的编码信息。
本发明另一实施例中，当机器人检测到第二信号后，退出灯塔信号区域。
优选的，所述机器人还包括障碍物检测模块，所述第二信号由机器人检测到障碍物后产生。
优选的，所述障碍物检测模块为红外传感器、超声波传感器或行程开关。
在本发明又一实施例中，所述引导式虚拟墙系统还包括第二信号发生器，所述第二信号发生器设置在靠近灯塔的一侧或者设置在灯塔上，所述机器人上对应设有第二信号感应器，所述第二信号由第二信号发生器产生。
较佳的，所述第二信号发生器产生的信号所覆盖的区域为第二信号区域，所述灯塔设于所述第二信号区域内部。
优选的，所述第二信号发生器为无源器件或有源器件。
优选的，所述无源器件为电子标签、磁条或颜色卡；所述有源器件为红外发射器、超声波发射器或无线电波发射器。
优选的，所述灯塔信号发射模块为红外线发射模块或超声波发射模块。
优选的，所述红外线发射模块或超声波发射模块包括一个或多个发射源。
优选的，所述机器人为地面清洁机器人、空气净化机器人或监控机器人。
本发明还提供一种引导式虚拟墙系统，包括灯塔和机器人，所述灯塔的发射模块定向发射第一信号，所述第一信号所覆盖的区域即为灯塔信号区域，所述机器人包括一个与所述灯塔信号发射模块对应的灯塔信号接收模块，当机器人进入灯塔信号区域由所述灯塔信号接收模块检测到第一信号后，机器人朝向或背离灯塔方向行走，直到机器人检测到第二信号后才跨过或退出灯塔信号区域，所述第二信号由机器人行走一段距离或检测到障碍物后产生。
本发明的有益效果在于通过在虚拟墙系统中附设一个第二信号不仅能够限制机器人进入某个区域，并且不会遗漏虚拟墙所在的区域，同时也能够在需要时使机器人跨越虚拟墙进入限制区域。
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是本发明引导式虚拟墙的整体应用示意图；
图2是本发明图1所示区域C的局部放大图；
图3是本发明引导式虚拟墙的另一整体应用示意图。
具体实施方式
图1是本发明引导式虚拟墙的整体应用示意图，如图1所示，本发明虚拟墙系统包括灯塔11和机器人12。所述灯塔11一般设置在区域的入口处，如房间的门口。图 1中有三个房间，分别为①号房间，②号房间和③号房间。每个房间都有一道门，在一侧门框的底部安装有本发明虚拟墙系统的灯塔。所述灯塔向门框的另一侧边发射第一信号，所述第一信号所覆盖的区域即为灯塔信号区域13，灯塔信号区域13构成了本发明所说的虚拟墙。所述机器人12可以为地面清洁机器人、空气净化机器人或监控机器人等。当机器人12检测到所述第一信号时，机器人12便朝向或者背离灯塔11方向行走，直到检测到第二信号后，才退出或跨过灯塔信号区域13。其中，退出灯塔信号区域13是指从开始进入灯塔信号区域的一侧离开灯塔信号区域13，而跨过灯塔信号区域13是指从进入灯塔信号区域的相对一侧离开灯塔信号区域13。下面举四个实施例来详细的描述本发明。
实施例一
图2是本发明图1所示区域C的局部放大图，如图2所示，本实施例中灯塔11包括一个灯塔信号发射模块，如红外发射模块、超声发射模块等，根据信号强度的需要，红外信号发射模块或超声波发射模块可以包括一个或多个朝同一方向发射的发射源。机器人12包括一个与所述灯塔信号发射模块对应的灯塔信号接收模块，如红外接收模块、超声接收模块等。此外，机器人12还包括障碍物检测模块，所述障碍物检测模块可以为红外传感器、超声波传感器或行程开关等。灯塔设置在房间的一侧门框底部，其通过灯塔信号发射模块向门框的另一侧定向发射灯塔信号即第一信号，所述第一信号覆盖的区域即为灯塔信号区域13。当机器人12进入灯塔信号区域13由所述灯塔信号接收模块检测到第一信号后，机器人12朝灯塔11方向行走；直到机器人12上的障碍物检测模块检测到障碍物后产生第二信号后机器人12退出灯塔信号区域13。其中，本实施例中的障碍物为灯塔11，在本发明另一实施例中障碍物也可以是其它物体，如门框、墙壁等。
实施例二
在实施例一中，当机器人12检测到第一信号即灯塔信号后朝向灯塔11方向行走，但实际上机器人12进入灯塔信号区域13的位置是随机的，所以本实施例中机器人12既可以朝向灯塔方向行走也可以背离灯塔11方向行走。而如果背离灯塔11方向行走，如图2所示，机器人12可能碰到远离灯塔11的障碍物如另一门框或者墙壁，也有可能什么也碰不到，因此有必要设置一预定距离，使机器人在这一预定距离内，如检测到障碍物即产生第二信号使其退出灯塔区域13，如未碰到，则当机器人行走达到所述 预定距离后同样产生第二信号，使其退出灯塔信号区域13。当然，这一预定距离也可应用在机器人朝向灯塔11方向行走的时候。
实施例三
与实施例一和实施例二相比，本实施例的不同之处在于，第二信号不再是由碰撞障碍物或者达到一预定距离后时产生，而是在靠近灯塔的一侧或者灯塔上增设有一第二信号发生器用以产生第二信号，机器人12上对应设有第二信号感应器。所述第二信号发生器产生的信号所覆盖的区域为第二信号区域14，所述第二信号发生器可以是有源器件(如红外发射器、超声波发射器或无线电波发射器)，也可以是无源器件(如电子标签、磁条、颜色卡等)。当机器人12上的灯塔信号接收模块检测到第一信号后机器人12即朝灯塔11方向行走，直到机器人12进入所述第二信号区域14内，由机器人12上的第二信号感应器检测到第二信号时，机器人12才退出灯塔信号区域13。需要说明的是，这里之所以将第二信号发生器设置在靠近灯塔一侧的灯塔信号区域13内是因为定向发射的灯塔信号是纺锤形的，当机器人12检测到第一信号后朝向灯塔方向行走能更好的保证其检测到所述第二信号。做为一种更优的实施方式，可以将灯塔11设置在第二信号区域14内部，以防止因机器人对灯塔11的碰撞造成灯塔11变形或损坏，即相当于由第二信号在灯塔的外部形成了一个虚拟的保护罩。
实施例四
本实施例与上述三实施例的不同之处在于，第一信号或第二信号具有一定编码信息，能够标记一特定区域例如房间，当机器人检测到第二信号后，根据所述编码信息确定跨过灯塔信号区域或退出灯塔信号区域。具体为，机器人能够存取所述编码信息以及每个编码信息所对应的清扫状态信息，当机器人检测到一特定编码信息后进一步提取该编码信息所对应的清扫状态信息，根据清扫状态信息执行对应的动作，例如当清扫状态信息为已清扫时，机器人退出灯塔信号区域；当清扫状态信息为未清扫时，机器人跨过灯塔信号区域。其中，产生第一信号的红外发射模块、超声发射模块可以发射带所述编码信息的红外线或超声波，产生第二信号的有源器件如红外发射器、超声波发射器或无线电波发射器可以发射带所述编码信息的红外线，超声波或无线电波，产生第二信号的无源器件如电子标签和磁条可以先存储所述的编码信息，而后由机器人12进入第二信号区域内时读取所述编码信息，颜色卡可以通过不同的颜色区分房间，其颜色也构成所述编码信息。
本实施例以清洁机器人为例来说明，机器人12能够存取所述编码信息的房间标识信息和各房间的清扫状态信息。当机器人12检测到灯塔信号后朝灯塔方向行走，行走至第二信号区域14时读取第二信号的编码信息(以行走至①号房间为例)，机器人识别该房间为①号房间，进一步调取所存储的各房间清扫状态信息，判断①号房间是否已经清扫过，若判断①号房间已经清扫过，则不进入房间，退出灯塔信号区域13，即从开始进入灯塔信号区域13的那一侧离开灯塔信号区域13，换句话说，机器人12并没有跨过灯塔信号区域13，而是从原进入方向退出；若判断①号房间未清扫过，则进入①号房间清扫，机器人12从与进入灯塔信号区域13的那侧相对的另一侧离开灯塔信号区域13，也就是说机器人12跨过了灯塔信号区域13。清扫完成后，离开房间并把①号房间的清扫状态更新为已清扫。
实施例五
本实施例与上述实施例四的不同之处在于，灯塔信号发射模块具有多个子信号发射模块，各个子信号模块发送不同方向的子信号。第一信号包括两个朝不同方向发射的子信号。如图3所示，位于④号房间内的灯塔44的第一信号包括两个相互垂直的子信号441和子信号442，本实施例通过一个灯塔将④号房间划分为3个区域，优选的，子信号441和子信号442带有不同的编码信息，以便机器人识别不同的区域。需要说明的是，本领域的技术人员可以根据需要对应调整子信号的设置数量以及子信号的发射角度，以提高机器人的工作效率。
另需说明的是，本实施例的第一信号或第二信号带有编码信息也可应用在实施例一、实施例二和实施例三中，当机器人12进入灯塔信号区域13由所述灯塔信号接收模块检测到第一信号后，机器人12朝向灯塔11方向行走，直到机器人12检测到第二信号后根据所述编码信息确定跨过灯塔信号区域或退出灯塔信号区域。

Claims (15)

  1. 一种引导式虚拟墙系统，包括灯塔(11)和机器人(12)，所述灯塔(11)的发射模块定向发射第一信号，所述第一信号所覆盖的区域即为灯塔信号区域(13)，所述机器人(12)包括一个与所述灯塔信号发射模块对应的灯塔信号接收模块，其特征在于，当机器人(12)进入灯塔信号区域(13)由所述灯塔信号接收模块检测到第一信号后，机器人(12)朝向灯塔(11)方向行走，直到机器人(12)检测到第二信号后才跨过或退出灯塔信号区域(13)。
  2. 如权利要求1所述的引导式虚拟墙系统，其特征在于，所述灯塔信号发射模块具有多个子信号发射模块，各个子信号发射模块发送不同方向的子信号。
  3. 如权利要求2所述的引导式虚拟墙系统，其特征在于，所述第一信号或第二信号具有一定编码信息，当机器人检测到第二信号后，根据所述编码信息确定跨过灯塔信号区域或退出灯塔信号区域。
  4. 如权利要求3所述的引导式虚拟墙系统，其特征在于，所述多个子信号具有不同的编码信息。
  5. 如权利要求1所述的引导式虚拟墙系统，其特征在于，当机器人检测到第二信号后，退出灯塔信号区域。
  6. 如权利要求1-5任一项所述的引导式虚拟墙系统，其特征在于，所述机器人(12)还包括障碍物检测模块，所述第二信号由机器人(12)检测到障碍物后产生。
  7. 如权利要求6所述的引导式虚拟墙系统，其特征在于，所述障碍物检测模块为红外传感器、超声波传感器或行程开关。
  8. 如权利要求1-5任一项所述的引导式虚拟墙系统，其特征在于，所述引导式虚拟墙系统还包括第二信号发生器，所述第二信号发生器设置在靠近灯塔的一侧或者设置在灯塔上，所述机器人(12)上对应设有第二信号感应器，所述第二信号由第二信号发生器产生。
  9. 如权利要求8所述的引导式虚拟墙系统，其特征在于，所述第二信号发生器产生的信号所覆盖的区域为第二信号区域，所述灯塔设于所述第二信号区域内部。
  10. 如权利要求9所述的引导式虚拟墙系统，其特征在于，所述第二信号发生器为无源器件或有源器件。
  11. 如权利要求10所述的引导式虚拟墙系统，其特征在于，所述无源器件为电子标签、磁条或颜色卡；所述有源器件为红外发射器、超声波发射器或无线电波发射器。
  12. 如权利要求1所述的引导式虚拟墙系统，其特征在于，所述灯塔信号发射模块为红外线发射模块或超声波发射模块。
  13. 如权利要求12所述的引导式虚拟墙系统，其特征在于，所述红外线发射模块或超声波发射模块包括一个或多个发射源。
  14. 如权利要求1所述的引导式虚拟墙系统，其特征在于，所述机器人为地面清洁机器人、空气净化机器人或监控机器人。
  15. 一种引导式虚拟墙系统，包括灯塔(11)和机器人(12)，所述灯塔(11)的发射模块定向发射第一信号，所述第一信号所覆盖的区域即为灯塔信号区域(13)，所述机器人(12)包括一个与所述灯塔信号发射模块对应的灯塔信号接收模块，其特征在于，当机器人(12)进入灯塔信号区域(13)由所述灯塔信号接收模块检测到第一信号后，机器人(12)朝向或背离灯塔(11)方向行走，直到机器人(12)检测到第二信号后才跨过或退出灯塔信号区域(13)，所述第二信号由机器人(12)行走一段距离或检测到障碍物后产生。
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JP2018500641A (ja) 2018-01-11
CN105629972B (zh) 2018-05-18
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