CN101088720B - Barrier bypassing and drop preventing system and method - Google Patents

Abstract

The present invention is barrier bypassing and drop preventing system and method. At least one displacement sensor is set on one movable body, driven by one rotating device for rotary scanning and detecting in a sector range or a circular range, and set to have signal emitting and receiving path in certain angle with the body plane. One initialized work signal is generated, and sent and received by the displacement sensor, and the received signal is transmitted to one control unit for comparison with the work signal to judge whether to have barrier or height difference in the running direction. The body is driven to turn direction to bypass barrier and prevent drop. The present invention has simplified movable device and lowered cost.

Description

Keep away barrier and anti-drop system and method thereof

Technical field

What the present invention relates to is a kind of barrier and anti-drop system and method thereof of keeping away; What be particularly related to is keeping away barrier and preventing the system that drops of a kind of mobile device; It is to utilize the displacement transducer emission that is arranged on the mobile device and receive the reflection signal; To be judged as barrier or height fall, it utilizes at least one group of sensor to reach simultaneously and keeps away barrier and the function that prevents to drop, can significantly simplify the design and the installation cost of mobile device.

Background technology

Self-propelled mobile device (or being commonly called as robot) is in a specific working region running; Itself be to follow preset traveling mode to move; If mobile device collides barrier accidentally or falls to height fall and block in traveling process, even is dropped by eminence, so all cause the damage of mobile device easily and can't continue operation; Therefore as far as at a self-propelled mobile device, obstacle avoidance and anti-locking apparatus drop and are its indispensable basic function.

The sensing function of the self-propelled mobile device of tradition to dropping at obstacle avoidance and anti-locking apparatus; Normally by 2 groups independently sensing component carry out function out of the ordinary respectively; For example use sensing components such as infrared ray, ultrasonic or mechanical damping device; Its shortcoming is that the design of mobile device itself is comparatively complicated, and needs the cost higher cost.

See also shown in Figure 1; Be to disclose " Obstacle sensingsystem for an autonomous cleaning apparatus " in early days No. 20040143930 for United States Patent (USP); This device provides a kind of barrier detection system of self-propelled cleaning device; It is to utilize the primary clustering of 10 the place aheads, chassis, one mechanical buffer (Bumper) 11 as barrier detection, after buffer 11 collides barrier, promptly produces the signal apprizing system; Only, it is relatively poor usually that this contact is kept away barrier detecting efficient, need just can reach barrier avoiding function behind the direct contact-impact, and system damaged because of long-time bump repeatedly easily.

See also shown in Figure 2 again; No. the 6594844th, United States Patent (USP) " Robot obstacle detection system ", it provides a kind of robot obstacle thing detecting system 20, and this system 20 utilizes detector 21, the 22 conducts main detection element of many groups with infrared and light signal receiving function; Wherein, This detector 21 is arranged on this robot 23 the place aheads, and in order to detecting the place ahead barrier or metope, and this detector 22 is arranged on robot 23 bottoms; Then provide the anti-detecting of dropping, reach through this and keep away barrier and the anti-purpose that drops; Yet; Because the detecting direction of this detector 21,22 is fixed, many group detectors must be set enlarge detecting angle and orientation, otherwise have dead detecting angle; Like diagram is that three groups of detectors 21,22 are set respectively, makes that therefore framework is comparatively complicated, required cost is higher relatively.

Summary of the invention

Because the defective of prior art; Main purpose of the present invention is; Propose a kind of barrier and anti-drop system and method thereof of keeping away, it is to utilize the displacement transducer emission that is arranged on the mobile device and receive the reflection signal, to be judged as barrier or height fall; It utilizes at least one group of sensor to reach simultaneously and keeps away barrier and the function that prevents to drop, can significantly simplify the design and the installation cost of mobile device.

For achieving the above object, the technical scheme that the present invention adopts is, proposes a kind of barrier and anti-system that drops of keeping away, and it comprises:

One body;

At least one driving wheel is arranged on this body, is used in to support and move this body;

At least one displacement transducer; Be arranged on this body; In order to emission and reception signal; Its emission and the path that receives signal are to become a special angle with the set plane of this body, and this displacement transducer launch and the path that receives signal and the set special angle that the plane became of this body are to spend and spend less than 90 greater than 0;

One tumbler back and forth rotates or does the wholecircle revolution in order to drive this displacement transducer in the scope of certain angle; One control module can receive and handle the signal of this displacement transducer, to judge direct of travel whether barrier or height fall is arranged, and exports a signal and turn to drive this body.

Preferably, this displacement transducer can be one or its combination wherein of optical pickocff, sonic sensor.

For reaching above-mentioned purpose, the present invention also proposes a kind of barrier and anti-method that drops of keeping away, and it is movably at least one displacement transducer to be set in order to detect the course of this body on the body one, and it comprises:

The path of the emission of this displacement transducer of-setting and reception signal becomes a special angle and initialization with the set plane of this body; This displacement transducer is launched and the path that receives signal is less than 90 degree greater than 0 degree with the set special angle that the plane became of this body; And this displacement transducer is driven by a tumbler, in the fan-shaped range of certain angle or the scanning detecting of wholecircle revolution;

-this displacement transducer sends and receives signal, and the signal that is received is sent to a control module;

-being received by this control module should reception signal union decision instruction output.

Below in conjunction with accompanying drawing, do more detailed explanation with other technical characterictic and advantage to the present invention is above-mentioned.

Description of drawings

Fig. 1 is the structural representation of the barrier detection system of existing a kind of self-propelled cleaning device;

Fig. 2 is the structural representation of existing a kind of robot obstacle thing detecting system;

Fig. 3 A is the structural representation of preferred embodiment of the present invention;

Fig. 3 B is the right side view of Fig. 3 A illustrated embodiment;

Fig. 3 C is the vertical view of Fig. 3 B illustrated embodiment;

Fig. 4 shows that the present invention is implemented in the view of barrier;

Fig. 5 shows that the present invention is implemented in the view of height fall;

Fig. 6 is a method step flow chart of the present invention.

Description of reference numerals: 30-keeps away barrier and the anti-system that drops; The 31-body; The 32-driving wheel; The 33-displacement transducer; The 331-signal emission device; The 332-signal receiver; The 34-control module; The 35-tumbler; The 40-plane; The 41-recess; The A-direction of advance; Sp-signal path; SR, SR1, SR2-reflect signal; The Sw-signal of working; θ, θ 1-angle.

The specific embodiment

Below will be with reference to the graphic the present invention of description who encloses for reaching employed technological means of purpose and effect.See also preferred embodiment shown in Fig. 3 A to Fig. 3 C; Barrier and the anti-system 30 that drops of keeping away provided by the invention; It has a body 31, is provided with at least one driving wheel 32 in these body 31 bottoms, can be used on to support and move this body 31; On this body 31, be provided with a displacement transducer 33; This displacement transducer 33 can be optical pickocff, sonic sensor one of them or its combination, and it comprises a signal emission device 331 and a signal receiver 332, and this signal emission device 331 is in order to the emission signal; This signal receiver 332 is in order to receive reflection signal SR; The signal path Sp of this signal emission device 331 and signal receiver 332 all with the set 40 one-tenth one special angle θ in plane of this body 31, and this special angle θ is less than 90 degree, to the action of sending or receive signal at this signal emission device 331 and signal receiver 332 greater than 0 degree; All can be by a control module 34 controls, this control module 34 also can receive and handle the reception signal that this signal receiver 332 is received.

Shown in Fig. 3 B and Fig. 3 C, this displacement transducer 33 is arranged on the tumbler 35 for another example, can drive this displacement transducer 33 through this tumbler 35 and in the scope of certain angle θ 1, rotate to scan detecting; Certainly; This tumbler 35 also can be made the wholecircle revolution, does wholecircle revolution or back and forth rotation with this displacement transducer 33 of driven in synchronism, so; Can enlarge the reconnaissance range of this displacement transducer 33, not limit direction of advance A at this body 31; To at this tumbler 35, can reach rotating purpose through members such as gear, belt or chains, its structure is for knowing the prior art that such skill personage reaches easily, not repeating them here.

See also Fig. 3 A, state is an original state shown in preset Fig. 3 A, and it has a work signal Sw, and this work signal Sw is preset as the reflection signal SR=Sw of normal condition, and this work signal Sw is stored in this control module 34; As shown in Figure 4 again, on plane 40, have a barrier 50, before body 31 moves to this barrier 50; Because of stopping of this barrier 50; Cause reflecting signal SR1 and weaken, this displacement transducer 33 receives this reflection signal SR1 and is sent to this control module 34, and this control module 34 can compare this reflection signal SR1 and initial work signal Sw; Because this reflection signal SR1 is less than work signal Sw; This control module 34 can be judged and learns that the place ahead has barrier 50, therefore keeps away the computing of barrier algorithm, and exportable instruction drives this body 31 and turns to or stop; As shown in Figure 5 again; Have the height recess 41 low in the place ahead of this body 31 direction of advance A, before body 31 moves to this recess 41, can cause reflecting signal SR2 and improve than plane 40; This displacement transducer 33 receives this reflection signal SR2 and is sent to this control module 34; This control module 34 can compare this reflection signal SR2 and initial work signal Sw, because this reflection signal SR2 is greater than work signal Sw, this control module 34 can be judged and learns that the place ahead has recess 41; Therefore the calculation algorithm computing of prevent dropping, and this body 31 of exportable instruction driving turns to or stops.

Please consult Fig. 3 A and Fig. 6 simultaneously, in sum, can conclude barrier and the anti-method 40 that drops of keeping away provided by the present invention, it comprises the following steps:

Step 41: displacement transducer initialization, 40 one-tenth one special angles in plane and initialization that the path of setting the emission of this displacement transducer 33 and receiving signal and this body 31 are set;

Step 42: displacement transducer sends and receives signal, after the completing steps 41 initialized steps, can get an initialization signal Sw, and this is then controlled this displacement transducer 33 and begins to send and receive signal, and will receive signal SR and be sent to control module 34;

Step 43: be to carry out computing by control module 34 to judge and will instruct output, it comprises that keeping away barrier judges that 431 and one anti-dropping judge 432, if meet reception signal SR when working signal Sw (4311); Then keep away barrier algorithm 4312, after situation is got rid of, promptly return back to step 42, do not receive signal SR less than work signal Sw (4311) if meet; Then prevent dropping and judge 432; If meet when receiving signal SR greater than work signal Sw (4321), then prevent the algorithm 4322 that drops,, situation promptly returns back to step 42 after getting rid of; Do not receive signal SR greater than work signal Sw (4321) if meet; Then get back to step 42, continue to send and receive signal, and will receive signal SR and be sent to control module 34 by this displacement transducer 33; The pass is got rid of in status, is meant by control module 34 computing decision instruction output, turns to or stops driving body 31, and it is can be comprised in the process of algorithm, so Fig. 6 does not show; Moreover, in the present embodiment, be to carry out this earlier to keep away barrier judgement 431, then carrying out anti-to drop again judges 432, so both can exchange in proper order, do not limit at icon order.

What it must be emphasized that explanation is; The present invention utilizes the variation disturbance in judgement thing or the height fall of voltage signal; Different with the mode of traditional infrared wiretap detecting (that is embodiment illustrated in fig. 2); Keep away barrier and the anti-detecting of dropping as long as utilize one group of sensor to reach simultaneously, not only system architecture is simple and cost is lower.

The above is merely preferred embodiment of the present invention, only is illustrative for the purpose of the present invention, and nonrestrictive.Those skilled in the art is understood, and in spirit that claim of the present invention limited and scope, can carry out many changes to it, revise, in addition equivalent, but all will fall in protection scope of the present invention.

Claims (2)

1. keep away barrier and the anti-system that drops for one kind, it is characterized in that it comprises:

One body;

At least one driving wheel is arranged on this body, is used in to support and move this body;

The displacement transducer of at least one sonic sensor form, it is arranged on this body, and in order to emission and reception signal, the path of its emission and reception signal is to become a special angle with the set plane of this body, and said special angle is greater than 0 degree and less than 90 degree;

One tumbler is arranged on this body, in order to drive this displacement transducer in the fan-shaped range of certain angle or the scanning detecting of wholecircle revolution;

One control module is arranged on this body, receives and handle the signal of this displacement transducer, to judge direct of travel whether barrier or height fall is arranged, and exports a signal and turn to drive this body;

Wherein, the reflection signal of sensor normal condition as preset working signal Sw, and will be worked as front-reflection signal SR by control module and compared with work signal Sw, SR＜Sw then is judged as the place ahead has barrier, carries out and keeps away the barrier algorithm; SR＞Sw then is judged as the place ahead has recess, carries out the anti-algorithm that drops.

2. keep away barrier and the anti-method that drops for one kind, its be one movably at least one sonic sensor form is set on the body displacement transducer in order to detect the course of this body, it is characterized in that, comprise following steps:

Set the emission of this displacement transducer and the path of reception signal and become a special angle and initialization with the set plane of this body, wherein said special angle is greater than 0 degree and less than 90 degree;

This displacement transducer is driven by a tumbler, in the fan-shaped range of certain angle or the scanning detecting of wholecircle revolution;

This displacement transducer sends and receives signal, and the signal that is received is sent to a control module;

Receive and the decision instruction of reception signal union to export by this control module;

Wherein, the reflection signal of sensor normal condition as preset working signal Sw, and will be worked as front-reflection signal SR by control module and compared with work signal Sw, SR＜Sw then is judged as the place ahead has barrier, carries out and keeps away the barrier algorithm; SR＞Sw then is judged as the place ahead has recess, carries out the anti-algorithm that drops.

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