Mother and child robot cooperative work system, and operation method thereof

A technology of collaborative working system and working method, applied in control/adjustment systems, manipulators, harvesters, etc., can solve the problems of large amount of calculation, complicated positioning method and process, unable to successfully complete cleaning tasks, etc., to achieve high work efficiency, overcome the The effect of high obstacles and simplified system structure

Pending Publication Date: 2017-12-15
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above positioning method is complicated in process and requires a large amount of calculation
[0005] Furthermore, in the above-mentioned prior art, since the robot system only plans the amount of robots and cleaning tasks, in different environments, such as when encountering a low-level environment, even if an assistance command is issued, it may not be able to clean up smoothly due to the height problem. Complete the cleaning task

Method used

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  • Mother and child robot cooperative work system, and operation method thereof
  • Mother and child robot cooperative work system, and operation method thereof
  • Mother and child robot cooperative work system, and operation method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0064] combine figure 2 As shown, in this embodiment, a laser ranging sensor (LDS) and a first infrared sensor are respectively provided on the master machine MR. The base machine first performs the cleaning operation on the operation area in the operation area, and obtains the plane map of all existing obstacles in the operation area through LDS scanning, and then further uses the first infrared sensor to scan the bottom surface of the existing obstacles and the surface of the operation area Make further judgments on the space between. The area without obstacles in the operation area is the area that can be cleaned. In the area with obstacles, the area where the space between the bottom surface of the obstacle and the surface of the operation area ≥ the height of the sub-machine body is recognized by the main machine as requiring assistance Clean up the area. After the cleaning of the master machine is completed, the working area map of the slave machine is obtained by fit...

Embodiment 2

[0066] combine figure 2 As shown, in this embodiment, the strike plate and the first infrared sensor are respectively provided on the main machine MR. The base machine first obtains the plane map of all existing obstacles in the work area through the collision plate, and then further judges the space between the bottom surface of the existing obstacles and the surface of the work area through the first infrared sensor. Similarly, the area without obstacles in the work area is the area that can be cleaned, and in the area with obstacles, the area where the space between the bottom surface of the obstacle and the surface of the work area ≥ the height of the sub-machine body is recognized by the main machine To assist in cleaning the area. After the cleaning of the master machine is completed, the working area map of the slave machine is obtained by fitting the area to be assisted in cleaning, and the master machine passes the above-mentioned Figure 4 Obtain the pose informat...

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Abstract

The invention provides a mother and child robot cooperative work system and an operation method thereof. The mother and child robot cooperative work system comprises: a mother robot (MR), a charging base (1000) and a child robot (CR), wherein the mother robot (MR) is provided with a control unit and an operation unit; the mother robot (MR) is in a wireless communication connection with the child robot (CR); the mother robot (MR) performs a cleaning operation in an operation area (S) under the control of the control unit, and identifies a cleanable area and an area requiring cleaning assistance in the cleaning process; the control unit in the mother robot (MR) controls the child robot (CR) to cooperatively complete a cleaning operation in the area requiring cleaning assistance after completion of cleaning in the cleanable area; and the mother robot (MR) is provided with a child robot position and posture sensing unit for inputting child robot position and posture information into the control unit, and the control unit controls the child robot (CR) to act according to needs. According to the mother and child robot cooperative work system and the operation method thereof, the mother robot effectively positions the child robot and controls the child robot to participate or not participate in a current operation, so as to realize reasonable assignment of operations for the mother robot and the child robot, and overcome a height obstacle in an operating environment. The mother and child robot cooperative work system has the advantages of simplified structure and high working efficiency.

Description

technical field [0001] The invention relates to a mother-child machine cooperative working system and a working method thereof, which belong to the technical field of small household appliance manufacturing. Background technique [0002] During the working process, due to the limitation of volume, the sweeping robot will encounter local environments that cannot be entered, such as spaces with a diameter larger than the diameter of the robot, and spaces with a height lower than the height of the robot, etc., resulting in missed sweeps of these environments. In order to solve the above problems, a cooperative mother and child machine working system has appeared. The working mode of this system is flexible and efficient, and it can complete the cleaning operation in every corner of the environment. [0003] figure 1 It is a schematic diagram of the system of the prior art US8755936B2. Such as figure 1 As shown, a multi-robot collaborative work system is disclosed, including ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02A47L11/24A47L2201/00A47L2201/04A47L2201/02G05D1/0287A47L9/2852A47L11/4011G05D2201/0203A01D34/008B25J9/1664B25J9/1682B25J11/0085B25J13/006G05D1/0027G05D1/0236
Inventor 汤进举
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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