CN102217918A - Robot system and method for butt joint of robot and charging seat of robot system - Google Patents
Robot system and method for butt joint of robot and charging seat of robot system Download PDFInfo
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- CN102217918A CN102217918A CN2010101499697A CN201010149969A CN102217918A CN 102217918 A CN102217918 A CN 102217918A CN 2010101499697 A CN2010101499697 A CN 2010101499697A CN 201010149969 A CN201010149969 A CN 201010149969A CN 102217918 A CN102217918 A CN 102217918A
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Abstract
The invention relates to a robot system and a method for butt joint of a robot and a charging seat of the robot system. The robot system comprises the robot (100) and the charging seat (200), wherein a control unit is arranged in the robot (100), and the control unit is connected with a traveling mechanism (106) of the robot (100), outputs a control signal to the traveling mechanism (106) and controls the movement of the traveling mechanism (106); an induction detecting element is arranged on the robot (100), and a corresponding inductive element is arranged on the charging seat (200); the induction detecting element outputs induction signals sensed from the inductive element to the control unit; and the control unit controls the robot to ensure that the traveling speed of the robot (100) is reduced. The robot system is simple in structure, has high working efficiency, and improves the success ratio of the butt joint of the robot and the charging seat.
Description
Technical field
The present invention relates to a kind of robot system and in this robot system, the docking calculation of robot and cradle is especially a kind ofly regulated robot docks direction with cradle robot system and docking calculation thereof.
Background technology
Along with improving constantly of living standard and scientific and technological ability, the family expenses service robot of various difference in functionalitys has progressed into ordinary citizen house, for people's life brings in various degree facility.In various family expenses service-delivery machine people, think that especially the robot that handles on surfaces such as people's household ground is the most universal.
Existing clean robot on the market mostly disposes cradle, and this robotlike all can provide energy by its built-in rechargeable battery under the situation that does not have the user to operate, and realizes automatically advancing and cleaning pending zone.After robot senses its electric weight deficiency, can return cradle automatically, come to charge by cradle to the rechargeable battery of robot built-in.The principle that this robot returns cradle is: robot comprises the cleaning pattern at least and returns the cradle charge mode; When the battery electric quantity in the robot was less than or equal to certain preset value, the control module control robot in the robot was transferred to from the cleaning pattern and returns the cradle charge mode.Robot begins to seek the position of cradle, returns cradle after looking for and docks charging.In this whole process, no matter be to seek cradle, dock charging after still searching out cradle, the speed of travel of robot all is consistent.Therefore, after robot found cradle, robot kept original speed and direction directly to return cradle, before both electrode butt joints, and the accurately correction of travel direction.The butt joint success rate of this docking mode is subjected to the influence of accidentalia bigger, and the accuracy rate of charging butt joint is not high.
Summary of the invention
Technical problem to be solved by this invention is, provide a kind of robot system at the deficiencies in the prior art, returning under the cradle charge mode, when the close together between robot and the cradle, by reducing the speed of robot, make robot have the enough time progressively to adjust direction of travel, so that accurately dock its simple in structure and high efficiency with pedestal.
Technical problem to be solved by this invention is achieved by the following technical solution:
A kind of robot system, comprise: robot and cradle, be provided with control module in the robot, this control module links to each other with the traveling mechanism of robot, the output control signal is given traveling mechanism and is controlled its motion, described robot is provided with the induction detecting element, described cradle is provided with corresponding sensing element, described induction detecting element will be exported to described control module from the induced signal that described sensing element senses, and this control module control reduces the speed of travel of robot.
Furtherly, described cradle comprises pedestal, and this pedestal is provided with the bottom, and described sensing element is arranged on the front portion of described base bottom; Described induction detecting element is arranged on the preceding bottom that described robot is positioned at the housing of direct of travel.
Wherein a kind of mode is that described induction detecting element is near inductive switch; Described sensing element is near sensing element.
Specifically, described is that Hall element, magnetron or metal are near switch near inductive switch; Described near sensing element for polarity or non-polar magnetic element or hardware are arranged.
Another kind of mode is that described induction detecting element is the reflective infrared emission/receiving element that is provided with in pairs; Described sensing element is for can absorb infrared element.
Above-described machine artificial floor treatment robot or the intelligent toy robot or the amusement robot that can move certainly.
The present invention also provides the docking calculation of a kind of robot and cradle, comprises the steps:
Step 1: when the electric quantity of rechargeable battery of robot built-in is not enough, enters automatically and return the cradle charge mode; Step 2: cradle transmits to robot; Step 3: robot transmits according to the cradle that receives in the step 2, and is close to cradle, and adjusts the direction of motion of robot in good time; Step 4: robot judges whether to sense cradle, if for being then to reduce the movement velocity of robot; If, then get back to step 3 for not; Step 5: adjust the direction of motion of robot, the realization robot docks with cradle.
Described step 3 specifically comprises: two infrared receiver components in the robot receive transmitting of cradle, according to differentiating described two received signal powers of infrared reception unit, adjust the direction of motion of robot in good time.
Robot in the described step 4 senses cradle, is arranged on the induced signal that the induction detecting element in the described robot senses from the sensing element that is arranged on the described cradle.
A kind of mode is that described induction detecting element is near inductive switch; Described sensing element is near sensing element.
Specifically, described is that Hall element, magnetron or metal are near switch near inductive switch; Described near sensing element for polarity or non-polar magnetic element or hardware are arranged;
Perhaps, described induction detecting element is the reflective infrared emission/receiving element that is provided with in pairs; Described sensing element is for can absorb infrared element.
In sum, its simple in structure and high efficiency of the present invention has improved the success rate that robot docks with the cradle charging.
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is described in detail.
Figure of description
Fig. 1 is the robot construction schematic diagram in the robot system of the present invention;
Fig. 2 is the structural representation of the infrared receiving device of robot of the present invention;
Fig. 3 is the structural representation of the cradle of robot system of the present invention;
When Fig. 4 returned the cradle charge mode for robot of the present invention is in, robot did not enter the structural representation in cradle magnetic stripe magnetic field;
When Fig. 5 returned the cradle charge mode for robot of the present invention is in, robot entered the structural representation in cradle magnetic stripe magnetic field;
When Fig. 6 returns the cradle charge mode for robot of the present invention is in, the motion flow schematic diagram of robot;
Fig. 7 is the circuit diagram of the Hall element of robot of the present invention;
Fig. 8 is the circuit diagram of the metal of robot of the present invention near switch.
The specific embodiment
Fig. 1 is the robot construction schematic diagram of the robot system in the embodiment of the invention.Fig. 3 is the structural representation of the cradle of the robot system in the embodiment of the invention.
As shown in figures 1 and 3, the robot system in the embodiment of the invention comprises robot 100 and cradle 200.This robot 100 is the robots that are used to carry out floor treatment, and said floor treatment comprises carries out processing such as dust suction, waxing to ground.This cradle 200 is used for charging to this robot 100.
As shown in Figure 1, robot 100 comprises housing 101, but is provided with the battery and the control module (not shown) of recharge in the inside of housing 101.This robot 100 also comprises the traveling mechanism 106 (referring to Fig. 4) that is positioned at housing 101 both sides, and this control module links to each other with the traveling mechanism 106 of robot 100, and the output control signal is given traveling mechanism 106 and controlled its motion.Robot 100 has two kinds of patterns, that is: cleaning pattern and return the cradle charge mode.When being in the cleaning pattern under the control of robot 100 at control module, traveling mechanism 106 drives robot 100 mobile clean operation that carries out on pending surface and handles under the energy of rechargeable battery is supplied with.
As shown in Figure 1, leading section in robot 100 is provided with receiving electrode 104, this is respectively equipped with positive and negative electrode to receiving electrode 104, cradle 200 is provided with charging electrode 201 (as shown in Figure 3) accordingly, and this is with respect to the center line of robot 100 receiving electrode 104 and is symmetrical set.When the electric weight of robot 100 built-in rechargeable batteries was lower than in the control module preset value, robot 100 was changed over to by the cleaning pattern automatically and returns the cradle charge mode under the effect of control module.When robot 100 realizes with after cradle 200 accurately docks, by to receiving electrode 104 and charging electrode 201, the charging of 200 pairs of robots 100 of realization cradle.In addition, robot 100 also comprises signal receiving device 102, and this device is positioned at the leading section of robot 100, is used to receive transmitting from cradle 200.In the present embodiment, preferred version is that this signal receiving device 102 is an infrared receiving tube.Fig. 2 is the structural representation of the infrared receiving device of robot of the present invention.As shown in Figure 2, this signal receiving device 102 comprises infrared receiving tube 1021 and infrared receiving tube 1022.Infrared receiving tube 1021 and infrared receiving tube 1022 are left-right symmetry with respect to the center line of robot 100, and are provided with an infrared baffle plate 103 between the two, and infrared baffle plate is arranged on the center line of robot 100.
More, as shown in Figure 1, this robot 100 comprises one near the inductive switch (not shown), in the present embodiment, should be Hall element 105 near inductive switch, it be placed in the preceding bottom (as Fig. 4, shown in Figure 5) that robot is positioned at the housing 101 of direct of travel.
Fig. 3 is the structural representation of the cradle of robot system of the present invention.As shown in Figure 3, cradle 200 comprises body, and this body comprises pedestal 2001 and cantilever 2002.The erection part of pedestal 2001 is provided with charging electrode 201, and this charging electrode 201 is respectively equipped with positive and negative electrode, and this charging electrode 201 is left-right symmetry with respect to the center line of cradle body 200.After robot 100 and cradle 200 accurately dock, in the robot 100 receiving electrode 104 is realized effectively being connected with the charging electrode 201 on the cradle, thereby the charge function of 200 pairs of robots 100 of cradle is passed through in realization.Cradle 200 is provided with sender unit 202, and the guided robot 100 that is used to transmit is near cradle 200.In the present embodiment, preferred version is, this sender unit 202 is an infrared transmitting tube, and by the pulse position modulation mode, infrared launcher 202 emissions are the target emanation of spindle shape light beam.This sender unit 202 comprises infrared transmitting tube 2021 and infrared transmitting tube 2022.Infrared transmitting tube 2021 is arranged on the cantilever 2002 of cradle 200, is positioned on the center line of cradle 200, and its angular range is at 30 °～40 °, and beam length is greater than 3 meters; Infrared transmitting tube 2022 is arranged on the erection part of cradle pedestal 2001, is positioned on the center line of cradle 200, and its angular range is roughly at 10 °, and beam length is less than 2 meters.
When Fig. 4 returned the cradle charge mode for robot of the present invention is in, robot did not enter the structural representation in cradle magnetic stripe magnetic field.As Fig. 3 in conjunction with shown in Figure 4, the bottom of cradle pedestal 2001 is provided with and is used for cradle steadily is placed on ground bottom, and this bottom is provided with one near sensing element, in the present embodiment, should be magnetic stripe 204 near sensing element, it be positioned at the front portion of pedestal 2001 bottoms.Consider for the magnetic stripe durability, magnetic stripe is placed on the back side of pedestal 2001 bottoms, face the ground surface that supports cradle.
As Fig. 4 and in conjunction with Fig. 1 and shown in Figure 3, robot 100 is under the control of control module, deals with the work in the work ground for the treatment of.When the electric weight of robot 100 built-in rechargeable batteries was lower than preset value, robot 100 was changed over to by mode of operation automatically and returns the cradle charge mode under the effect of its control module.
In conjunction with shown in Figure 2, robot 100 near in the cradle 200, adjusts the walking states of robot 100 gradually by its built-in two infrared receiving tubes, 1021,1022 received signals.Specifically: when the distance between robot 100 and the cradle 200 during greater than 3 meters, the infrared receiving tube 1021 of robot and infrared receiving tube 1022 receive the signal of the infrared transmitting tube 2021 of cradle 200 respectively.Infrared receiving tube 1021 and infrared receiving tube 1022 pass to the signal value that receives the control module of robot 100.Control module is controlled the direction that robot 100 advances according to the size of the signal value that infrared receiving tube 1021 and infrared receiving tube 1022 receive.If the side to the charging electrode 201 of side of receiving electrode 104 and cradle 200 of robot 100 does not face, infrared plate washer 103 in the infrared receiving device of robot 100 can block the part infrared signal, so that the received signal of infrared receiving tube 1021 and infrared receiving tube 1022 is different.At this moment, the robot control unit sends instruction, and order robot 100 is to the big direction walking of signal value.To transfer out the signal value of control module the same when big when infrared receiving tube 1021 and infrared receiving tube 1022, and control module order robot 100 walks forward.
When the distance between robot 100 and the cradle 200 during less than 2 meters, the infrared receiving tube 1021 of robot and infrared receiving tube 1022 receive the signal of the infrared transmitting tube 2022 of cradle 200 respectively.The infrared transmitting tube 2021 of relevant operation principle and method of work and reception cradle identical do not repeat them here.
Figure 4 shows that robot 100 is in returns under cradle 200 charge modes, and under the guide of the infrared emission signal of cradle 200, robot 100 is progressively near cradle 200.What Fig. 4 dotted in cradle magnetic stripe position is the scope that magnetic field is involved, this shows, this moment, the Hall element 105 of robot built-in did not also enter in the magnetic field that cradle 200 is provided with magnetic stripe 204, and the Hall element 105 of robot built-in is not also sensed the magnetic stripe 204 on the cradle 200.At this moment, robot still keeps original speed to advance.
When Fig. 6 returns the cradle charge mode for robot of the present invention is in, the motion flow schematic diagram of robot.Shown in the flow chart of Fig. 6, robot 100 enters and returns cradle 200 charge modes (step S100); The signal receiving device 102 of robot 100 receives the signal (step S110) of the sender unit 202 of cradle 200, keep original speed gradually near cradle 200, the infrared receiving tube 1021 by robot 100 and infrared receiving tube 1022 received signals are adjusted the traffic direction (step S120) of robot in good time.Robot 100 built-in Hall elements 105 detect and have or not the magnetic field of the magnetic stripe 204 of sensing cradle 200 to have (step S130), if do not perceive, then still keep original speed gradually near cradle (step S120); If perceive, then robot 100 built-in Hall elements 105 are given control module with feedback information, 100 decelerations (step S140) of control module control robot.Infrared emission signal according to two infrared receiving tube 1021,1022 cradles of being received 200 establishing in the robot 100, feed back to the control module of robot 100, judge by two signal values, correct the direction of robot 100 in good time, make the robot calibration attitude, accurately dock (step S150) with cradle 200 to help robot 100.
In the present embodiment, by being equipped with in the robot front bottom end to magnetic field sensitive components---Hall element 105 comparatively, so that robot 100 returns in the running of cradle 200, when entering the cradle bottom, its inner Hall element 105 divides in the magnetic field of magnetic stripe 204, robot 100 just can detect the numerical value change of Hall element 105, by feedback information being given robot 100 built-in control module, thereby control module control robot 100 carries out the order of Easy abeadls.
Fig. 7 is the circuit diagram of the Hall element of robot of the present invention.As shown in Figure 7, be the circuit diagram of Hall element in the present embodiment 105.The principle of Hall element 105 is: when being vertically installed in the wafer of an energising in the magnetic field, the thin slice both sides produce potential difference thus, and this phenomenon is a Hall effect.This potential difference is referred to as Hall voltage, and the size of electromotive force is E=KIB/d, and in the formula, K is a Hall coefficient, and d is the thickness of thin slice, and I is an electric current, and B is a magnetic induction intensity.In the present embodiment, Hall element 105 near inductive switch, has contactless, low-power consumption, the life-span is long, highly sensitive, operating frequency is high characteristics as a kind of, can work under various adverse circumstances reliable and stablely.
Metal is near switch output switching signal near hardware the time, and its circuit as shown in Figure 8.This circuit is made up of two parts, be high-frequency generator and on-off circuit, its operation principle is as follows: when robot does not have near cradle, that is, when metal keeps clear of hardware near switch, high-frequency generator work, oscillator signal is through DV1, DV2 voltage multiplying rectifier, obtain a direct current voltage and make the BG2 conducting, BG3 ends, and subsequent conditioning circuit is not worked.When robot when the cradle, that is, metal is near switch during near hardware, because eddy-current loss, the high-frequency generator failure of oscillation, BG2 ends, and BG3 must conduct, the built-in luminous tube of optocoupler 4n25 is luminous, and circuit is connected in the phototriode conducting, plays on-off action.This type of is a prior art near switching technique, in this no longer too much explanation.
When robot 100 does not have near cradle 200, promptly, reflective infrared emission/receiving element is not near can absorb infrared element the time, be arranged on the ground 300 that the infrared emission component emission light in the robot 100 is advanced to robot, as known to the public, ground is for absorbing the infrared ray medium, through ground 300 with light reflected back infrared receiver component, infrared receiver component receives signal, and signal is exported to control module.When robot 100 during near cradle 200, promptly, reflective infrared emission/receiving element is near can absorb infrared element the time, when being arranged on the absorbed infrared components of infrared emission component emission light on being positioned at cradle in the robot 100, because this element all absorbs the infrared ray that sends, so that the infrared receiver component that is positioned in the robot 100 does not receive signal, there is not signal to export to control module.This type of is a prior art near switching technique, in this also no longer too much explanation.
From in sum as seen, robot 100 is provided with the induction detecting element, and cradle 200 is provided with corresponding sensing element.When robot 100 close enough cradles 200, described induction detecting element can sense induced signal from described sensing element.By the induced signal that senses is exported to the ROBOT CONTROL unit, control module control reduces the speed of travel of robot.
The above-mentioned robot that mentions the cited robot that is used for floor treatment, also can be can be from the intelligent toy robot that moves, amusement robot or the like in present embodiment.
Claims (10)
1. robot system, comprise: robot (100) and cradle (200), robot is provided with control module in (100), this control module links to each other with the traveling mechanism (106) of robot (100), the output control signal is given traveling mechanism (106) and is controlled its motion, it is characterized in that described robot (100) is provided with the induction detecting element, described cradle (200) is provided with corresponding sensing element; Described induction detecting element will be exported to described control module from the induced signal that described sensing element senses, and this control module control reduces the speed of travel of robot (100).
2. robot system as claimed in claim 1 is characterized in that, described cradle (200) comprises pedestal (2001), and this pedestal (2001) is provided with the bottom, and described sensing element is arranged on the front portion of described pedestal (2001) bottom; Described induction detecting element is arranged on the preceding bottom of described robot (100) towards the housing (101) of direct of travel.
3. robot system as claimed in claim 1 is characterized in that, described induction detecting element is near inductive switch; Described sensing element is near sensing element; Described is that Hall element (105), magnetron or metal are near switch near inductive switch; Described near sensing element for polarity or non-polar magnetic stripe (204) or hardware are arranged.
4. robot system as claimed in claim 1 is characterized in that, described induction detecting element is reflective infrared emission or the receiving element that is provided with in pairs; Described sensing element is for can absorb infrared element.
5. as each described robot system of claim 1-4, it is characterized in that described machine artificial floor treatment robot or the intelligent toy robot or the amusement robot that can move certainly.
6. the docking calculation of robot and cradle is characterized in that this method comprises the steps:
Step 1: when the built-in electric quantity of rechargeable battery of robot (100) is not enough, enters automatically and return cradle (200) charge mode;
Step 2: cradle (200) transmits to robot (100);
Step 3: robot (100) transmits according to the cradle that receives in the step 2 (200), and is close to cradle (200), and adjusts the direction of motion of robot (100) in good time;
Step 4: robot (100) judges whether to sense cradle (200), if for being then to reduce the movement velocity of robot (100); If, then get back to step 3 for not;
Step 5: adjust the direction of motion of robot, realization robot (100) docks with cradle (200).
7. the docking calculation of robot as claimed in claim 6 and cradle, it is characterized in that, described step 3 specifically comprises: robot (100) is provided with two infrared receiver components, be used to receive transmitting of cradle (200), according to the power of differentiating the received signal of described two infrared receptions units, adjust the direction of motion of robot (100) in good time.
8. the docking calculation of robot as claimed in claim 6 and cradle, it is characterized in that, robot in the described step 4 (100) senses cradle (200), is arranged on the induced signal that the induction detecting element in the described robot (100) senses from the sensing element that is arranged on the described cradle (200).
9. the docking calculation of robot as claimed in claim 8 and cradle is characterized in that, described induction detecting element is near inductive switch; Described sensing element is near sensing element.
10. the docking calculation of robot as claimed in claim 9 and cradle is characterized in that, described is that Hall element (105), magnetron or metal are near switch near inductive switch; Described near sensing element for polarity or non-polar magnetic stripe (204) or hardware are arranged; Perhaps described induction detecting element is reflective infrared emission or the receiving element that is provided with in pairs; Described sensing element is for can absorb infrared element.
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| CN2010101499697A CN102217918A (en) | 2010-04-14 | 2010-04-14 | Robot system and method for butt joint of robot and charging seat of robot system |
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| CN2010101499697A CN102217918A (en) | 2010-04-14 | 2010-04-14 | Robot system and method for butt joint of robot and charging seat of robot system |
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