A robot base station and a robot system

Abstract

The application discloses a robot base station and a robot system. The robot base station is provided with: a near-zone signal emitting module, which is installed at the front end of the robot base station and is used for emitting a near-zone signal, the emitting direction of the near-zone signal being perpendicular to the ground; and a near-zone signal reflecting module, which is installed on the emitting direction of the near-zone signal and is used for reflecting the near-zone signal emitted by the near-zone signal emitting module, so that the near-zone signal is emitted along the horizontal direction after being reflected and covers the near-zone area of the robot base station. By limiting the near-zone signal emitting direction of the near-zone signal emitting module to be perpendicular to the ground, the near-zone signal emitted by the near-zone signal emitting module does not interfere with other charging signals. Furthermore, the near-zone signal reflecting module is used to convert the propagation direction of the near-zone signal from being perpendicular to the ground to horizontal propagation, thereby effectively solving the mutual influence problem of the near-zone signal and other guiding signals of the base station guiding device.

Description

Technical Field

[0001] This application relates to the field of robot recharging, specifically to a robot base station and robot system. Background Technology

[0002] Currently, mobile robots typically use infrared signal guidance to locate charging docks. This involves equipping the mobile robot with an infrared signal receiver, and the charging dock using multiple sets of infrared emitters to guide the robot. Chinese patent number "CN201510575048.X," titled "Mobile Robot Charging Control System and Method," discloses a method where a mobile robot is equipped with four infrared signal transmitting units covering 360 degrees of the charging dock, guiding the robot to dock via infrared signals and wireless communication. However, this solution suffers from several drawbacks. The infrared signals emitted by multiple emitters are prone to reflection within the charging dock, and the multiple infrared signals interfere with each other, affecting the robot's docking efficiency. Utility Model Content

[0003] This application provides a robot base station, which is equipped with a return-to-base guidance device. The return-to-base guidance device includes: a near-field signal transmitting module, installed at the front end of the robot base station, for transmitting near-field signals, the transmission direction of which is perpendicular to the ground; and a near-field signal reflecting module, installed in the transmission direction of the near-field signals, for reflecting the near-field signals transmitted by the near-field signal transmitting module, so that the near-field signals are reflected and emitted horizontally to cover the near-field area of ​​the robot base station.

[0004] Furthermore, the near-field signal reflection module includes an inclined cone reflection unit, the surface of which is made of a near-field signal reflective material, so as to adjust the reflection of the near-field signal from the transmission direction perpendicular to the ground to the horizontal emission direction, and the radiation range is a circular area; wherein, the side generating line of the inclined cone reflection unit conforms to the curve equation, so that the inclined cone reflection unit is spherical.

[0005] Further, the near-field signal transmission module includes: a first near-field signal transmitting tube, installed on the left side of the front end of the robot base station, for transmitting a first near-field signal, the signal transmission direction of the first near-field signal tube being perpendicular to the ground; a second near-field signal transmitting tube, installed on the right side of the front end of the robot base station, for transmitting a second near-field signal, the signal transmission direction of the second near-field signal tube being perpendicular to the ground; the inclined cone reflection unit includes: a first inclined cone, installed at the bottom of the outlet of the first near-field signal transmitting tube, for reflecting the first near-field signal transmitted by the first near-field signal transmitting tube, so that the first near-field signal covers the first target area on the left side of the front end of the robot base station; a second inclined cone, installed at the bottom of the outlet of the second near-field signal transmitting tube, for reflecting the second near-field signal transmitted by the second near-field signal transmitting tube, so that the second near-field signal covers the second target area on the right side of the front end of the robot base station.

[0006] Furthermore, the return-to-station guidance device also includes: a far-area signal transmission module; wherein the far-area signal transmission module includes: a far-area signal transmission tube for transmitting far-area signals to cover the far-distance area of ​​the robot base station; a far-area mounting bracket including a far-area mounting cavity and a far-area signal guiding cover, wherein the far-area mounting cavity is a hollow cavity for installing the far-area signal transmission tube within the hollow cavity; and the far-area signal guiding cover for guiding the propagation and diffusion path of the far-area signal transmitted by the far-area signal transmission tube.

[0007] Furthermore, the far-field signal guide cover is shaped like an outward-expanding horn, and the far-field signal guide cover is set to fit the edge curve of the robot base station body.

[0008] Furthermore, the robot base station is equipped with two sets of far-field signal transmission modules. One set of far-field signal transmission modules is located above the first near-field signal transmission tube and is responsible for transmitting far-field signals to cover the far-distance area on the left side of the front end of the robot base station. The other set of far-field signal transmission modules is located above the second near-field signal transmission tube and is responsible for transmitting far-field signals to cover the far-distance area on the right side of the front end of the robot base station.

[0009] Furthermore, the return-to-station guidance device further includes: a docking signal transmitting module; wherein the docking signal transmitting module includes: a first docking signal transmitting tube for transmitting a first docking signal, radiating to the target area to the left of the charging interface of the robot base station; a second docking signal transmitting tube for transmitting a second docking signal, radiating to the target area to the right of the charging interface of the robot base station; and a docking signal transmitting mounting frame, provided with two sets of limiting channels for respectively mounting the first docking signal transmitting tube and the second docking signal transmitting tube; wherein the radiation range of the first docking signal and the radiation range of the second docking signal overlap, and the charging interface of the robot base station is located on the central axis of the overlapping area.

[0010] Furthermore, the docking signal transmitting mounting frame includes: a first docking signal transmitting cavity for limiting the installation of a first docking signal transmitting tube; a first docking signal transmitting channel for limiting the propagation direction of the first docking signal emitted by the first docking signal transmitting tube; a second docking signal transmitting cavity for limiting the installation of a second docking signal transmitting tube; a second docking signal transmitting channel for limiting the propagation direction of the second docking signal emitted by the second docking signal transmitting tube; the first docking signal transmitting tube and the second docking signal transmitting tube are symmetrically installed on the docking signal transmitting mounting frame, and the transmission direction axis of the first docking signal transmitting tube intersects with the transmission direction axis of the second docking signal transmitting tube.

[0011] Furthermore, the first docking signal transmission channel and the second docking signal transmission channel are respectively provided with uniformly distributed tooth-shaped protrusions.

[0012] This application also provides a robot system, comprising: a robot base station as described in any of the preceding claims, used to guide a robot to dock with the charging interface of the robot base station based on a return-to-base guidance device; and a robot equipped with a signal receiving device, used to receive signals transmitted by the return-to-base guidance device, adjust the return-to-charge path, and achieve docking with the charging interface of the robot base station.

[0013] The robot base station and robot system described in this application, by configuring the near-field signal transmission direction of the near-field signal transmission module to be perpendicular to the ground, ensure that the near-field signal transmitted by the near-field signal transmission module does not interfere with other return-to-base signals. Then, by using the near-field signal reflection module, the near-field signal propagation direction is changed from perpendicular to the ground to horizontal propagation through reflection. At the same time, the installation position of the near-field signal reflection module effectively limits the area and coverage range of the near-field signal converted to horizontal transmission, effectively solving the problem of mutual interference between the near-field signal and other guidance signals of the return-to-base guidance device. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a robot base station according to one embodiment of this application.

[0015] Figure 2 This is a partially enlarged schematic diagram of the structure of a robot base station according to one embodiment of this application.

[0016] Figure 3 This is a partially enlarged schematic diagram of the structure of the robot base station according to another embodiment of this application.

[0017] Figure 4 This is a schematic diagram of the docking signal transmitting mounting frame according to one embodiment of this application. Detailed Implementation

[0018] The embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are for illustrative purposes only and are not intended to limit the scope of this application.

[0019] The technical solution of using multiple infrared signal transmitters to guide mobile robots back to their charging base suffers from problems such as reflections of infrared signals within the charging dock and mutual interference between the multiple infrared signals, affecting the robot's return-to-base efficiency. This application provides a robot base station, which can be, but is not limited to, a charging base station, a dust collection base station, or an all-in-one base station. The robot base station is equipped with a return-to-base guidance device to optimize the problem of mutual interference between multiple infrared signals, guiding the robot back to the robot base to perform processes such as charging, dust collection, water addition, or cleaning with a cloth. Specifically, as shown... Figure 1 and Figure 2 As shown, the return-to-base guidance device for the robot base station includes:

[0020] Near-field signal transmission module 1 is installed at the front end of the robot base station and is used to transmit near-field signals. The transmission direction of the near-field signals is perpendicular to the ground.

[0021] The near-field signal reflection module 2 is installed in the direction of near-field signal transmission and is used to reflect the near-field signal transmitted by the near-field signal transmission module so that the near-field signal is reflected and emitted horizontally to cover the near-field area of ​​the robot base station.

[0022] The near-field signal is used to guide the mobile robot within the near-field area of ​​the robot base station. The near-field area of ​​the robot base station refers to a fan-shaped area within a first distance directly in front of the robot base station, which is set based on the accuracy of the area covered by the near-field signal transmitting module. When the robot can receive the near-field signal within the near-field area, it can approach the charging interface of the robot base station based on the guidance of the near-field signal. Compared with the conventional technology of directly transmitting the recharge guidance signal horizontally in the prior art, this application limits the transmission direction of the near-field signal transmitting module to be perpendicular to the ground, which can be, but is not limited to, vertically upward or vertically downward. This ensures that the near-field signal transmitted by the near-field signal transmitting module will not interfere with other signals used to guide recharge. Then, by using the near-field signal reflection module, the propagation direction of the near-field signal is changed from perpendicular to the ground to horizontal propagation through reflection. At the same time, the installation position of the near-field signal reflection module effectively limits the area and coverage range of the near-field signal converted to horizontal transmission, avoiding the mutual interference between the near-field signal and other guidance signals of the recharge guidance device.

[0023] As a preferred embodiment of this application, such as Figure 2As shown, the near-field signal reflection module 2 includes a sloping cone reflector unit. Its surface is made of a near-field signal reflective material to adjust the reflection of the near-field signal from a direction perpendicular to the ground to a horizontal emission direction, resulting in a circular radiation area. The side profile of the sloping cone reflector unit conforms to a curve equation, making the sloping cone reflector unit bubble-shaped. Specifically, the sloping cone reflector unit refers to a unit whose shape conforms to a sloping cone, belonging to a quasi-cone, and whose side profile (generatrix) conforms to a curve equation, making the sloping cone reflector unit bubble-shaped. This can be understood as an advanced geometric form achieved by replacing the straight generatrix of a standard cone with a curve. This application defines the curve equation that the side generation line of the inclined cone reflector unit conforms to, so that the inclined cone reflector unit is bulb-shaped, thereby extending the length of the side generation line of the inclined cone reflector unit and expanding the reflection range of near-field signals. Based on the adjustment of the curve equation conformed to by the side generation line of the inclined cone reflector unit, the near-field signal reflection range of the near-field signal reflection module can be adjusted, realizing flexible adjustment of the near-field signal reflection range, so that the near-field signal can be flexibly adjusted to cover the target near-field area.

[0024] As a preferred embodiment of this application, such as Figure 1 As shown, the near-field signal transmission module includes: a first near-field signal transmitting tube and a second near-field signal transmitting tube; wherein, the first near-field signal transmitting tube is installed on the left side of the front end of the robot base station and is used to transmit a first near-field signal, and the signal transmission direction of the first near-field signal tube is perpendicular to the ground; the second near-field signal transmitting tube is installed on the right side of the front end of the robot base station and is used to transmit a second near-field signal, and the signal transmission direction of the second near-field signal tube is perpendicular to the ground.

[0025] The inclined cone reflection unit includes: a first inclined cone and a second inclined cone; wherein, the first inclined cone is installed at the bottom of the outlet of the first near-field signal transmitter and is used to reflect the first near-field signal emitted by the first near-field signal transmitter so that the first near-field signal covers the first target area on the left side of the front end of the robot base station; the second inclined cone is installed at the bottom of the outlet of the second near-field signal transmitter and is used to reflect the second near-field signal emitted by the second near-field signal transmitter so that the second near-field signal covers the second target area on the right side of the front end of the robot base station.

[0026] This application's near-field signal transmission module addresses the need for near-field areas to be set on both sides of the robot base station. A first near-field signal transmitter and a second near-field signal transmitter are respectively installed on the left and right sides of the robot base station's front end. Simultaneously, a first inclined cone and a second inclined cone are respectively installed based on the first and second near-field signal transmitters. These cones reflect the first and second near-field signals, respectively, solving the problem of potential interference between near-field signals transmitted within the robot base station and other recharge guidance signals. Furthermore, it achieves simultaneous coverage of the left and right near-field areas of the robot base station, improving the accuracy of robot base station recharge guidance and optimizing robot recharge efficiency.

[0027] In a preferred embodiment of this application, the return-to-station guidance device further includes: a far-area signal transmission module; wherein, as shown in the figure... Figure 3 As shown, the far-area signal transmission module includes: a far-area signal transmission tube, a far-area mounting bracket, and a far-area signal guiding cover.

[0028] Specifically, the far-area signal transmitter is used to transmit far-area signals to cover the far-distance area of ​​the robot base station; the far-area mounting bracket includes a far-area mounting cavity 32 and a far-area signal guiding cover 31, wherein the far-area mounting cavity 32 is a hollow cavity for installing the far-area signal transmitter within the hollow cavity; the far-area signal guiding cover 31 is used to guide the propagation and diffusion path of the far-area signal transmitted by the far-area signal transmitter. The far-area signal refers to the signal used to guide the mobile robot within the far-distance area of ​​the robot base station; the far-distance area refers to a fan-shaped area within a pre-defined second distance in front of the robot base station; the second distance is greater than the aforementioned first distance and is a distance set based on the accuracy of the area covered by the far-area signal transmitter module. It should be noted that the number of far-area signal transmission modules is based on the setup requirements of the robot base station. It can be, but is not limited to, setting up far-area signal modules on both sides of the robot base station so that the two sets of far-area signal modules are responsible for transmitting and covering the far-distance area on the left and the far-distance area on the right respectively; or multiple sets of far-area signal modules can be evenly arranged around the robot base station based on the coverage range of the far-area signal modules so that the far-area signals transmitted by multiple sets of far-area signal modules can evenly cover the specified far-distance area.

[0029] As a preferred embodiment of this application, such as Figure 3As shown, the far-field signal guiding cover 31 is shaped like an outward-expanding horn, and is set to conform to the edge curve of the robot base station body. This embodiment, by setting the far-field signal guiding cover to an outward-expanding horn shape, aims to limit the transmission angle and range of the far-field signal emitted by the far-field signal transmitter. Simultaneously, by setting the far-field signal guiding cover to conform to the edge curve of the robot base station body, it ensures that the far-field signal can be transmitted based on the direction defined by the far-field signal guiding cover, avoiding reflection of the far-field signal inside the robot base station and preventing multiple signals from interfering with each other. This physically isolated transmission structure effectively avoids cross-interference between multiple guiding signals used for recharging, improving the signal strength in the edge area.

[0030] As a preferred embodiment of this application, such as Figure 1 and Figure 2 As shown, the robot base station is equipped with two sets of far-area signal transmission modules 3. One set of far-area signal transmission modules is located above the first near-area signal transmission tube, responsible for transmitting far-area signals to cover the far-distance area on the left side of the robot base station's front end; the other set of far-area signal transmission modules is located above the second near-area signal transmission tube, responsible for transmitting far-area signals to cover the far-distance area on the right side of the robot base station's front end. This embodiment, by setting one set of far-area signal transmission modules above the near-area signal transmission tubes on both sides of the robot base station, further extends the far-area signal coverage beyond the near-area signal coverage range. This allows the robot base station to provide initial guidance for robot recharging from a greater distance, guiding the robot from a far-distance area to a near-distance area, thus optimizing the robot recharging docking efficiency.

[0031] As a preferred embodiment of this application, such as Figure 1 As shown, the return-to-base guidance device further includes a docking signal transmitting module; wherein the docking signal transmitting module includes: a first docking signal transmitting tube 5, used to transmit a first docking signal, radiating to the target area to the left of the charging interface of the robot base station; a second docking signal transmitting tube 4, used to transmit a second docking signal, radiating to the target area to the right of the charging interface of the robot base station; and a docking signal transmitting mounting frame 6, provided with two sets of limiting channels, used to respectively assemble and mount the first docking signal transmitting tube 5 and the second docking signal transmitting tube 4; wherein the radiation range of the first docking signal and the radiation range of the second docking signal overlap, and the charging interface of the robot base station is located on the central axis of the overlapping area. This embodiment achieves return-to-base guidance based on the central axis positioning of the charging interface by using dual docking signals for cross positioning, using the docking signal transmitting mounting frame to limit the docking signal transmitting tubes, and limiting the angle range of the docking signal transmission.

[0032] As a preferred embodiment of this application, such as Figure 4As shown, the docking signal transmitting mounting frame 6 includes: a first docking signal transmitting cavity 51 for limiting the installation of a first docking signal transmitting tube 5; a first docking signal transmitting channel 52 for limiting the propagation direction of the first docking signal emitted by the first docking signal transmitting tube 5; a second docking signal transmitting cavity 41 for limiting the installation of a second docking signal transmitting tube 4; and a second docking signal transmitting channel 42 for limiting the propagation direction of the second docking signal emitted by the second docking signal transmitting tube 4. The first docking signal transmitting tube 5 and the second docking signal transmitting tube 4 are symmetrically installed on the docking signal transmitting mounting frame 6, and the signal transmission direction axis of the first docking signal transmitting tube intersects with the signal transmission direction axis of the second docking signal transmitting tube. In this application, the first and second docking signal transmitting cavities are hollow circular cavities that provide installation space for the docking signal transmitting tubes, ensuring stable assembly of the docking signal transmitting tubes. Simultaneously, the docking signal transmitting channel is used to limit the signal propagation direction and range, reducing the reflection transmission of docking signals within the robot base station.

[0033] In a preferred embodiment of this application, the first docking signal transmission channel 52 and the second docking signal transmission channel 42 are respectively provided with uniformly distributed tooth-shaped protrusions. This embodiment, by providing uniformly distributed tooth-shaped protrusions inside the docking signal transmission channels, allows the docking signal to be reflected by the tooth-shaped protrusions during transmission from within the docking signal transmission channels to the outside, which is beneficial for transmitting the docking signal towards the designated docking signal transmission area.

[0034] As a preferred embodiment of this application, a robot system is provided, comprising: a robot base station as described in any of the preceding embodiments, used to guide a robot to dock with the charging interface of the robot base station based on a return-to-base guidance device; and a robot equipped with a signal receiving device, used to receive signals transmitted by the return-to-base guidance device, adjust the return-to-charge path, and achieve docking with the charging interface of the robot base station. The robot system provided in this embodiment, based on the return-to-base guidance device in the robot base station, effectively guides the robot to quickly return to charging and dock.

[0035] In the embodiments provided in this application, it should be understood that the disclosed base structure and system can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of modules and components is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0036] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this application. The scope of this application is defined by the appended claims and their equivalents. The above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot base station, wherein the robot base station is equipped with a return-to-station guidance device, characterized in that, The return-to-station guidance device includes: The near-field signal transmission module is installed at the front end of the robot base station and is used to transmit near-field signals. The transmission direction of the near-field signals is perpendicular to the ground. The near-field signal reflection module is installed in the direction of near-field signal transmission. It is used to reflect the near-field signal transmitted by the near-field signal transmission module so that the near-field signal is reflected and emitted horizontally to cover the near-field area of ​​the robot base station.

2. The robot base station according to claim 1, characterized in that, The near-field signal reflection module includes an inclined cone reflector unit, the surface of which is made of a near-field signal reflective material, so as to adjust the reflection of the near-field signal from the direction of transmission perpendicular to the ground to the direction of emission in the horizontal direction, and the radiation range is a circular area; wherein, the side generating line of the inclined cone reflector unit conforms to the curve equation, so that the inclined cone reflector unit is spherical.

3. The robot base station according to claim 2, characterized in that, The near-field signal transmission module includes: The first near-field signal transmitter is installed on the left side of the front end of the robot base station and is used to transmit the first near-field signal. The signal transmission direction of the first near-field signal transmitter is perpendicular to the ground. The second near-field signal transmitter is installed on the right side of the front end of the robot base station and is used to transmit the second near-field signal. The signal transmission direction of the second near-field signal transmitter is perpendicular to the ground. The inclined cone reflective unit includes: The first inclined cone is installed at the bottom of the outlet of the first near-field signal transmitter tube to reflect the first near-field signal emitted by the first near-field signal transmitter tube so that the first near-field signal covers the first target area on the left side of the front end of the robot base station. The second inclined cone is installed at the bottom of the outlet of the second near-field signal transmitter tube to reflect the second near-field signal emitted by the second near-field signal transmitter tube, so that the second near-field signal covers the second target area on the right side of the front end of the robot base station.

4. The robot base station according to claim 3, characterized in that, The return-to-station guidance device further includes: a remote signal transmission module; wherein, the remote signal transmission module includes: A long-range signal transmitter is used to transmit long-range signals to cover the long-distance area of ​​a robot base station. A remote mounting bracket includes a remote mounting cavity and a remote signal guiding cover, wherein the remote mounting cavity is a hollow cavity for mounting a remote signal transmitting tube within the hollow cavity; A far-field signal guide hood is used to guide the propagation and diffusion path of far-field signals emitted by a far-field signal transmitting tube.

5. The robot base station according to claim 4, characterized in that, The far-field signal guide cover is shaped like an outward-expanding horn, and the far-field signal guide cover is set to fit the edge curve of the robot base station body.

6. The robot base station according to claim 5, characterized in that, The robot base station is equipped with two sets of far-field signal transmission modules. One set of far-field signal transmission modules is located above the first near-field signal transmission tube and is responsible for transmitting far-field signals to cover the far-distance area on the left side of the front end of the robot base station. The other set of far-field signal transmission modules is located above the second near-field signal transmission tube and is responsible for transmitting far-field signals to cover the far-distance area on the right side of the front end of the robot base station.

7. The robot base station according to claim 5, characterized in that, The return-to-station guidance device further includes: a docking signal transmitting module; wherein, the docking signal transmitting module includes: The first docking signal transmitter is used to transmit the first docking signal, which radiates to the target area to the left of the charging interface of the robot base station; The second docking signal transmitter is used to transmit the second docking signal, which radiates to the target area to the right of the charging interface of the robot base station; The docking signal transmitting mounting frame is equipped with two sets of limiting channels for mounting the first docking signal transmitting tube and the second docking signal transmitting tube respectively; The radiation range of the first docking signal overlaps with that of the second docking signal, and the charging interface of the robot base station is located on the central axis of the overlapping area.

8. The robot base station according to claim 7, characterized in that, The docking signal transmitting mounting bracket includes: The first docking signal transmitting cavity is used to limit the installation of the first docking signal transmitting tube; The first docking signal transmission channel is used to limit the propagation direction of the first docking signal emitted by the first docking signal transmitting tube; The second docking signal transmitting cavity is used to limit the installation of the second docking signal transmitting tube; The second docking signal transmission channel is used to limit the propagation direction of the second docking signal emitted by the second docking signal transmission tube; The first docking signal transmitter and the second docking signal transmitter are symmetrically mounted on the docking signal transmitter mounting frame, and the transmission direction axis of the first docking signal transmitter intersects with the transmission direction axis of the second docking signal transmitter.

9. The robot base station according to claim 8, characterized in that, The first docking signal transmission channel and the second docking signal transmission channel are respectively provided with uniformly distributed tooth-shaped protrusions.

10. A robot system, characterized in that, The robot system includes: The robot base station as described in any one of claims 1 to 9 is used to guide the robot to dock with the charging interface of the robot base station based on the return-to-base guidance device; The robot is equipped with a signal receiving device to receive signals transmitted by the return-to-base guidance device, adjust the return-to-charge path, and achieve docking with the charging interface of the robot base station.

Images