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Self-mobile robot walking range limitation system and its limitation method

A robot, self-moving technology, applied in control/regulation systems, non-electric variable control, radio wave measurement systems, etc., can solve the problems of retroreflective marking failure and cost increase, and achieve long working hours, energy saving, and low cost. Effect

Active Publication Date: 2017-07-04
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the third scheme, since the retroreflective markers are laid on the ground, the retroreflective markers are also prone to failure due to pollution. When the interval between the limited areas is large, it is necessary to lay a large amount of retroreflective marker materials, and the self-moving robot is also Additional detectors that radiate light toward the ground need to be added, resulting in a relative increase in cost

Method used

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  • Self-mobile robot walking range limitation system and its limitation method
  • Self-mobile robot walking range limitation system and its limitation method
  • Self-mobile robot walking range limitation system and its limitation method

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Embodiment 1

[0033] figure 1 It is a schematic diagram of setting position of boundary markers according to Embodiment 1 of the present invention. Such as figure 1 As shown, the present invention provides a system for limiting the walking range of an autonomous mobile robot, including: a limit marker 300 and an autonomous mobile robot 1 . The limit mark 300 is used to determine the limited boundary position of the working space 100, including retroreflective material, such as: retroreflective film. The self-mobile robot 1 walks and works in the working space 100 , including: a scanning range finder 12 and a control device 11 . The scanning range finder 12 forms a scanning plane by transmitting and receiving optical signals, and scans and measures the working space 100 . The control device 11 receives the scanning ranging signal from the scanning ranging instrument 12 and establishes a coordinate map of the working space 100 . The control device 11 determines the position of the limit m...

Embodiment 2

[0042] figure 2 It is a schematic diagram of setting the position of the limit mark in the second embodiment of the present invention. Such as figure 2 As shown, in this embodiment, the setting position of the limit mark 300 is also at the non-closed opening 200, but the difference from Embodiment 1 is that the limit mark 300 in this embodiment is set in pairs respectively at the non-closed opening 200 on both sides of the wall. During the rotation process of the self-mobile robot 1, the laser range finder performs map modeling on the room 100'. After modeling, the self-mobile robot 1 knows its own coordinate position no matter where it goes. At the same time, the self-mobile robot 1 The position of the boundary marker 300 is identified by the strength of the reflected signal. Line segments on the two boundary markers 300 respectively falling between any two points on the scanning plane at least partially form the boundary. That is to say, the straight line on the limit ...

Embodiment 3

[0044] image 3 It is a schematic diagram of setting the position of the boundary mark 300 according to the third embodiment of the present invention. Such as image 3 As shown, in this embodiment, there are multiple non-closed openings 200, and at this time, there are correspondingly multiple limit marks 300, and each limit mark 300 is respectively set on the corresponding non-closed opening 200. one or both sides. The self-mobile robot 1 recognizes the position of the limit mark 300 through the reflected signal strength, and a virtual line segment is formed between any two points on any two limit marks 300 respectively falling on the scanning plane. In the control device 11, the threshold value of the width of the non-closed opening 200 is pre-stored, and the control device 11 compares the distance between the virtual line segment formed by any two adjacent limit marks 300 with the threshold value, and the two limit marks 300 whose distance is smaller than the threshold va...

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Abstract

A self-mobile robot walking range limitation system and its limitation method, the limitation system comprising: a limit mark (300), used to determine the limited boundary position of the work space (100), including retro-reflective material; the self-mobile robot (1), Walking operation in the working space, including: scanning distance meter (12), forming a scanning plane through the emission and reception of optical signals, and performing scanning and distance measurement on the working space; control device (11), receiving the scanning distance from the scanning distance meter The distance measurement signal establishes the coordinate map of the work space; after the control device receives the scanning distance measurement signal reflected from the limit mark by the scanning range finder, it determines the position of the limit mark, and determines the coordinates of its boundary according to the position of the limit mark, Thereby controlling the self-mobile robot to work in the area within the defined boundary. The invention saves energy, has long effective working time, high sensitivity and low cost.

Description

technical field [0001] The invention relates to a system for limiting the walking range of a self-moving robot and a limiting method thereof, belonging to the technical field of small household electrical appliances. Background technique [0002] Self-cleaning mobile robots are widely used for their small size and flexible movement. When the existing cleaning self-mobile robot cleans the room 100', it is usually necessary to limit the working area of ​​the self-mobile robot, such as limiting cleaning only to the hall or bedroom. At present, there are mainly three schemes for limiting the working area: Scheme 1: the virtual wall generating device limits the working area. For example: U.S. public document US6690134 reveals that the virtual wall generating device emits a beam of light as a virtual wall, and after the detector of the self-mobile robot detects the beam, it retreats away from the beam, so that the self-mobile robot works within the limit of the virtual wall gener...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01S17/08
CPCG05D1/0238G05D1/0244G05D1/0274G01S17/42
Inventor 汤进举
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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