CN203125524U - Laser-guiding walking operation system of autonomous mobile robot - Google Patents
Laser-guiding walking operation system of autonomous mobile robot Download PDFInfo
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- CN203125524U CN203125524U CN 201320106768 CN201320106768U CN203125524U CN 203125524 U CN203125524 U CN 203125524U CN 201320106768 CN201320106768 CN 201320106768 CN 201320106768 U CN201320106768 U CN 201320106768U CN 203125524 U CN203125524 U CN 203125524U
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Abstract
A laser-guiding walking operation system of an autonomous mobile robot comprises the autonomous mobile robot (10) and a laser beam transmitter (20), wherein a control mechanism (12) and a walking mechanism (13) are arranged on an autonomous mobile robot body (11), the laser beam transmitter is arranged at the edge of the operation area of the autonomous mobile robot, a laser receiver (15) is correspondingly arranged on the body, and the control mechanism controls the walking mechanism to enable the autonomous mobile robot to walk in the operation area along a straight path which is guided by laser beam signals transmitted by the laser beam transmitter. By the aid of the laser-guiding walking operation system, the robot can be controlled remotely, so that the working efficiency is high.
Description
Technical field
The utility model relates to a kind of self-movement robot laser aiming walking operating system, belongs to small household appliances manufacturing technology field.
Background technology
The existing machine people that cleans the windows relies on crawler belt or wheel to finish fuselage shift action on the vertical glass surface.The clean the windows method of machine people motion of control at present mainly comprises two kinds: method one: the cable traction machine people vertical motion that cleans the windows.Number be the disclosed content of utility model patent of CN 201482774 U as: Granted publication, hoist engine is arranged on glass to be cleaned or body of wall top, one end of rope links to each other with hoist engine, the other end then links to each other with the machine people's that cleans the windows top, realize the folding and unfolding of rope by the hoist engine rotation, thereby drive the upper and lower vertical motion of machine people that cleans the windows.In above-mentioned method one, hoist engine is controlled the robot motion by rope, needs the cooperation of various mechanisms, causes the hoist engine complex structure, gives and installs and mobile making troubles.In addition, this mechanism can only realize the vertical motion of robot, and the horizontal movement of robot is controlled certain binding character.Method two: level or the vertical motion of controlling the machine people that cleans the windows by acceleration transducer.In order to improve the existing machine people's that cleans the windows cleaning efficiency, existing another kind of method is the combination that the movement locus of robot is planned to level and vertical two kinds of motion modes.Specifically, degree of will speed up sensor is installed on the machine people that cleans the windows, and link to each other with control module, motion state by acceleration transducer detection machine people, simultaneously testing result is fed back to control module, if tilt or depart from projected route and send instruction by control module and adjust accordingly.In method two, the machine people's that cleans the windows level and plumbness all detect by electronic devices and components such as acceleration transducers to be determined.Yet, electronic devices and components work long hours and have certain accumulated error, might work as robot when having departed from the initial planning path direction, the result that acceleration transducer detects thinks that still robot also is in level or vertical state, thereby make robot to the clean rate of robot on the glass face considerable influence not arranged fully according to the good route walking of planning.
The utility model content
Technical problem to be solved in the utility model is at the deficiencies in the prior art, a kind of self-movement robot laser aiming walking operating system is provided, utilized the reasonable characteristic of optically focused performance of laser, by the reasonable setting to line laser bundle transmitter and receiver, adopt the laser beam signal of line laser, both satisfied the requirement of remote guiding, can make the reception of laser signal very convenient again, this system architecture compactness, control method is simple, can control self-movement robot with less straight line error rectilinear motion, high efficiency in larger distance.
Technical problem to be solved of the present utility model is achieved by the following technical solution:
A kind of self-movement robot laser aiming walking operating system, comprise self-movement robot and laser beam transmitter, described self-movement robot comprises body, body is provided with controlling organization and walking mechanism, described laser beam transmitter is arranged on the edge of self-movement robot operating area, and correspondence is provided with laser pickoff on the described body; Described controlling organization is by controlling described walking mechanism guides self-movement robot according to the laser beam signal of laser beam transmitter emission in described operating area straight line path walking operation.
Described laser beam transmitter is arranged on horizontal edge, described operating area or edge longitudinally.
For the ease of movement, described laser beam transmitter is removably set on the edge of described operating area by support.
In order to improve the validity that signal sends and receives, described laser beam transmitter is line laser bundle transmitter, and the laser signal of its emission is line laser bundle signal.
Described line laser bundle signal covers in the plane perpendicular to described operating area.
For the ease of control, described body is provided with edge sensor and signal generator, and correspondence is provided with signal receiver, control module and drive unit on the described laser beam transmitter;
Self-movement robot moves to the edge of described operating area, and after described edge sensor detected margin signal, the signal generator on the described controlling organization control body sent corresponding signal; After signal receiver on the laser beam transmitter received described corresponding signal, described control module accessory drive drove described laser beam transmitter translation.
Fulfil assignment efficiently for the ease of self-movement robot, the translation distance of described laser beam transmitter is a body bit width of self-movement robot body.
As required, described laser pickoff is arranged on the top of body, only comprises the center laser pickoff of the center that is arranged on described body; Perhaps described laser pickoff is arranged on the top of body, comprises to be arranged on along the center laser pickoff on the self-movement robot direction of travel body center line and with the symmetrically arranged laser pickoff that departs from of this center laser pickoff.Described center laser pickoff and depart from laser pickoff in the uniform setting in the top of body.
Described center laser pickoff and depart from laser pickoff and be omnidirectional's receiver, comprise laser omnidirectional receiver lid and laser omnidirectional receiver seat, the inner surface of described laser omnidirectional receiver seat is parabolic surface, and the light that each different directions is injected converges on the laser receiver that is arranged on the described laser omnidirectional receiver seat.
In addition, described laser pickoff can also be arranged on front portion, rear portion and the left and right sides of body simultaneously, the front and rear of body only comprises the center laser pickoff, and perhaps the front and rear of body comprises the center laser pickoff at the center of being arranged on and with this centrosymmetric laser pickoff that departs from.The laser pickoff of described front part of a body, rear portion and the left and right sides is unidirectional laser pickoff.
Described laser pickoff is omnidirectional's receiver, is arranged on the center at body top.
Described self-movement robot is machine people, floor cleaning machine people or the supervisory-controlled robot of cleaning the windows.
In sum, the utility model provides a kind of self-movement robot laser aiming walking operating system, by the reasonable setting to line laser bundle transmitter and receiver, adopt the laser beam signal of line laser, both satisfied the requirement of remote guiding, can make the reception of laser signal very convenient again, this system architecture compactness, control method is simple, can control self-movement robot with less straight line error rectilinear motion, high efficiency in larger distance.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Description of drawings
Fig. 1 is the utility model embodiment one overall structure schematic diagram;
Fig. 2 is that the A of Fig. 1 is to view;
Fig. 3 is the internal structure schematic diagram of the utility model laser omnidirectional receiver;
Fig. 4 is motion state one schematic diagram of the utility model embodiment one;
Fig. 5 is motion state two schematic diagrames of the utility model embodiment one;
Fig. 6 is motion state three schematic diagrames of the utility model embodiment one;
Fig. 7 is the motion path schematic diagram of the utility model embodiment one;
Fig. 8 is the motion process schematic diagram of the utility model embodiment one;
Fig. 9 is the structural representation of the utility model embodiment two;
Figure 10 is the structural representation of the utility model embodiment three;
Figure 11 is the structural representation of the utility model embodiment four.
The specific embodiment
Embodiment one
Fig. 1 is the utility model embodiment one overall structure schematic diagram; Fig. 2 is that the A of Fig. 1 is to view.As Fig. 1 and in conjunction with shown in Figure 2, the utility model embodiment one provides a kind of self-movement robot laser aiming walking operating system, comprise self-movement robot 10 and laser beam transmitter 20, described self-movement robot 10 comprises body 11, body 11 is provided with controlling organization 12 and walking mechanism 13, described laser beam transmitter 20 is arranged on the edge of self-movement robot 10 operating area Y, and correspondence is provided with laser pickoff 15 on the described body 11; Described controlling organization 12 is by controlling described walking mechanism 13 guides self-movement robot 10 according to the laser beam signal of laser beam transmitter 20 emission in described operating area Y straight line path walking operation.According to the different directions of self-movement robot 10 walking paths of planning in advance, laser beam transmitter 20 can be arranged on the horizontal edge of operating area Y or edge longitudinally.In self-movement robot 10 rectilinear motion processes, for the ease of fixing of laser beam transmitter 20, and when turning, self-movement robot 10 redefines in the straight line path process, be convenient to the movement of laser beam transmitter 20, this laser beam transmitter 20 is removably set on the edge of described operating area Y by support.
In order to improve the validity that signal sends and receives, described laser beam transmitter 20 is line laser bundle transmitter 20 ', and the laser signal of its emission is line laser bundle signal.Because laser has optically focused characteristic preferably, therefore can make light that good optically focused is arranged when long-distance transmissions.If but utilize some laser, and can be very high to the direction requirement of Laser emission and reception, the reception meeting of laser signal is very inconvenient; And if utilize line laser, then can satisfy the requirement of remote guiding, can make the reception of laser signal become convenient again.In conjunction with shown in Figure 2, the line laser bundle signal L in the present embodiment covers in perpendicular to the plane of described operating area Y at an angle, only makes and is shrouded within signal cover by the laser pickoff on the self-movement robot 10.
Laser beam emitting device is arranged on the edge of operating area Y, the movement locus of self-movement robot 10 is except linear fashion, also need to turn to or turn, for the ease of control, the body 11 of described self-movement robot 10 is provided with edge sensor and signal generator, and correspondence is provided with signal receiver, control module and drive unit on the described laser beam transmitter 20.Like this, when self-movement robot 10 moved to the edge of described operating area Y, after described edge sensor detected margin signal, the signal generator on the described controlling organization 12 control bodies 11 sent corresponding signal; After signal receiver on the laser beam transmitter 20 received described corresponding signal, described control module accessory drive drove described laser beam transmitter 20 translations.Operation for the ease of self-movement robot 10 covers entire job zone Y, the translation distance of described laser beam transmitter 20 is preferably a body bit width of self-movement robot 10 bodies 11, so just can guarantee self-movement robot 10 complete in operating area Y work.
As shown in Figure 1, in the present embodiment, laser pickoff 15 is arranged on the top of body 11, it is 3 that quantity is set, comprising being arranged on along 1 center laser pickoff 151 on self-movement robot direction of travel body 11 center lines with symmetrically arranged 2 of this center laser pickoff and departing from laser pickoff 152.In order to guarantee to receive laser beam signal accurately, laser pickoff need be in the uniform setting in the top of body 11.
Fig. 3 is the internal structure schematic diagram of the utility model laser omnidirectional receiver.As shown in Figure 3, the center laser pickoff in the present embodiment 151 and depart from laser pickoff 152 and be omnidirectional's receiver 15 '.Each omnidirectional's receiver 15 ' comprises laser omnidirectional receiver lid 151 ' and laser omnidirectional receiver seat 152 ', and the inner surface of laser omnidirectional receiver seat 152 ' is parabolic surface.Laser omnidirectional receiver adopts said structure, and its groundwork principle is such: the effect of laser omnidirectional receiver lid 151 ' is that the light that all directions are injected is reflected into downward vertical light.The inner surface of laser omnidirectional receiver seat 152 ' is parabolic surface, and effect is the directional light of injecting perpendicular to laser omnidirectional receiver seat bottom surface can be focused on a bit, that is: this paraboloidal focus.Laser receiver 153 ' is installed in the focal position of laser omnidirectional receiver seat, in order to receive the laser signal after laser omnidirectional receiver seat 152 ' focuses on.After laser omnidirectional receiver lid 151 ' and the 152 ' assembling of laser omnidirectional receiver seat are finished, the light that laser omnidirectional receiver can be injected into each different directions laser omnidirectional receiver converges on the laser receiver 153 ' on the laser omnidirectional receiver seat, to obtain laser signal.Exactly because the also above-mentioned characteristic of laser omnidirectional receiver makes it that seldom quantity is set at body 11 tops, also can obtain signal accurately, correctly guide self-movement robot 10 to move along desired trajectory.
Fig. 4 to Fig. 6 is respectively the motion state one of the utility model embodiment one to motion state three schematic diagrames.Extremely shown in Figure 6 as Fig. 4, in the present embodiment, the upper end-face edge in the operating area of self-movement robot 10 is along being horizontally installed with line laser beam generator 20 ', and this line laser beam generator 20 ' is fixed on the support, along the direction emission perpendicular to operating area Y.The top of self-movement robot 10 is provided with 3 laser omnidirectional receivers and is used for receiving the line laser signal, center laser pickoff 151 of middle installation, and the both sides symmetry is installed two and is departed from laser pickoff 152.When self-movement robot 10 during in the upper and lower motion of operating area Y, if only center laser pickoff 151 receives signal (when self-movement robot is nearer apart from laser beam generator 20 '), perhaps center laser pickoff 151 and both sides are departed from laser pickoff 152 and are all received signal (when self-movement robot is far away apart from laser beam generator 20 ', line laser bundle signal L has dispersing of certain angle), think that then robot is in vertical walking states; If center laser pickoff 151 does not receive signal, perhaps the direction with the self-movement robot walking is benchmark, have only the laser pickoff 152 that departs from the left side or the right to receive signal, perhaps center laser pickoff 151 and the left side are departed from laser pickoff 152 and are received laser signal; Perhaps center laser pickoff 151 and the right are departed from laser pickoff 152 and are received laser signal, think that then machine has departed from vertically, can get back to vertical walking states again after repeatedly regulating direction automatically and judging.In particular cases, as shown in Figure 4, the robot body has just departed from vertical certain angle, and have only the center laser pickoff to receive laser signal this moment, and controlling organization thinks that still body is vertical state.But body does not adjust after incline direction walks on a segment distance to self orientation, the center laser pickoff does not receive signal, or only depart from laser pickoff and receive signal, then controlling organization judges that body departs from vertically, and the body direction of travel is adjusted accordingly.
Fig. 7 is the motion path schematic diagram of the utility model embodiment one; Fig. 8 is the motion process schematic diagram of the utility model embodiment one.As shown in Figure 7, the motion path of self-movement robot 10 is class " bow " word shape.The concrete motion process of self-movement robot 10 is in conjunction with shown in Figure 8, generally, be arranged on the fixed position emission laser signal of laser beam transmitter 20 on support at Y edge, self-movement robot 10 operating area, correspondence is provided with laser pickoff 15 on the body 11 of self-movement robot 10, laser pickoff 15 receives laser signal, guiding according to laser signal, the controlling organization 12 of self-movement robot 10 is by its walking mechanism 13 of control, in described operating area Y along straight line path walking operation.
Specifically, self-movement robot 10 is original position B1 with the first edge M of the drift angle of described operating area Y, the guiding of the laser signal that sends according to laser beam transmitter 20 is along the second edge N of described operating area Y, in the vertical towards the 3rd edge P straight line moving.Self-movement robot 10 is positioned at the B1 position of operating area Y, and at this moment, laser beam transmitter 20 is positioned at the A1 position of support one end.Self-movement robot 10 moves to the 3rd edge P of described operating area Y, be positioned at self-movement robot 10 and be positioned at the B2 position this moment, after described edge sensor detected margin signal, the signal generator on the described controlling organization 12 control bodies 11 sent corresponding signal; After signal receiver on the laser beam transmitter 20 received described corresponding signal, described control module accessory drive drove described laser beam transmitter 20 along described support, stopped at the A2 position behind the one segment distance X of translation in the horizontal.
Self-movement robot 10 stops and 90 ° of B2 position pivot studs, along the 3rd edge P corresponding translation one segment distance in the horizontal, and judge whether to run into barrier, stop walking if run into the barrier robot, otherwise self-movement robot continues translation, after the laser pickoff on the self-movement robot 10 receives laser signal again, stop at 90 ° of B3 position and pivot studs.This moment, the distance of self-movement robot 10 translations was identical with the distance of laser beam transmitter 20 translations, and its length is X.
Self-movement robot 10 is again according to the guiding of laser signal, from the B3 position along the 4th edge Q of described operating area Y, in the vertical towards the first edge M straight line moving.
Self-movement robot 10 moves to the B4 position of the first edge M of described operating area Y, and after described edge sensor detected margin signal, the signal generator on the described controlling organization 12 control bodies 11 sent corresponding signal; After signal receiver on the laser beam transmitter 20 received described corresponding signal, described control module accessory drive drove described laser beam transmitter 20 along described support, stopped at the A3 position behind the one segment distance X of translation in the horizontal.
Self-movement robot 10 stops in the B4 position, and 90 ° of pivot studs, along the first edge M corresponding translation one segment distance in the horizontal, and judge whether to run into barrier, stop walking if run into the barrier robot, otherwise self-movement robot continues translation, after the laser pickoff on the self-movement robot 10 receives laser signal again, stops at 90 ° of B5 position and pivot studs.This moment, the distance of self-movement robot 10 translations was identical with the distance of laser beam transmitter 20 translations, and its length is X.
Above self-movement robot 10 has been finished one of them complete path unit of integral body as shown in Figure 7 " bow " font motion path, repeats above-mentioned steps, self-movement robot is turned back for more than 10 time, until the operation of finishing described operating area Y.Can carry out operation completely comprehensively and not have any omission operating area Y in order to guarantee self-movement robot 10, after self-movement robot 10 is finished the operation of a fuselage width, the distance of the laterally mobile fuselage of laser beam emitting device, when the laser omnidirectional receiver that is installed in self-movement robot 10 bodies 11 top center receives the line laser signal, think that then self-movement robot 10 has moved to position accurately, thereby proceed straight line operation longitudinally.Therefore, the distance that moves of self-movement robot 10 is the same with the distance that laser beam emitting device moves.
Do in the straight-line process along the second edge N or the 4th edge Q at self-movement robot 10, following the guiding of the line laser bundle signal L that line laser beam generator 20 ' sends in real time, all the time can the off-straight direction to keep self-movement robot 10.Specifically, receive laser beam signal L when described center laser pickoff 151 only; Perhaps center laser pickoff 151 with and the identical laser pickoff 152 that departs from of both sides quantity receive the laser beam signal, then controlling organization 12 control judges that self-movement robots 10 are positioned at described straight line path; Otherwise, when center laser pickoff 151 does not receive laser beam signal L, and be benchmark with the direction of self-movement robot 10 walkings, have only the laser pickoff 152 that departs from the left side or the right to receive laser beam signal L; Perhaps the laser pickoff 152 that departs from of center laser pickoff 151 and both sides varying number receives laser beam signal L, and the laser pickoff quantity that departs from that the left side receives the laser beam signal departs from laser pickoff quantity greater than the left side greater than what the right or the right received the laser beam signal, and then controlling organization 12 judges that self-movement robots 10 depart to the right or left.Under the particular case, when center laser pickoff 151 does not receive laser beam signal L, and the laser pickoff 152 that departs from the left side or the right does not receive laser beam signal L simultaneously yet, left avertence or right avertence temporarily can't be judged by robot, after robot walks on a segment distance, have only the laser pickoff 152 that departs from the left side or the right to receive laser beam signal L, controlling organization 12 judges that self-movement robot 10 departs to the right or left.
The controlling organization 12 of self-movement robot 10 can and depart from the received laser beam signal L of laser pickoff 152 according to above-mentioned center laser pickoff 151, and control walking mechanism 13 is adjusted the direction of travel of self-movement robots 10, guarantees that it moves along a straight line.
If above-mentioned self-movement robot laser aiming walking operating system and control method thereof are applied on the machine people that cleans the windows, the line laser beam generator can be installed in one side of glass to be cleaned or body of wall by mounting bracket, the drive unit of drive installation support motion also is housed on the mounting bracket, corresponding laser receiver is housed on the clean robot, edge sensor, and sender unit, corresponding signal receiving device also is housed on the mounting bracket, and the straight-line operation principle reference laser of laser aiming guide is no longer endured at this and is stated.
For the machine people that cleans the windows, can comprise horizontal route cleaning and two kinds of cleaning modes of vertical path cleaning, when the executive level cleaning mode, the line laser beam generator is installed in left side or the right side of glass or body of wall by mounting bracket, the line laser beam generator can move up and down with mounting bracket, when initial, robot is along the transverse movement of laser aiming, when moving to the edge of glass or body of wall, edge sensor in the robot detects margin signal and detected signal is sent to signal receiving unit on the mounting bracket by the signal transmitter unit, signal receiving unit receives the robot motion behind the signal at edge, move up or down certain distance by the drive unit drives laser beam generator with mounting bracket, robot also moves up or down subsequently, begins again along the laser path rectilinear motion when the laser receiver in the robot detects laser.When carrying out vertical cleaning mode, the line laser beam generator is installed in top or the bottom of glass or body of wall by mounting bracket, the line laser beam generator can be with the mounting bracket move left and right, when initial, robot is along the lengthwise movement of laser aiming, when moving to the edge of glass or body of wall, edge sensor in the robot detects margin signal and detected signal is sent to signal receiving unit on the mounting bracket by the signal transmitter unit, signal receiving unit receives the robot motion behind the signal at edge, move certain distance by the drive unit drives laser beam generator to the left or to the right with mounting bracket, robot is also mobile to the left or to the right subsequently, when the laser receiver in the robot detects laser, begin again along the laser path rectilinear motion, thereby finish the cleaning of whole glass or metope.
Certainly, need to prove that described self-movement robot can possess various operation functions, the machine people that cleans the windows except above-mentioned can also comprise floor cleaning machine people, supervisory-controlled robot etc.Which kind of no matter be applied on the self-movement robot, laser aiming running gear provided by the utility model structure is set and control method is basic identical, certainly, also have the technical characterictic of details with respect to dissimilar self-movement robots, carry out adaptive change.
Embodiment two
Fig. 9 is the structural representation of the utility model embodiment two.As shown in Figure 9, the difference of present embodiment and embodiment one only is that laser pickoff 15 arranges the position on body 11 tops of self-movement robot 10.Contrast as can be known with Fig. 1, the quantity that arranges of laser pickoff is 3 in embodiment one, and the diagonal along self-movement robot 10 bodies 11 top surfaces is equidistantly spaced substantially, and it is upper right side-center-lower left that direction is set.As shown in Figure 9, the quantity that arranges of laser pickoff also is 3 in the present embodiment, also is that basic diagonal along self-movement robot 10 bodies 11 top surfaces is equidistantly spaced, and direction is set then is upper left side-center-lower right.Laser pickoff in the present embodiment is identical with embodiment one, also is omnidirectional's laser pickoff 15 '.
Other technologies feature in the present embodiment is identical with embodiment one, and particular content does not repeat them here referring to embodiment one.
Embodiment three
Figure 10 is the structural representation of the utility model embodiment three.As shown in figure 10, the quantity that arranges of laser pickoff 15 still is 3 in the present embodiment, but be equidistantly spaced along the middle part level of self-movement robot 10 bodies 11 top surfaces.Laser pickoff in the present embodiment is identical with embodiment one, also is omnidirectional's laser pickoff 15 '.
Other technologies feature in the present embodiment is identical with embodiment one, and particular content does not repeat them here referring to embodiment one.
Embodiment four
Laser pickoff in the present embodiment is different with aforementioned three embodiment mounting means, only in the body top center 1 center laser pickoff is installed, and this center laser pickoff is omnidirectional's laser pickoff, and is identical among its structure and operation principle and the embodiment one.Because variation has taken place for mounting means and the quantity of laser pickoff, then variation has also taken place along the control method of laser aiming straight line path walking in controlling organization control body.In the present embodiment, controlling organization control body is achieved in that along the process of laser aiming straight line path walking working as the center laser pickoff receives the laser beam signal, and then controlling organization judges that self-movement robot is positioned at described straight line path; Otherwise controlling organization judges that self-movement robot departs from described straight line path, and controlling organization is that benchmark carries out the adjustment of walking that turns to the left or to the right with the direction of travel of self-movement robot, receives the laser beam signal again up to the center laser pickoff.
Other technologies feature in the present embodiment is identical with embodiment one, and particular content does not repeat them here referring to embodiment one.
Embodiment five
Figure 11 is the structural representation of the utility model embodiment five.As shown in figure 11, the laser pickoff in the present embodiment is different with the type of aforementioned four embodiment, is common unidirectional laser pickoff 15a.Owing to adopted dissimilar laser pickoffs, variation has taken place in its working method, so the set-up mode of laser pickoff on self-movement robot 10 bodies 11 is also corresponding that variation taken place.Unidirectional laser pickoff is arranged on front portion, rear portion and the and arranged on left and right sides of body 11 simultaneously, and wherein, the front and rear of body 11 comprises the center laser pickoff 151 at the center of being arranged at least and departs from laser pickoff 152 with these centrosymmetric two.
In the present embodiment, self-movement robot 10 keeps the process of straight line moving to be achieved in that in conjunction with shown in Figure 11, in the present embodiment, because the place ahead at self-movement robot 10, the rear, one or more unidirectional laser signal receiving system 15a have all been installed on left side and right side respectively, when the line laser beam generator of installing at the lateral edges of operating area Y 20 is launched laser beam L along the direction vertical with operating area Y, receive signal if only be positioned at the center laser pickoff 151 at the place ahead and rear, perhaps center laser pickoff 151 and both sides are departed from laser pickoff 152 and are all received laser signal, think that then self-movement robot 10 walks along rectilinear direction; If center laser pickoff 151 does not receive signal, and the direction of travel with robot is benchmark, have only the laser pickoff 152 that departs from the left side or the right to receive signal, perhaps the laser pickoff 152 that departs from that laser pickoff 152 receives signal or center laser pickoff 151 and the right that departs from center laser pickoff 151 and the left side receives signal, think then that self-movement robot 10 departed from that laser speed signal L guides to the right or left vertically, after repeatedly regulating direction automatically, can get back to vertical walking states again.
In sum, from five above-mentioned embodiment as can be seen, the utility model self-movement robot laser aiming walking operating system is if finish entire work process, the body of self-movement robot need guarantee can receive the line laser signal all around, and the utility model has then passed through dual mode and realized this control.The first is installed omnidirectional's laser pickoff on the body top of self-movement robot, because omnidirectional's laser pickoff can receive laser signal all around, again because its installation site is in the body top, causes and stop so which orientation can not receive signal to laser pickoff in; It two is on the body of the self-movement robot whole body common unidirectional laser pickoff to be installed as required, because laser pickoff is installed around body, therefore can reach the purpose of comprehensive reception laser signal equally.The utility model has utilized the reasonable characteristic of optically focused performance of laser, by the reasonable setting to line laser bundle transmitter and receiver, adopt the laser beam signal of line laser, both satisfied the requirement of remote guiding, can make the reception of laser signal very convenient again, this system architecture compactness, control method is simple, can control self-movement robot with less straight line error rectilinear motion, high efficiency in larger distance.
Claims (14)
1. self-movement robot laser aiming walking operating system, comprise self-movement robot (10) and laser beam transmitter (20), described self-movement robot (10) comprises body (11), body (11) is provided with controlling organization (12) and walking mechanism (13), it is characterized in that, described laser beam transmitter (20) is arranged on the edge of self-movement robot operating area, and described body (11) is gone up correspondence and is provided with laser pickoff (15); The straight line path walking operation that described controlling organization launches self-movement robot (10) by the described walking mechanism of control (13) according to laser beam transmitter (20) in described operating area laser beam signal guides.
2. self-movement robot laser aiming as claimed in claim 1 walking operating system is characterized in that, described laser beam transmitter (20) is arranged on horizontal edge, described operating area or edge longitudinally.
3. self-movement robot laser aiming walking operating system as claimed in claim 2 is characterized in that described laser beam transmitter (20) is removably set on the edge of described operating area by support.
4. self-movement robot laser aiming walking operating system as claimed in claim 1 is characterized in that described laser beam transmitter (20) is line laser bundle transmitter (20 '), and the laser signal of its emission is line laser bundle signal (L).
5. self-movement robot laser aiming walking operating system as claimed in claim 4 is characterized in that described line laser bundle signal (L) covers in the plane perpendicular to described operating area.
6. self-movement robot laser aiming as claimed in claim 5 walking operating system, it is characterized in that, described body (11) is provided with edge sensor and signal generator, and described laser beam transmitter (20) is gone up correspondence and is provided with signal receiver, control module and drive unit;
Self-movement robot (10) moves to the edge of described operating area, and after described edge sensor detected margin signal, the signal generator on the described controlling organization control body sent corresponding signal; After signal receiver on the laser beam transmitter (20) received described corresponding signal, described control module accessory drive drove described laser beam transmitter (20) translation.
7. self-movement robot laser aiming walking operating system as claimed in claim 6 is characterized in that the distance of described laser beam transmitter (20) translation is a body bit width of self-movement robot body (11).
8. self-movement robot laser aiming as claimed in claim 1 walking operating system, it is characterized in that, described laser pickoff (15) is arranged on the top of body (11), comprises to be arranged on along the center laser pickoff (151) on self-movement robot direction of travel body (11) center line and with the symmetrically arranged laser pickoff (152) that departs from of this center laser pickoff (151).
9. self-movement robot laser aiming as claimed in claim 8 walking operating system is characterized in that, described center laser pickoff (151) and depart from laser pickoff (152) in the uniform setting in the top of body (11).
10. self-movement robot laser aiming as claimed in claim 9 walking operating system, it is characterized in that, described center laser pickoff (151) and depart from laser pickoff (152) and be omnidirectional's receiver, comprise laser omnidirectional receiver lid (151 ') and laser omnidirectional receiver seat (152 '), the inner surface of described laser omnidirectional's receiver seat (152 ') is parabolic surface, and the light that each different directions is injected converges on the laser receiver (153 ') that is arranged on described laser omnidirectional's receiver seat (152 ').
11. self-movement robot laser aiming walking operating system as claimed in claim 1, it is characterized in that, described laser pickoff (15) is arranged on front portion, rear portion and the left and right sides of body (11) simultaneously, and the front and rear of body (11) comprises the center laser pickoff (151) at the center of being arranged on respectively and with this centrosymmetric laser pickoff (152) that departs from;
Perhaps the front and rear of body (11) only comprises the center laser pickoff (151) at the center of being arranged on.
12. self-movement robot laser aiming walking operating system as claimed in claim 11 is characterized in that described laser pickoff is unidirectional laser pickoff (15a).
13. self-movement robot laser aiming walking operating system as claimed in claim 1 is characterized in that described laser pickoff (15) is omnidirectional's receiver, is arranged on the center at body (11) top.
14. as each described self-movement robot laser aiming walking operating system of claim 1-13, it is characterized in that described self-movement robot is machine people, floor cleaning machine people or the supervisory-controlled robot of cleaning the windows.
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| CN104029207A (en) * | 2013-03-08 | 2014-09-10 | 科沃斯机器人科技(苏州)有限公司 | Laser-guided walking operation system for self-moving robot and control method for same |
| CN105388894A (en) * | 2015-06-23 | 2016-03-09 | 现代富博（天津）智能装备科技有限公司 | Method and device for defining autonomous walking trajectory |
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| CN104029207A (en) * | 2013-03-08 | 2014-09-10 | 科沃斯机器人科技(苏州)有限公司 | Laser-guided walking operation system for self-moving robot and control method for same |
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| CN112754359A (en) * | 2020-12-31 | 2021-05-07 | 武汉理工大学 | Intelligent cleaning robot applying laser sensing and charging technology |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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