WO2021036643A1

WO2021036643A1 - Charging base, method, and system for realizing robot avoidance based on infrared light

Info

Publication number: WO2021036643A1
Application number: PCT/CN2020/104953
Authority: WO
Inventors: 杨勇; 吴泽晓; 罗治佳
Original assignee: 深圳市杉川机器人有限公司
Priority date: 2019-08-26
Filing date: 2020-07-27
Publication date: 2021-03-04
Also published as: CN110488831A

Abstract

A charging base, a method, and a system for realizing robot avoidance based on infrared light. The method comprises: step S1, determining whether a robot starts from a charging base, and if so, executing step S2, and if not, executing step S3; step S2, a robot recording the position of the charging base, and the robot creating, in a map, a virtual obstacle having an area; the robot detecting, in real time, whether the virtual obstacle is in a movement path, and if so, the robot changing the movement path, and continuing the execution of a task; step S3, activating a near-range infrared signal transmission function of the charging base, and the robot detecting, in real time, whether there is a near-range infrared signal; if not, the robot continuing the execution of the task and continuously detecting the virtual obstacle; if so, the robot creating, according to the near-range infrared signal and in the map, the virtual obstacle having the area, and the robot detecting, in real time, whether the virtual obstacle is in the movement path; if so, the robot changing the movement path and continuing the execution of the task; and if not, the robot continuing the execution of the task and continuing to perform real-time detection.

Description

Charging base, method and system for realizing robot avoidance based on infrared light

Cross-references to related applications

This disclosure claims the priority of a Chinese patent application filed with the Chinese Patent Office on August 26, 2019, with the application number CN201910793146.9, titled "Charging base and method and system for robot avoidance based on infrared light", and its entire content Incorporated in this disclosure by reference.

Technical field

The present disclosure relates to the technical field of mobile robot navigation and positioning, and in particular to a charging stand, method and system for robot avoidance based on infrared light.

Background technique

The current infrared light-based charging seat avoidance technology does not solve the problem of the mobile robot colliding with the charging seat when it is close to the charging seat, and a separate infrared light emitting lamp is required to transmit infrared seat avoidance signals with a small range.

The information disclosed in the background section is only intended to deepen the understanding of the overall background of the present disclosure, and should not be regarded as an acknowledgement or any form of suggestion that the information constitutes the prior art already known to those skilled in the art.

Based on the above reasons, the applicant proposes a charging stand, method and system for robot avoidance based on infrared light, aiming to overcome the above problems.

Summary of the invention

In order to meet the above requirements, the purpose of the present disclosure is to provide a charging stand, method and system for robot avoidance based on infrared light. Without adding other special infrared emitting lamps, relying on hardware circuit design, a single infrared emitting lamp can emit 500mm long-distance signal can also transmit 50mm short-distance signal. Only the original infrared emitting lamp can realize the mobile robot avoiding seat technology, which overcomes the problem of the traditional rechargeable seat being hit by the seat, and greatly improves the user experience.

In order to achieve the above objectives, the present disclosure adopts the following technical solutions:

A charging stand for robot avoidance based on infrared light includes a main body of a charging stand with an infrared emitting lamp. The main body of the charging stand is designed by a hardware circuit to realize a single infrared lamp emitting 500mm long-distance infrared signals and 50mm short-distance infrared signals.

A method for realizing robot avoidance charging stand based on infrared light, based on the above-mentioned charging stand for robot avoidance based on infrared light, includes:

Step S1, it is judged whether the robot starts from the charging stand, if yes, then step S2 is executed, if not, then step S3 is executed;

Step S2, the robot records the position of the charging seat, the robot creates a virtual obstacle with an area in the map; the robot detects the existence of the virtual obstacle in the moving path in real time, and if there is, the robot changes the moving path, And continue to perform the task, if it does not exist, continue to perform the task and maintain real-time detection;

Step S3, activating the near-distance infrared signal transmission function of the charging base, and the robot detects whether the near-distance infrared signal exists in real time;

If it exists, the robot creates a virtual obstacle with an area in the map based on the near-distance infrared signal. The robot detects the existence of the virtual obstacle in the moving path in real time. If it exists, the robot changes the moving path and continues Perform the task, if it does not exist, continue to perform the task and maintain real-time detection;

If it does not exist, the robot continues to perform the task and continues to detect virtual obstacles;

Step S4, end the process;

Wherein, the charging base is equipped with a remote infrared signal transmission function, and when the robot needs to be charged, the remote infrared signal is detected in real time and the navigation recharge is realized according to the signal.

A further technical solution is that the robot is a robot with an infrared signal receiving function.

A further technical solution is that the charging base has a number of infrared LED lights, and the infrared LED lights are used to emit long-distance infrared signals or short-distance infrared signals.

A further technical solution is that the area of the virtual obstacle is 50cm*30cm.

The present disclosure also discloses a system for realizing robot avoidance charging stand based on infrared light, based on the charging stand that includes a robot and has a short-range infrared signal transmission function and a long-distance infrared signal transmission function; the robot executes the above-mentioned The method for realizing robot avoidance of a charging stand based on infrared light is described above, wherein the charging stand is the aforementioned charging stand for realizing robot avoidance based on infrared light.

Compared with the prior art, the beneficial effect of the present disclosure is that the avoidance method of the present disclosure realizes that a single infrared emitting lamp can emit 500mm far away without adding other special infrared emitting lamps of the charging base and relying on the hardware circuit design. The distance signal can also transmit 50mm short-distance signals. Only the original infrared emitting lamp can realize the mobile robot avoiding technology, which overcomes the problem of the traditional refill seat being hit by the seat, and solves the problem of mobile robot damage due to collision. Greatly enhance the user experience.

The present disclosure will be further described below in conjunction with the drawings and specific embodiments.

Description of the drawings

FIG. 1 is a schematic flowchart of a specific embodiment of a method for realizing a robot avoiding a charging stand based on infrared light according to the present disclosure.

detailed description

In order to make the objectives, technical solutions, and advantages of the present disclosure clearer, the following further describes the present disclosure in detail with reference to the accompanying drawings and specific embodiments.

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present disclosure.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise" or "Counterclockwise" and other directions or positions indicated The relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation or must be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present disclosure.

In addition, the terms "first" or "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of these features. In the description of the present disclosure, "plurality" means two or more than two unless specifically defined otherwise.

In the present disclosure, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected" or "fixed" should be interpreted broadly. For example, it may be a connection or a detachable connection. Or integrated; it can be a mechanical connection, or it can be an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present disclosure can be understood according to specific circumstances.

In the present disclosure, unless otherwise clearly defined and defined, the "above" or "below" of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them. Moreover, "above", "above" and "above" the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or it simply means that the level of the first feature is higher than that of the second feature. The "below", "below" and "below" the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean specific features described in conjunction with the embodiment or example , Structures, materials, or characteristics are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above-mentioned terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can join and combine different embodiments or examples described in this specification.

A charging stand for robot avoidance based on infrared light includes a main body of a charging stand with an infrared emitting lamp. The main body of the charging stand is designed by a hardware circuit to realize a single infrared lamp emitting 500mm long-distance infrared signals and 50mm short-distance infrared signals. Wherein, the hardware circuit is a hardware circuit in the prior art.

The method flow diagram shown in FIG. 1 is a specific flow embodiment of a method for implementing robot avoidance charging stand based on infrared light in the present disclosure. The charging stand based on the above-mentioned infrared light method for avoiding robot avoidance includes:

Step S2, the robot records the position of the charging seat, the robot creates a virtual obstacle with an area in the map; the robot detects the existence of the virtual obstacle in the moving path in real time, and if there is, the robot changes the moving path, And continue to perform the task, if it does not exist, the robot continues to perform the task and keeps real-time detection;

If it exists, the robot creates a virtual obstacle with an area in the map based on the near-distance infrared signal. The robot detects the existence of the virtual obstacle in the moving path in real time. If it exists, the robot changes the moving path and continues Perform the task, if it does not exist, the robot continues to perform the task and keeps real-time detection;

Step S4, end the process;

Specifically, the infrared emitting lamp of the charging base can be controlled by the circuit to emit both long-range infrared signals and short-range infrared signals. This solution uses a short-range infrared signal emitting circuit in the prior art to control the infrared emitting lamp to achieve near-range infrared emission. Signal, therefore, does not require additional devices to achieve, which can effectively reduce the economic burden of users.

Preferably, in order to implement the method flow shown in FIG. 1, the robot in this solution is a robot with an infrared signal receiving function. Among them, as an improvement of the prior art, this method can also make the robot have a high-efficiency effect in the process of using radar to navigate.

Wherein, the robot realizes normal working path movement under the combined action of radar and electronic map;

Wherein, the virtual obstacle is marked on an electronic map, and the processor of the robot judges that the virtual obstacle is a charging stand according to the above-mentioned method. When recharging is required, the virtual obstacle can also be used to realize positioning and recharging.

Preferably, the charging base has several infrared LED lights, and the infrared LED lights are used to emit long-distance infrared signals or short-distance infrared signals.

Wherein, the long-distance infrared signal or the short-distance infrared signal is realized by changing or adding a new control circuit, and the control circuit adopts the long-distance infrared signal transmitting circuit or the short-distance infrared signal transmitting circuit in the prior art, and the robot The processor driver is completed.

Preferably, in actual use, the area of the virtual obstacle is 50cm*30cm. However, this value is a single example given in the embodiment, and is not implied or directly represented. The area of the virtual obstacle in the solution of the present disclosure is only limited to this value.

The present disclosure also discloses a system for realizing robot avoidance charging stand based on infrared light, including a robot, a charging stand with a short-distance infrared signal transmission function and a long-distance infrared signal transmission function; the robot performs the above-mentioned Infrared light is used to realize the robot avoiding the charging stand, and the charging stand is the above-mentioned charging stand based on infrared light to realize the robot avoiding.

In order to make full use of the above method for realizing the robot avoiding the charging stand, the present disclosure also discloses the above system, which helps users to improve industrial production efficiency, and can avoid unnecessary collisions during the movement of the robot, resulting in damage to the charging stand or the robot. It reduces the cost of maintaining equipment in industrial production, processing and transportation, and has a positive effect.

In summary, using the avoidance method of the present disclosure, the original infrared emitting lamp can be used to realize the mobile robot avoiding seat technology without adding other special infrared emitting lamps of the charging stand, which overcomes the traditional rechargeable seat. The problem of being hit by the seat solves the problem of damage to the mobile robot due to collision, which greatly improves the user experience.

For those skilled in the art, various other corresponding changes and deformations can be made based on the technical solutions and concepts described above, and all these changes and deformations should fall within the protection scope of the claims of the present disclosure.

Claims

A charging stand for robot avoidance based on infrared light, which is characterized by comprising a main body of a charging stand with an infrared emitting lamp. The main body of the charging stand is designed by hardware circuit to realize a single infrared lamp emitting 500mm long-distance infrared signals and 50mm short-distance Infrared signal.
A method for realizing robot avoidance charging stand based on infrared light, based on the charging stand for robot avoidance realization based on infrared light according to claim 1, characterized in that it comprises:

Step S1, it is judged whether the robot starts from the charging stand, if yes, then step S2 is executed, if not, then step S3 is executed;

Step S2, the robot records the position of the charging seat, the robot creates a virtual obstacle with an area in the map; the robot detects the existence of the virtual obstacle in the moving path in real time, and if it exists, the robot changes the moving path , And continue to perform the task;

Step S3, activating the near-distance infrared signal transmission function of the charging base, and the robot detects whether the near-distance infrared signal exists in real time;

If it exists, the robot creates a virtual obstacle with an area in the map based on the near-distance infrared signal. The robot detects the existence of the virtual obstacle in the moving path in real time. If it exists, the robot changes the moving path and continues Perform the task, if it does not exist, continue to perform the task and maintain real-time detection;

If it does not exist, the robot continues to perform the task and continues to detect virtual obstacles;

Step S4, end the process;

Wherein, the charging base is equipped with a remote infrared signal transmission function, and when the robot needs to be charged, the remote infrared signal is detected in real time and the navigation recharge is realized according to the signal.
The method for realizing a robot avoiding a charging stand based on infrared light according to claim 1, wherein the robot is a robot with an infrared signal receiving function.
The method for realizing robot avoiding a charging stand based on infrared light according to claim 1, wherein the charging stand has a plurality of infrared LED lights, and the infrared LED lights are used to emit long-distance infrared signals or short-distance infrared signals. Infrared signal.
The method for realizing the robot avoiding the charging stand based on infrared light according to claim 1, wherein the area of the virtual obstacle is 50cm*30cm.
A system for realizing robot avoidance charging stand based on infrared light, which is characterized by comprising a robot, a charging stand with a short-distance infrared signal transmission function and a long-distance infrared signal transmission function; the robot executes the description in claim 2 when the robot is working In the method for realizing robot avoidance of a charging stand based on infrared light, the charging stand is the charging stand described in claim 1 for realizing robot avoidance based on infrared light.