CN106353727B - The automatic homing method of Indoor Robot - Google Patents
The automatic homing method of Indoor Robot Download PDFInfo
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- CN106353727B CN106353727B CN201610670198.3A CN201610670198A CN106353727B CN 106353727 B CN106353727 B CN 106353727B CN 201610670198 A CN201610670198 A CN 201610670198A CN 106353727 B CN106353727 B CN 106353727B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 239000012141 concentrate Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 230000002123 temporal effect Effects 0.000 description 3
- 208000032369 Primary transmission Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic homing methods of Indoor Robot, Indoor Robot is playbacked using the infrared positioning signal of charging pile, the infrared positioning signal of charging pile is sent with the infrared anti-collision signal sending cycle of Indoor Robot alternately, and infrared anti-collision signal and infrared positioning signal are sent at times in signal period.The invention has the advantages that the infrared positioning signal of alternately charging pile is sent and the infrared anti-collision signal of Indoor Robot is sent so that during automatic homing also can smooth Infrared anticollision function.
Description
[technical field]
The present invention relates to robot field more particularly to a kind of automatic homing methods of Indoor Robot.
[background technique]
In the prior art, at present the automatic homing charging method for indoor consumer robot application as shown in Figure 1,
It is essentially all that (i.e. infrared positioning signal is used in Fig. 1 for the infrared beam that is emitted by the infrared localizing emission head of charging pile 1
Arrow indicates direction) contraposition realization, infrared advantage is that closely contraposition is accurate, and cost and power consumption are all very low, are conducive to be commercialized.
The infrared positioning signal of charging pile transmitting can mutually conflict with the infrared anti-collision signal of Indoor Robot itself, cause red
Outer anticollision module cannot use, and can not inform the transmission of infrared signal between charging pile and Indoor Robot mutually, thus
Cause during using infrared positioning signal automatic homing, Indoor Robot can only be blocked by impact switch detection front
Object.If Indoor Robot centainly needs impact switch, the appearance and use of robot are significantly limited, and collision is opened
It is extremely short to close detecting distance, the detecting distance for the infrared detection 10cm or more that is far from, so also not for the robot of heavier-weight
It can use, since it is desired that certain braking distance.
Therefore, prior art problem is, Indoor Robot infrared positioning signal during automatic homing is prevented with infrared
It hits signal coherence to disturb, leads to not normal use collision prevention function.
[summary of the invention]
It is of the existing technology in order to solve the problems, such as, a kind of method for homing of Indoor Robot is now provided, and take into account room
Inner machine people other need it is unaffected using the function of infrared signal.
A kind of automatic homing method of Indoor Robot, Indoor Robot are returned using the infrared positioning signal of charging pile
The infrared positioning signal of position, charging pile is sent with the infrared anti-collision signal sending cycle of Indoor Robot alternately, and
Infrared anti-collision signal and infrared positioning signal are sent at times in signal period, and the period is less than Indoor Robot
Anticollision minimum detection distance subtract difference obtained by the braking distance of Indoor Robot divided by the movement speed institute of Indoor Robot
Obtained quotient, meanwhile, infrared positioning signal is met within the period and infrared anti-collision signal is sequentially completed.
Furthermore, charging pile sends the infrared positioning signal of multichannel, in signal period, the infrared positioning signal collection of multichannel
In within the same period timesharing send, being sent in another period for infrared anti-collision signal carries out.
Furthermore, in signal period, one section of free time of interval carries out down again after being sent each time
Primary transmission.
Furthermore, Indoor Robot is infrared anti-according to the infrared positioning signal adjustment received every several periods
The transmission of signal is hit, method of adjustment includes:
Infrared anti-collision signal is judged whether it is when receiving infrared signal: if it is, handling into anticollision and complete
Continue the reception and judgement of infrared signal after: otherwise, calculating the sending time for obtaining remaining infrared positioning signal, and
It is adjusted according to the sending time of calculated result infrared anti-collision signal to infrared positioning signals all in current period after sending.
Furthermore, in the case where the adjustment of infrared anti-collision signal sending time had been carried out within a upper period, current
It further include that verifying is adjusted after cycle detection calculates the transmission of the infrared positioning signal in each road to infrared positioning signal and carrying out
Whether sending time is after all infrared positioning signals are sent: if it is not, then continuing the adjustment of sending time.
Furthermore, in signal period, Indoor Robot judges whether sending infrared anti-collision signal, and according to sentencing
Disconnected result controls the transmission and stopping of the infrared positioning signal of charging pile by wireless communication, make the transmission of infrared positioning signal with
The transmission of infrared anti-collision signal is alternately.
The invention has the advantages that the infrared positioning signal of alternately charging pile is sent and the infrared anti-collision of Indoor Robot
Signal is sent so that during automatic homing also can smooth Infrared anticollision function: be during periodicity sending
Stored counts error is avoided, the adjustment of sending time is carried out every several periods, avoids the overlapping of two sides transmission: using wireless
It is tired in timing that the open and close control that communication mode carries out infrared positioning signal also avoids charging pile and Indoor Robot
Product error, to avoid conflicting.
[Detailed description of the invention]
Fig. 1 is the schematic diagram that the charging pile infrared lamp of prior art Indoor Robot emits:
Fig. 2 is the period composition schematic diagram of the infrared signal of one embodiment of the invention:
Fig. 3 is the method flow diagram that present example adjusts that infrared anti-collision emits the launch time of scanning signal.
[specific embodiment]
Explanation is further explained now in conjunction with drawings and examples to be illustrated that the present invention in further detail.
Present example refers to Fig. 2, and Indoor Robot is playbacked using the infrared positioning signal of charging pile, wherein is filled
The infrared positioning signal of electric stake is sent with the infrared anti-collision signal sending cycle of Indoor Robot alternately, and single
Infrared anti-collision signal and infrared positioning signal are sent at times in period.
As shown in Fig. 2, (present example is 3 to the infrared positioning signal of charging pile periodicity sending multichannel process coding
Road), Indoor Robot distinguishes positioning to being decoded after receiving infrared positioning signal, determines the direction of charging pile.When
The infrared positioning signal control of charging pile is completed to send within the previous period (Time 1) by preceding embodiment, and periodically raw
At cycle time sets T.The signal of the anticollision of infrared anti-collision module is also to be emitted according to same periodicity simultaneously, one
Equally control is completed within the latter period (Time2) in a period.Need to meet condition T > (Time l+Time 2) i.e. at this
The signal for needing to be able to satisfy both sides in period is sequentially completed.Interaction between charging pile and Indoor Robot is as shown in Figure 3.Because
The anticollision minimum detection distance of Indoor Robot is D, and considers most extreme case, and robot braking needs certain braking distance
D, wherein the movement speed of Indoor Robot is V, therefore the selection of cycle T needs to meet robot present speed V*T+d < D.Institute It should be for less than or equal to (D-d)/V and greater than (Time l+Time 2) with T value range.Cycle T composition can refer to Fig. 2.Wherein
Contraposition lamp A, contraposition lamp B and the range light of charging pile in turn send infrared positioning signal at times, infrared positioning signal
Previous period Time 1 completion for concentrating on a cycle T is sent, and in latter period Time 2 then for Indoor Robot
Infrared scan hair penetrates infrared anti-collision signal, is scanned, to realize anticollision purpose.It wherein aligns lamp A, contraposition lamp B and leads
Infrared positioning signal transmitted by lamp of navigating is the encoded signal of 38KHz, i.e., different coding letters is superimposed with using the carrier wave of 38KHz
Resulting encoded signal is ceased, encoded information is generally 8 or 16 addresses by coding, for distinguishing infrared positioning signal
Sender, robot is parsed to obtain the infrared positioning signal to be which is red after receiving infrared positioning signal indoors
Outer positioning signal, is calculated the infrared positioning signal sending time of remaining corresponding two-way, and then extrapolates infrared anti-collision
The sending time of signal.
During alternately sending, because charging pile is generally between Indoor Robot, none is temporal together
Step, so it is difficult to ensure that even, but both sides time counting is that have difference as robot with charging pile start time is
It is other, so the time, which has been grown, also has temporal cumulative errors.It thus needs robot that can adjust infrared anti-collision transmitting to sweep
Retouch the launch time of signal.It therefore can be temporal " right to charging pile and Indoor Robot progress after several periods
It is quasi- ", one embodiment of the invention uses the method such as Fig. 3 to be adjusted every five periods, and method of adjustment includes: to receive
Infrared anti-collision signal is judged whether it is when infrared signal: if it is, handling and continuing in the completed infrared into anticollision
The reception and judgement of signal: otherwise, the sending time for obtaining remaining infrared positioning signal is calculated, and infrared according to calculated result
The sending time of anticollision signal is adjusted to infrared positioning signals transmissions all in current period.
Sometimes since the time of adjustment is smaller, or the factors such as infrared positioning signal delay when next period starts,
Cause infrared anti-collision signal adjusted still can conflict with infrared positioning signal, at this moment just needs to carry out verification processing.Therefore
In the case that present example had carried out the adjustment of infrared anti-collision signal sending time within a upper period, detected in current period
It further include that the adjusted sending time of verifying is after infrared positioning signal and carrying out calculates the transmission of the infrared positioning signal in each road
It is no after all infrared positioning signals are sent: if it is not, then continuing the adjustment of sending time.
And the free time in Fig. 2 between each infrared signal transmission, i.e. Time 5, Time 6, Time7 and Time 8
The error in adjustment and treatment process is allowed for, so that each signal transmission process does not conflict with each other interference.
Another method for effectively avoiding conflict is to be implanted into wireless communication module, such as bluetooth, Wi-Fi in charging pile
And ZigBee etc., the infrared signal transmit cycle on both sides is synchronized with wireless communication, as Indoor Robot completes infrared anti-collision letter
Number transmission after the order for opening infrared positioning signal is sent to charging pile by wireless communication, to notify charging pile not emit
Infrared positioning signal, then Indoor Robot retransmits the order for closing infrared positioning signal after charging complete, and starts to carry out red
The transmission of outer anticollision signal is periodically carried out to scan, and also can reach the effect for avoiding conflict.
Invention is the advantage is that the infrared positioning signal of alternately charging pile is sent and the infrared anti-collision of Indoor Robot is believed
Number send so that during automatic homing also can smooth Infrared anticollision function: kept away during periodicity sending
Exempt from stored counts error, the adjustment of sending time is carried out every several periods, avoid the overlapping of two sides transmission: using channel radio
The open and close control that letter mode carries out infrared positioning signal also avoids the accumulation of charging pile and Indoor Robot in timing
Error, to avoid conflicting.
Claims (6)
1. a kind of automatic homing method of Indoor Robot, Indoor Robot is returned using the infrared positioning signal of charging pile
Position, which is characterized in that the infrared positioning signal of charging pile is sent with the infrared anti-collision signal sending cycle of Indoor Robot
Alternately, infrared anti-collision signal and infrared positioning signal are sent at times and in signal period, and the period is small
Difference obtained by the braking distance of Indoor Robot is subtracted divided by Indoor Robot in the anticollision minimum detection distance of Indoor Robot
The obtained quotient of movement speed, meanwhile, infrared positioning signal is met within the period and infrared anti-collision signal is successively complete
At.
2. the automatic homing method of Indoor Robot as described in claim 1, which is characterized in that it is infrared fixed that charging pile sends multichannel
Position signal, in signal period, the infrared positioning signal of multichannel concentrates on timesharing in the same period and sends, the hair of infrared anti-collision signal
It send and is carried out within another period.
3. the automatic homing method of Indoor Robot as claimed in claim 2, which is characterized in that in signal period, each time
One section of free time of interval carries out transmission next time again after being sent.
4. the automatic homing method of Indoor Robot as claimed in claim 2, which is characterized in that Indoor Robot is every several
Period adjusts the transmission of infrared anti-collision signal according to the infrared positioning signal received, and method of adjustment includes:
Infrared anti-collision signal is judged whether it is when receiving infrared signal: if it is, into anticollision processing and in the completed
Continue the reception and judgement of infrared signal；Otherwise, the sending time for obtaining remaining infrared positioning signal, and root are calculated
The sending time of infrared anti-collision signal is adjusted to infrared positioning signals transmissions all in current period according to calculated result.
5. the automatic homing method of Indoor Robot as claimed in claim 4, which is characterized in that carried out within a upper period red
In the case where the adjustment of outer anticollision signal sending time, infrared positioning signal is detected in current period and carries out calculating each road infrared
After the transmission of positioning signal, further include whether the adjusted sending time of verifying in all infrared positioning signals is sent it
Afterwards: if it is not, then continuing the adjustment of sending time.
6. the automatic homing method of Indoor Robot as described in claim 1, which is characterized in that in signal period, indoor unit
Device people judges whether sending infrared anti-collision signal, and controls the infrared positioning of charging pile by wireless communication according to judging result
The transmission of the transmission and stopping of signal, the transmission for making infrared positioning signal and infrared anti-collision signal is alternately.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610670198.3A CN106353727B (en) | 2016-08-15 | 2016-08-15 | The automatic homing method of Indoor Robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610670198.3A CN106353727B (en) | 2016-08-15 | 2016-08-15 | The automatic homing method of Indoor Robot |
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| CN106353727B true CN106353727B (en) | 2019-02-05 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101741321A (en) * | 2009-11-20 | 2010-06-16 | 李沫然 | Sound box non-contact inductive control system and control method thereof |
| CN104090575A (en) * | 2014-07-11 | 2014-10-08 | 大连理工大学 | Control system of automatic line patrol robot and automatic line patrol robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7332890B2 (en) * | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
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2016
- 2016-08-15 CN CN201610670198.3A patent/CN106353727B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101741321A (en) * | 2009-11-20 | 2010-06-16 | 李沫然 | Sound box non-contact inductive control system and control method thereof |
| CN104090575A (en) * | 2014-07-11 | 2014-10-08 | 大连理工大学 | Control system of automatic line patrol robot and automatic line patrol robot |
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Address after: 311200 Building 9, south bank, phase II, Xianghu Financial Town, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou ayou Culture Technology Co.,Ltd. Address before: 311203, Zhejiang, Xiaoshan District, Chengxiang City, Hangzhou street, Shuicheng 38 Patentee before: HANGZHOU AYOU CULTURAL CREATIVE Co.,Ltd. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Automatic homing method of indoor robot Effective date of registration: 20200911 Granted publication date: 20190205 Pledgee: Hangzhou United Rural Commercial Bank Limited by Share Ltd. Baoshan Branch Pledgor: Hangzhou ayou Culture Technology Co.,Ltd. Registration number: Y2020330000697 |
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Date of cancellation: 20220728 Granted publication date: 20190205 Pledgee: Hangzhou United Rural Commercial Bank Limited by Share Ltd. Baoshan Branch Pledgor: Hangzhou ayou Culture Technology Co.,Ltd. Registration number: Y2020330000697 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Automatic homing method of indoor robot Effective date of registration: 20220803 Granted publication date: 20190205 Pledgee: Hangzhou United Rural Commercial Bank Limited by Share Ltd. Baoshan Branch Pledgor: Hangzhou ayou Culture Technology Co.,Ltd. Registration number: Y2022980011850 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20190205 Pledgee: Hangzhou United Rural Commercial Bank Limited by Share Ltd. Baoshan Branch Pledgor: Hangzhou ayou Culture Technology Co.,Ltd. Registration number: Y2022980011850 |