WO2020155717A1 - Système de robot mobile autonome - Google Patents

Système de robot mobile autonome Download PDF

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Publication number
WO2020155717A1
WO2020155717A1 PCT/CN2019/115091 CN2019115091W WO2020155717A1 WO 2020155717 A1 WO2020155717 A1 WO 2020155717A1 CN 2019115091 W CN2019115091 W CN 2019115091W WO 2020155717 A1 WO2020155717 A1 WO 2020155717A1
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WO
WIPO (PCT)
Prior art keywords
charging
self
boundary
boundary line
charging station
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Application number
PCT/CN2019/115091
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English (en)
Chinese (zh)
Inventor
袁立超
朱绍明
Original Assignee
苏州科瓴精密机械科技有限公司
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Publication date
Application filed by 苏州科瓴精密机械科技有限公司 filed Critical 苏州科瓴精密机械科技有限公司
Publication of WO2020155717A1 publication Critical patent/WO2020155717A1/fr

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    • 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

Definitions

  • the invention relates to the field of intelligent control, in particular to a self-moving robot system.
  • random mowing is a major low-cost method for mowing robots. That is, the robot moves forward in a delineated range such as an electronic boundary until it encounters an obstacle or boundary, rotates a random angle, and then continues to move forward until it encounters an obstacle or boundary again, and then does the same process, and so on.
  • the lawn mower will collide with the charging station in the work area, which may damage the charging station or the lawn mower.
  • the purpose of the present invention is to provide a self-moving robot system with a longer service life.
  • the present invention provides a self-moving robot system, including a self-moving robot, a charging station and a non-closed boundary line defining a working area and a charging channel.
  • the self-moving robot has a central axis and a central axis.
  • the self-mobile robot is divided into two sides, and boundary sensors are set on both sides.
  • the charging channel connects the charging station and the working area, and the working area is only connected to the charging station through the charging channel, wherein: y ⁇ x, x is the distance between the boundary sensors on both sides, y is the width of the charging channel, and the boundary sensor is used to sense the boundary signal or the charging signal sent by the boundary line.
  • the boundary line in a working state, sends out the boundary signal, the boundary sensor receives the boundary signal, and the self-mobile robot avoids the boundary line.
  • the boundary line in the charging state, sends out the charging signal different from the boundary signal, the boundary sensor receives the charging signal, and the self-moving robot moves along the The boundary line returns to the charging station.
  • the charging station is at least partially surrounded by the working area.
  • the charging station is located in the middle of the working area, and the boundary line bypasses at least three sides of the charging station.
  • the charging station is located outside the working area.
  • the charging channel includes a first boundary line and a second boundary line that are parallel to each other, and there are multiple rows between the first boundary line and the second boundary line.
  • the length of the plurality of rows of nails is equal to the width of the charging channel.
  • both ends of the non-closed boundary line are connected to the same side of the charging station
  • the self-moving robot is a lawn mower.
  • the effect of avoiding the charging station is achieved by changing the wiring scheme, without any other signal, low cost, reliable in use, and avoiding the collision of the lawn mower to the charging station during the working process, so as to improve the service life of the charging station
  • Fig. 1 is a schematic diagram of a self-moving robot in a preferred embodiment of the present invention
  • FIG. 2 is a schematic diagram of wiring of the self-moving robot system in the first embodiment of the present invention
  • FIG. 3 is a schematic diagram of wiring of a self-moving robot system in the second embodiment of the present invention.
  • FIG. 4 is a schematic diagram of wiring of a self-moving robot system in the third embodiment of the present invention.
  • Fig. 5 is a schematic diagram of wiring of a self-moving robot system in a fourth embodiment of the present invention.
  • the self-moving robot system of the present invention includes a self-moving robot, a charging station, and a non-closed boundary line defining a working area and a charging channel.
  • the self-moving robot can be a lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the working area.
  • a self-mobile robot is taken as an example of a lawn mower for specific description. Accordingly, the working area may be a lawn.
  • the self-moving robot is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment, etc., suitable for unattended equipment.
  • the self-moving robot is a lawn mower, which includes a body, a walking module arranged on the body, a limit detection module, an energy module, and a control module.
  • the lawn mower also includes a work module, which is used to perform specific tasks of the lawn mower.
  • the work module includes a lawn mower blade, a cutting motor, etc., and may also include a mowing height adjustment mechanism and other components that optimize or adjust the mowing effect. .
  • the walking module is used to drive the lawn mower to walk and turn in the working area, and it is usually composed of a wheel set installed on the lawn mower and a drive motor that drives the wheel set to travel.
  • the boundary detection module is used to detect the relative position relationship between the lawn mower and the boundary line, which may specifically include one or more of the distance, angle, and the inner and outer directions of the boundary line.
  • the composition and principle of the limit detection module can be various, such as infrared, ultrasonic, collision detection, magnetic induction, etc., and the location and number of sensors and corresponding signal generating devices are also diverse.
  • the energy module is used to provide energy for various tasks of the lawn mower, and it includes a rechargeable battery and a charging connection structure.
  • the charging connection structure is usually a charging electrode sheet that can be exposed outside the lawn mower.
  • the control module is used to control the automatic walking and working of the lawn mower. It is electrically connected with the walking module and the limit detection module. It is the core component of the lawn mower. Its functions include controlling the working module to start or stop, generating a walking path and Control the walking module according to the walking, judge the power of the energy module and promptly instruct the lawn mower to return to the charging station for automatic docking and charging.
  • the control module usually includes a single chip microcomputer, a memory and other peripheral circuits.
  • the above-mentioned lawn mower also includes various sensors for sensing the walking state of the lawn mower, such as: tipping, ground-off, collision sensors, etc., which will not be detailed here.
  • the lawn mower and the boundary line defining its working area constitute a self-mobile robot system
  • the self-mobile robot system also includes a charging station.
  • the charging station can be located inside or outside the work area, connected to the mains or other power supply system, for the lawn mower to return to charging.
  • the charging station can transmit pulse coded signals along the boundary line to form an electromagnetic signal near the boundary line.
  • the control module can control the operation of the drive motor according to the change in the strength of the electromagnetic signal near the boundary line and the difference between the internal and external signals obtained by the state sensor. , So as to make the lawn mower turn to avoid the boundary line in time and smoothly return to the charging station along the boundary line for charging.
  • the following is a detailed description of how the lawn mower avoids collision with the charging station when walking. Wiring method.
  • the charging station 200 is arranged on the edge of the working area 300.
  • the lawn mower 100 includes a body 10, a controller 30, a pair of driving wheels 21 arranged on the body, a pair of walking motors 25 that respectively drive the two driving wheels, at least one driven wheel 23, a cutting assembly 41, and a driving cutting assembly 41 The cutting motor 43, the boundary line sensor 60 and so on.
  • the lawn mower 10 has a central axis AR.
  • the central axis AR divides the lawn mower into two sides, namely the left and right sides, and the distance between the boundary sensors on the left and right sides is x .
  • the left and right sides here are only used to illustrate the different parts of the lawn mower on both sides of the central axis, and are not specifically limited.
  • the left and right sides are respectively provided with boundary line sensors, and the preferred boundary line sensors include a left sensor and a right sensor which are symmetrically arranged about the central axis of the body.
  • the boundary line 340 is electrically connected to the charging station 200, that is, the boundary line 340 and the charging station 200 form a closed circuit together.
  • the boundary line 340 is non-enclosed and defines the working area 300 and the charging channel 400.
  • the working area 300 only passes through the charging channel 400 is connected to the charging station 200.
  • the signal generator in the charging station 200 causes the boundary line 340 to send a signal
  • the boundary line sensor 60 detects the signal
  • the controller 30 adjusts the posture and walking path of the lawnmower according to the signal.
  • the signal sent by the boundary line 340 may be a boundary signal or a charging signal, and the boundary signal and the charging signal may be the same or different.
  • the charging station 200 is at least partially surrounded by the working area 300. Taking the charging station 200 as a quadrilateral as an example, the charging station 200 extends from the edge of the working area 300 into the working area. In 300, the charging channel 400 is located inside the working area 300, and the boundary line 340 bypasses at least 1/3 of the circumference of the charging station.
  • the boundary line forming the charging channel 400 includes a first section 403 and a second section 405 parallel to each other.
  • the first section 403 and the second section 405 are both connected to the same side of the charging station 200, and the first section 403 to the second section
  • the distance of section 405 is the width y of the charging channel 400, where y ⁇ x, so as to prevent the mower from walking through the middle of the two sections and collide with the charging station 200.
  • the distance between the two sections y is not It is less than 2/3 of the pitch of the border sensor 60 of the lawnmower, y ⁇ 2/3*x, that is, to prevent failure when the lawnmower returns to the charging station 200 along the boundary line. That is to say, the width of the charging channel 400 needs to ensure that the lawn mower will not enter when it is working, and it can return reliably when it returns to charging.
  • the boundary line bypassing a part of the charging station 200 has a preset distance m from the charging station 200. Because the boundary formed by the boundary line 340 is invisible, the lawn mower part is located outside the boundary line 340 The situation is also permissible. In the working state, the boundary line 340 sends out a boundary signal, and the boundary sensor 60 receives the boundary signal.
  • the lawn mower avoids the boundary line, and there are many ways to avoid it, such as stopping first, and then moving forward.
  • Retreat in a straight line in the direction of travel (the retreat distance may be zero), and then rotate an angle on the spot and continue forward; or do not retreat, follow the arc in the forward direction, and continue directly when the robot direction and the original direction reach a random angle Forward. Particularly in the latter, it may be partially located outside the boundary line. Therefore, the distance m close to the boundary line of the charging station 200 needs to be greater than the longest distance of the portion of the lawn mower located outside the boundary line.
  • the lawn mower When the lawn mower detects that the energy is insufficient, it sends a signal to the charging station 200.
  • the signal generator in the charging station 200 causes the boundary line 340 to send a charging signal different from the boundary signal, and the lawn mower returns to the charging station 200 along the boundary line 340.
  • the lawn mower can select the shortest boundary line to recharge according to the distance between its position and the charging station 200.
  • the row of nails 401 can be used to help the wiring to ensure the distance y between the two sections of the charging channel 400, that is, there are multiple rows of nails between the first section and the second section, and the length of each row of nails Equal to the length of y.
  • the row of nails it is convenient to fix the two sections of the charging channel and ensure the distance between the two sections.
  • the charging station 200 can be considered to be completely surrounded by the working area 300.
  • the charging station 200 is roughly located in the middle of the working area 300.
  • the boundary line 340 is at least Bypassing the three sides of the charging station 200, the preferred circumference of the charging station 200 bypassed by the boundary line 340 is the circumference of the charging station minus the width y of the charging channel 400, although the charging station 200 is set in the working area 300 In the middle, when the lawn mower is working, it avoids the boundary line 340 based on the boundary signal, and thus avoids the charging station 200.
  • the distance from the boundary line of the charging station 200 to the charging station 200 and the width of the charging channel 400 are the same as those in the first embodiment, which will not be repeated here.
  • the charging station 200 can be considered to be all located outside the working area 300, and the charging channel 400 is located outside the outer contour of the working area 300. Due to the limitation of the width y of the charging channel 400, there is only The boundary line of the charging channel 400 is close to the charging station 200, and the lawn mower will not enter the charging channel 400 or approach the charging station 200 in the working state, so there will be no collision with the charging station 200.
  • the width setting of the charging channel is also the same as that of the first embodiment, and will not be repeated here.
  • the preferred fourth embodiment of the present invention is different from the first embodiment in that the two ends of the boundary line 340 are connected to the adjacent two sides of the charging station 200, which can also prevent the lawn mower from colliding in the working state. To the charging station 200.
  • the charging station is partially surrounded by setting a boundary line, and a charging channel from the working area to the charging station is formed.
  • the width of the charging channel is set reasonably, so as to avoid the lawn mower from colliding with the charging station during the working process to improve the charging The service life of the station.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Harvester Elements (AREA)

Abstract

L'invention concerne un système de robot mobile autonome, comprenant un robot mobile autonome, une station de charge (200) et une ligne de délimitation non fermée (340) délimitant une zone de travail (300) et un passage de charge (400). Le robot mobile autonome est pourvu d'un axe central (AR), l'axe central (AR) divisant le robot mobile autonome en deux côtés, des capteurs de délimitation (60) étant respectivement disposés sur les deux côtés. Le passage de charge (400) relie la station de charge (200) à la zone de travail (300), la zone de travail (300) étant reliée à la station de charge (200) uniquement au moyen du passage de charge (400). Selon l'invention, y < x, où x est la distance entre les capteurs de délimitation (60) des deux côtés, et y est la largeur du passage de charge (400). Les capteurs de délimitation (60) servent à détecter la ligne de délimitation (340) et à émettre un signal de délimitation ou un signal de charge. Le présent système permet d'éviter la station de charge (200) au moyen de la modification de la disposition de la ligne, sans nécessiter d'autres signaux, ce qui est peu coûteux et fiable lors de l'utilisation.
PCT/CN2019/115091 2019-02-01 2019-11-01 Système de robot mobile autonome WO2020155717A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910105454.8A CN109765899A (zh) 2019-02-01 2019-02-01 自移动机器人系统
CN201910105454.8 2019-02-01

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WO2020155717A1 true WO2020155717A1 (fr) 2020-08-06

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CN109765899A (zh) * 2019-02-01 2019-05-17 苏州科瓴精密机械科技有限公司 自移动机器人系统
CN110162055B (zh) * 2019-05-30 2023-08-22 苏州科瓴精密机械科技有限公司 自动工作系统
CN110308721B (zh) * 2019-06-16 2024-05-07 宁波祈禧智能科技股份有限公司 一种用于限定室外移动机器人工作区域的光电围栏
CN112743534B (zh) * 2019-10-29 2022-09-06 苏州宝时得电动工具有限公司 自主机器人及其移动控制方法、装置和存储介质
WO2021114988A1 (fr) * 2019-12-11 2021-06-17 苏州宝时得电动工具有限公司 Robot autonome et son procédé de commande, et support de stockage informatique
CN111290388B (zh) * 2020-02-25 2022-05-13 苏州科瓴精密机械科技有限公司 路径追踪方法、系统，机器人及可读存储介质
CN114489034A (zh) * 2020-11-13 2022-05-13 苏州科瓴精密机械科技有限公司 机器人自动充电方法、系统，机器人及存储介质
CN114545914B (zh) * 2020-11-24 2024-05-07 苏州科瓴精密机械科技有限公司 自移动机器人充电系统及自移动机器人充电方法

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