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Self-moving robot system and direction calibrating method of self-moving robot

A technology of robot system and calibration method, which is applied in the field of self-moving robot system and its direction calibration, can solve the problems of complex adjustment process, difficult control, accumulated detection error, high cost, etc., and achieve the effect of low cost, accurate direction positioning and simple operation

Pending Publication Date: 2017-08-11
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] For a positioning system using an absolute coordinate system, for example, a robot captures an image with a position mark on the ceiling or other positions through a camera, etc., and measures its current position accordingly based on the captured image. This positioning system requires fast processing by the system. Large amount of data, using this system will result in higher costs
[0004] For a positioning system that uses a relative coordinate system, for example, the robot calculates the relative position of the machine through a travel distance sensor and an angle sensor, but as the robot rotates repeatedly, this positioning method will produce cumulative detection errors, so it is necessary to Every once in a while, perform a calibration
For example, the robot cleaner coordinate correction method disclosed in No. CN1330274C patent, it is by arranging a plurality of distance sensors on the robot cleaner and according to the distance d1 and d2 of the detection plate of the distance sensor to the base to calibrate its position back to the base pose, this way of calibrating the pose is costly and the adjustment process is more complicated and difficult to control

Method used

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  • Self-moving robot system and direction calibrating method of self-moving robot
  • Self-moving robot system and direction calibrating method of self-moving robot
  • Self-moving robot system and direction calibrating method of self-moving robot

Examples

Experimental program
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Effect test

Embodiment 1

[0026] figure 1 It is a structural schematic diagram of Embodiment 1 of the self-mobile robot system of the present invention. Such as figure 1 As shown, when the self-mobile robot 200 returns to the base 100 after working for a period of time, the polarized light emitted by the transmitting device 110 of the base 100 is reflected by the ceiling or the baffle 120 and then received by the receiving device 210 located at the top of the self-mobile robot 200 . After the receiving device 210 of the self-mobile robot 200 receives the polarized light emitted by the transmitting device 110 of the base 100, assuming that the actual angular offset of the self-mobile robot 200 is θ, the angular offset recorded by the angle sensor is θ 1 , where 0°≤θ 1 1 Continuously increasing, until after increasing to 360°, the angular offset returns to 0°, and as the self-mobile robot 200 continues to rotate, the angular offset continues to increase to θ 1 , in this process, since the receiving d...

Embodiment 2

[0031] figure 2 It is the first structural schematic diagram of Embodiment 2 of the self-mobile robot system of the present invention; image 3 It is the second structural schematic diagram of Embodiment 2 of the self-mobile robot system of the present invention. Such as figure 2 combine image 3 As shown, the difference between this embodiment and Embodiment 1 is that the polarized light emitted by the transmitting device of the base is directly received by the receiving device of the mobile robot without reflection. figure 2 The base 101 includes a base for carrying the self-mobile robot 201, the launch device 111 is arranged on the base, and after the self-mobile robot 201 returns to the base 101, the polarized light is arranged at the bottom of the self-mobile robot 201 The receiving device 211 receives; image 3 The polarized light emitted by the transmitting device 112 of the base 102 is directly emitted to the ground, and after the self-mobile robot returns to th...

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Abstract

The invention discloses a self-moving robot system and a direction calibrating method of a self-moving robot. The self-moving robot system comprises a base and the self-moving robot, wherein the self-moving robot is provided with an angle sensor and a control unit, the base and the self-moving robot are provided with an emitting device which can emit polarized light and a receiving device respectively, and the receiving device is provided with a polarizer; and after the polarized light emitted by the emitting device is received by the receiving device, the control unit can calibrate the directions of the self-moving cleaning robot according to the intensity or the intensity changes of the signal received by the receiving device. According to the self-moving robot system and the direction calibrating method of the self-moving robot, the emitting device which can emit the polarized light and the corresponding receiving device are arranged, and the control unit can calibrate the directions of the self-moving robot according to the intensity or the intensity changes of the signal received by the receiving device, and therefore the calibrating precision is high, the direction positioning is accurate, the operation is simple, and the used cost is low.

Description

technical field [0001] The invention relates to a self-moving robot system and a direction calibration method thereof, belonging to the technical field of small household appliance manufacturing. Background technique [0002] Existing planning-type self-mobile robots are generally divided into two ways: absolute coordinate system and relative coordinate system for positioning and navigation. [0003] For a positioning system using an absolute coordinate system, for example, a robot captures an image with a position mark on the ceiling or other positions through a camera, etc., and measures its current position accordingly based on the captured image. This positioning system requires fast processing by the system. Large amounts of data, the use of this system will result in higher costs. [0004] For a positioning system that uses a relative coordinate system, for example, the robot calculates the relative position of the machine through a travel distance sensor and an angle...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 汤进举
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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