CN203609373U - Self-moving robot with correcting device - Google Patents

Abstract

A self-moving robot with a correcting device comprises a main robot body (1) which comprises a control unit (2), a direction sensor (3) and a walking unit (4). The control unit controls the self-moving robot with the correcting device so that the self-moving robot can walk according to a preset walking mode. The direction sensor is used for indicating the walking direction of the robot. The main robot body is also provided with boundary detection sensors (5) which are connected with the control unit. According to sensing signals of the boundary detection sensors, the control unit judges whether the direction sensor is in a correct working state and sets the direction sensor right if the direction sensor is in a wrong working state. The self-moving robot is simple in structure. When being used in the cleaning robot, the boundary detection sensors can assist the direction sensor with work and the accuracy of the detection results thereof can be verified, so that the robot can always move horizontally or vertically with less error.

Description

With the self-movement robot of apparatus for correcting

Technical field

The utility model relates to a kind of self-movement robot with apparatus for correcting, belongs to small household appliances manufacturing technology field.

Background technology

Existing clean robot is all to rely on crawler belt or wheel to move on working surface, and for improving cleaning efficiency, the travel track of machine is all generally " bow " zag trajectory (as shown in Fig. 7-Fig. 8) being formulated for perpendicular to a limit.

At present, clean robot moves at working surface according to default travel track, mainly by the direction of travel of the direction sensor indication robots such as acceleration transducer or gyroscope.Degree of will speed up installation of sensors is on clean robot, and be connected with control module, detect the motion state of clean robot by acceleration transducer, testing result is fed back to control module, if there is tilting or departing from projected route and send instruction by control module and adjust accordingly simultaneously.But in this scheme, by the direction of travel of the electronic devices and components indication robots such as acceleration transducer, and electronic devices and components use meeting to produce certain accumulated error for a long time, in the time there is error in acceleration transducer, the direction indication of acceleration transducer departs from the direction in initial planning path, thereby clean robot can not be along the route walking of predetermined planning, and the cleaning efficiency on clean robot on working surface exists larger impact.

Utility model content

Technical problem to be solved in the utility model is, provide a kind of self-movement robot with apparatus for correcting for the deficiencies in the prior art, by Boundary Detection sensor for clean robot can auxiliary square to working sensor, verify the accuracy of its testing result, robot can or vertically be moved with less error level all the time.

Technical problem to be solved in the utility model is achieved by the following technical solution:

A kind of self-movement robot with apparatus for correcting, comprise: main body, described main body is provided with control module, direction sensor and walking unit, self-movement robot with apparatus for correcting described in described control module control is walked according to default walking mode, described direction sensor is used to indicate the direction of travel of robot, on described main body, be also provided with Boundary Detection sensor, described Boundary Detection sensor is connected with described control module, according to the induced signal of Boundary Detection sensor, control module judges that whether direction sensor is in correct duty, if direction sensor in wrong duty to its rectification.

Preferably, described Boundary Detection sensor is at least two.

Better, end face both sides of described main body are respectively equipped with at least one Boundary Detection sensor.

Better, described end face is main body front end face or rear end face

Described Boundary Detection sensor is touch sensor or noncontacting proximity sensor.

Described direction sensor is acceleration transducer, gyroscope or code-disc.

The utility model is simple in structure with the self-movement robot of apparatus for correcting, by Boundary Detection sensor for clean robot can auxiliary square to working sensor, verify the accuracy of its testing result, robot can be moved with less error all the time.

Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.

Accompanying drawing explanation

Fig. 1 is the self-movement robot control structure block diagram with apparatus for correcting;

Fig. 2 is that Boundary Detection sensor setting is in the schematic diagram on main body front end both sides;

Fig. 3 is that Boundary Detection sensor setting is in the schematic diagram on both sides, main body rear end;

Fig. 4 is the antidote block diagram with the self-movement robot of apparatus for correcting;

Fig. 5 is that Boundary Detection sensor setting is in the correcting process schematic diagram on main body front end both sides;

Fig. 6 is that Boundary Detection sensor setting is in the correcting process schematic diagram on both sides, main body rear end;

Fig. 7 is that prior art is wiped clean robot legacy paths planning (horizontal direction) schematic diagram;

Fig. 8 is that prior art is wiped clean robot legacy paths planning (vertical direction) schematic diagram.

The specific embodiment

Fig. 1 is the self-movement robot control structure block diagram with apparatus for correcting, Fig. 2 is the structural representation with the clean robot embodiment mono-of apparatus for correcting, as Fig. 2 and with reference to as shown in figure 1, a kind of self-movement robot with apparatus for correcting, comprise:main body 1, describedmain body 1 is provided withcontrol module 2,direction sensor 3 andwalking unit 4, describedcontrol module 2 is controlled described self-movement robot and is walked according to default walking mode, as " bow " font walking perpendicular to frame or reciprocating linear walking, described direction sensor is used to indicate the direction of travel of robot, describeddirection sensor 3 can be acceleration transducer, gyroscope or code-disc etc.As shown in Figure 5, forward direction take diagram arrow direction indication as self-movement robot, in the Ge Sheyi border, front end both sides ofmain body 1 detectingsensor 5, as shown in Figure 2, described BoundaryDetection sensor 5 is connected with describedcontrol module 2, according to the induced signal of BoundaryDetection sensor 5,control module 2 judges that whether direction sensor is in correct duty, ifdirection sensor 3 in wrong duty to its rectification, it is to be noted, be only the cited a kind of set-up mode of the present embodiment in the Ge Sheyi border, front end both sides ofmain body 1 detectingsensor 5, described BoundaryDetection sensor 5 can be arranged at the left and right sides ofmain body 1 or the rear end (as shown in Figure 3) ofmain body 1 equally, the quantity of describedBoundary Detection sensor 5 can be that any one is above multiple.

Please refer again to shown in Fig. 5, concrete, be provided with Gravity accelerometer or gyroscope asdirection sensor 3 usingmain body 1 below,main body 1 front end the right and left is respectively equipped with BoundaryDetection sensor 5 and explains for example.Vertically walk when self-movement robot adopts " bow " font as shown in Figure 8,direction sensor 3 is all the time take gravity direction as reference direction, control walking process of walking straight down again after repeating to walk straight up and encountering frame and turn.In the time ofdirection sensor 3 normal work, robot can accurately identify vertical direction; But along with walking on of robot, error appears indirection sensor 3, and the direction of robot ambulation can depart from vertical direction, and robot itself still thinks vertically and walking to cause larger walking result error, reduces the cleaning efficiency of robot etc.And in the time that frame walked up or down by robot, the pose that detects in real time robot by the Boundary Detectionsensor 5 of its front end judges that whetherdirection sensor 3 is in correct duty.As when robot is according to the indication ofdirection sensor 3, upwards to walk while encountering frame, the Boundary Detectionsensor 5 on the left and right both sides of robot front end senses signal simultaneously, judges thatdirection sensor 3 is in correct duty; If only the Boundary Detectionsensor 5 on themain body 1 front end left side or the Boundary Detectionsensor 5 on the right sense signal, judge that fuselage tilts, robot departs from vertical direction, anddirection sensor 3, in wrong duty, need be corrected it.Certainly, if while adopting sonac or infrared sensor, if robot ambulation is during to frame, the Boundary Detectionsensor 5 on left and right limit can not received signal simultaneously or receive the power difference of signal, robot judges fuselage,direction sensor 3, in wrong duty, need be corrected it.

In above-mentioned enforcement, glass frame itself is horizontally disposed.If glass frame tilts, when robot walks up or down, only according to whether receiving the sensing signal of a BoundaryDetection sensor 5 or receiving the sensing signal of two differentBoundary Detection sensors 5, robot cannot judge whether fuselage departs from vertically, and then cannot judge whetherdirection sensor 3 exists error, in correct or wrong duty.Now, need first self-movement robot to be placed near frame, adjust according to BoundaryDetection sensor 5 signal thatmain body 1 to the pose A(main body 1 front end left side, the right with respect to frame senses signal simultaneously or sense same intensity), record the now angle value of direction sensor 3

(as frame and horizontal direction are 45 while spending,

be 45 degree, fuselage departs from vertical direction 45 and spends).

In the time that Robot vertical direction bends font mode walking, if robot upwards walks and encounters frame according to the indication of direction sensor, need again adjust machine to the pose A with respect to frame according to Boundary Detectionsensor 5, (adjust the position of fuselage, make the body front end left side, the right sense signal simultaneously or sense the signal of same intensity), the more now angle value ofdirection sensor 3

whether with

equate, if

be not equal tomake correction fordirection sensor 3 angle value extremely

after, return to S2, otherwise directly return to S2.Preferably, every one section of default time t, described direction sensor is corrected once.

When above-mentioned embodiment judges robot ambulation to frame bymain body 1 Ge Sheyi border, front end both sides detecting sensor, whether fuselage tilts, and can only use equally a Boundary Detection sensor to reach 5 to same object.In the middle of front end with robot, aborder detecting sensor 5 being set below explains.If Boundary Detectionsensor 5 is touch sensor, as travel switch, robot ambulation is during to frame (as stopped the situation that cannot walk on by frame), if control module sensing is less than travel switch collision alarm, judge that fuselage tilts, and need correct direction sensor; If control module can sense travel switch collision alarm, judge that direction sensor is in correct duty.If Boundary Detectionsensor 5 is noncontacting proximity sensor, as infrared sensor, described infrared sensor comprises a transmitter and a receiver, in the time that robot ambulation arrives frame, if receiver does not receive infrared signal or receives that signal strength signal intensity is less than preset value, judge that fuselage tilts, and need correct direction sensor; If receiver receives infrared signal, judge that direction sensor is in correct duty.

When Robot is during perpendicular to " bow " font mode of frame or the walking of reciprocating linear pattern,control module 2 runs to border at working surface to the direction of frame according to the feedback signal maincontrol system body 1 ofdirection sensor 3, the BoundaryDetection sensor 5 that is arranged atmain body 1 front end face or rear end face detects whenmain body 1 pose tilts, the error of the sensor that makes correction for direction.

While carrying out " bow " font mode or the walking of reciprocating linear pattern as departed from frame certain angle when Robot, referring to Fig. 4, can adopt a kind of antidote step of the following self-movement robot with apparatus for correcting,

Specifically comprise the steps:

Near S1: self-movement robot is placed on frame, adjustsmain body 1 to the pose A with respect to frame according to BoundaryDetection sensor 5, records the now angle value φ of direction sensor;

S2: self-movement robot, according to default walking mode walking, is indicated the direction of travel ofmain body 1 bydirection sensor 3, described default walking mode is " bow " font route or the reciprocating linear route perpendicular to frame;

Near S3: when robot ambulation is to frame time, adjust machine to the pose A with respect to frame, the more now angle value ofdirection sensor 3 according to BoundaryDetection sensor 5

whether with

equate, if

be not equal tomake correction fordirection sensor 3 angle value extremelyafter, return to S2, otherwise directly return to S2.

It should be noted that, shown in the position orientation relation of main body and frame need to determine according to Boundary Detection sensor setting mode.In the present embodiment, in describedmain body 1 Ge Sheyi border, front end bothsides detecting sensor 5, described pose A is thatmain body 1 front end is parallel with frame, certainly, if BoundaryDetection sensor 5 is arranged atmain body 1 both sides, rear end, described pose A ismain body 1 rear end parallel with frame (as shown in Figure 6).It is pointed out that and can adopt equally this antidote during perpendicular to " bow " font mode of frame or the walking of reciprocating linear pattern when Robot.

To sum up, the utility model is simple in structure with the self-movement robot of apparatus for correcting, by Boundary Detection sensor for clean robot can auxiliary square to working sensor, verify the accuracy of its testing result, robot can be moved with less error all the time.

Claims (6)

1. the self-movement robot with apparatus for correcting, comprise: main body (1), described main body (1) is provided with control module (2), direction sensor (3) and walking unit (4), described control module (2) is walked according to default walking mode with the self-movement robot of apparatus for correcting described in controlling, described direction sensor is used to indicate the direction of travel of robot, it is characterized in that, on described main body (1), be also provided with Boundary Detection sensor (5), described Boundary Detection sensor (5) is connected with described control module (2), according to the induced signal of Boundary Detection sensor (5), control module (2) judges that whether direction sensor is in correct duty, if direction sensor in wrong duty to its rectification.

2. the self-movement robot with apparatus for correcting as claimed in claim 1, is characterized in that, described Boundary Detection sensor (5) is at least two.

3. the self-movement robot with apparatus for correcting as claimed in claim 2, is characterized in that, end face both sides of described main body (1) are respectively equipped with at least one Boundary Detection sensor (5).

4. the self-movement robot with apparatus for correcting as claimed in claim 3, is characterized in that, the front end face that described end face is main body or rear end face.

5. the self-movement robot with apparatus for correcting as claimed in claim 1, is characterized in that, described Boundary Detection sensor (5) is touch sensor or noncontacting proximity sensor.

6. the self-movement robot with apparatus for correcting as claimed in claim 1, is characterized in that, described direction sensor (3) is acceleration transducer, gyroscope or code-disc.

Images