CN211015142U

CN211015142U - Self-moving device and virtual wall

Info

Publication number: CN211015142U
Application number: CN201922009706.5U
Authority: CN
Inventors: 张锋
Original assignee: Anker Innovations Co Ltd
Current assignee: Anker Innovations Co Ltd
Priority date: 2019-11-19
Filing date: 2019-11-19
Publication date: 2020-07-14
Anticipated expiration: 2029-11-19

Abstract

The utility model provides a from mobile device and virtual wall, should include from mobile device: the device comprises a shell, a driving mechanism and a driving mechanism, wherein the shell is provided with the driving mechanism; a drive mechanism mounted within the housing for driving the travel mechanism; a scanning module mounted on the housing for detecting an identification code provided at a travel area of the self-moving apparatus; and the controller is connected with the scanning module and the driving mechanism and is used for identifying the information of the identification code, controlling the driving mechanism according to the identified information and further controlling the movement of the travelling mechanism. The self-moving device and the virtual wall can realize that the self-moving device bypasses the area marked by the virtual wall, and the area marked by the virtual wall can be set at will. In addition, the cost is low because no external separate power supply is needed, and the electronic equipment is not influenced because of no magnetism.

Description

Self-moving device and virtual wall

Technical Field

The utility model relates to the field of electronic technology, particularly to a from mobile device and virtual wall.

Background

Along with the improvement of living standard and the development of technology, the intelligent and automatic degree of household equipment is higher and higher. In order to conveniently clean the ground, people invent a sweeping robot capable of moving and sweeping automatically, and the sweeping robot is more and more widely used.

In order to prevent the sweeping robot from entering the areas where the sweeping robot is not desired to be cleaned, a virtual wall is provided in the areas, and the areas are bypassed when the sweeping robot detects the virtual wall.

The current virtual wall mainly comprises the following two types: the active virtual wall is formed by emitting infrared signals, when the sweeping robot moves to an infrared irradiation range, the infrared signals are detected in front of the sweeping machine, so that the virtual wall is determined to meet, and then the areas are avoided. The method has the disadvantages that the virtual wall needs to be provided with a battery or an external power supply for independent power supply, the cost is high, and the area can not be set at will and can only be a linear or rectangular area. And the passive virtual wall adopts a magnetic adhesive tape, is pasted along the boundary of an area which does not need to be cleaned, and when the sweeping robot walks to the edge of the magnetic stripe, the built-in sensor can automatically sense the magnetic stripe, so that the virtual wall can work along the magnetic stripe without being worn. This method has the disadvantage of being costly and, due to the magnetic nature, not suitable for placement next to the electronic device.

SUMMERY OF THE UTILITY MODEL

To prior art's not enough, the utility model provides a from mobile device and virtual wall, should realize from mobile device and virtual wall that the region by virtual wall sign detours to the region of virtual wall sign can be set for wantonly. In addition, the cost is low because no external separate power supply is needed, and the electronic equipment is not influenced because of no magnetism.

In order to overcome the problem that exists at present, the utility model discloses an aspect provides a from mobile device, include:

the device comprises a shell, a driving mechanism and a driving mechanism, wherein the shell is provided with the driving mechanism;

the driving mechanism is arranged in the shell and used for driving the travelling mechanism so as to drive the self-moving device to move;

a scanning module mounted on the housing for detecting an identification code provided at a travel area of the self-moving apparatus;

and the controller is connected with the scanning module and the driving mechanism and is used for identifying the information of the identification code, controlling the driving mechanism according to the identified information and further controlling the movement of the travelling mechanism.

In an embodiment of the present invention, the scan module includes:

a light source mounted on the housing for emitting a light beam toward the ground;

and the receiving unit is used for receiving the reflected light of the identification code and converting the reflected light into a digital signal.

In one embodiment of the present invention, the light source is configured such that an angle between an outgoing light beam of the light source and a horizontal plane is 20 to 60 degrees.

In an embodiment of the present invention, the scanning module is disposed at a front end of the housing.

In an embodiment of the invention, the identification code comprises a bar code or a two-dimensional code.

In an embodiment of the present invention, the information of the identification code indicates information of an area where the self-moving apparatus performs the setting operation, and the controller causes the self-moving apparatus to perform the setting operation on the area.

In one embodiment of the invention, the setting operation comprises not entering and/or bypassing, or comprises multiple entering and/or clearing.

The present invention also provides a virtual wall including one or more identification codes indicating an area where a setting operation is performed from a mobile device, the area being composed/surrounded by the one or more identification codes, or being composed/surrounded by at least one of the identification codes and a fixed part in the area.

According to the utility model discloses a from mobile device and virtual wall, through set up the scanning module on from mobile device and scan the identification code in the region of traveling to the region that the identification code is appointed is discerned, in order to carry out setting operation to the region, for example not get into this region (more specifically, for example clean this region) or get into this region many times (for example clean this region many times). Therefore, according to the utility model discloses a can realize the specific operation to specific area according to the user's demand from mobile device and virtual wall to because this specific area is by the identification code sign, consequently can set for wantonly, and owing to need not outside independent power supply, the cost is lower, and because do not have magnetism therefore do not have the influence to electronic equipment.

Drawings

The following drawings of the present invention are used herein as part of the present invention for understanding the present invention. There are shown in the drawings, embodiments and descriptions of the invention, which are used to explain the principles of the invention.

In the drawings:

fig. 1 is a schematic front perspective view of a smart mobile device according to an embodiment of the present invention;

FIG. 2 is a bottom schematic view of the smart mobile device shown in FIG. 1;

fig. 3 is a schematic block diagram of a smart mobile device according to an embodiment of the present invention;

fig. 4 is a schematic block diagram of a scanning module of a smart mobile device according to an embodiment of the present invention;

fig. 5 is a schematic diagram of an identification area of an intelligent mobile device according to an embodiment of the present invention;

fig. 6A-6C show schematic diagrams of virtual walls according to embodiments of the present invention.

1 light source

2 optical lens

3 optical lens

4 photoelectric converter

5 amplifying and shaping circuit

6 decoding interface circuit

11 main body

12 left wheel

13 right wheel

14 rolling brush

15 side brush

16 scan module

17 controller

18 driving mechanism

19 travel mechanism

20 identification code

21 wall body

100 self-moving device

200A virtual wall

200B virtual wall

200C virtual wall

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the present invention and are not intended to limit the invention to the particular embodiments described herein. Based on the embodiments of the present invention described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.

It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be provided in the following description in order to explain the technical solution provided by the present invention. The preferred embodiments of the present invention are described in detail below, however, other embodiments of the present invention are possible in addition to these detailed descriptions.

Fig. 1 is a schematic front perspective view of a smart mobile device according to an embodiment of the present invention; fig. 2 is a bottom schematic view of the smart mobile device shown in fig. 1.

Referring to fig. 1 to 2, a self-moving device 100 according to an exemplary embodiment of the present invention includes a main body 11, the main body 11 including a case, an operation button and an indicator lamp provided on a front surface of the case, and a traveling mechanism provided on a rear surface of the case, the traveling mechanism enabling the main body/self-moving device 100 to travel along a set path.

Illustratively, the travel mechanism includes a left wheel 12 and a right wheel 13. The drive mechanism includes at least one drive motor. The drive motors include a left wheel drive motor that can rotate the left wheel 12 and a right wheel drive motor that can rotate the right wheel 13. The left and right wheel driving motors are independently controlled by a travel control module of the controller so that the main body 11 can move or rotate forward or backward. For example, the left wheel drive motor and the right wheel drive motor may rotate in the same direction; however, when the left and right wheel drive motors rotate at different speeds or in opposite directions to each other, the traveling direction of the main body 11 may be changed. In addition, auxiliary support wheels or steering wheels (not shown) may be further provided on the rear surface of the main body 11 as needed.

The self-moving apparatus 100 according to an exemplary embodiment of the present invention may be implemented as a cleaning robot, which further includes a cleaning unit for cleaning a traveling area during traveling. The cleaning unit comprises a rolling brush 14, an edge brush 15 and a dust box arranged in the shell, wherein the rolling brush 14 is positioned at the center of the bottom of the main body 11, and the edge brush 15 is positioned on one side of the bottom of the main body 11 close to the edge. During the cleaning process, the edge brush 15 sweeps the sundries from the periphery of the mobile device 100 to the bottom of the main body 11, and then sweeps the sundries on the ground into the dust box mainly through the rolling brush 14.

Fig. 1 and 2 illustrate a general structure and application of the self-moving device 100 according to the present invention, but the self-moving device 100 is not limited to the above structure and application, for example, the self-moving device 100 may be a robot other than a sweeper, and the structure is not limited to the structure shown in fig. 1 and 2.

In the embodiment, in order to enable the self-moving device 100 to identify the specific area and perform the setting/specifying operation on the specific area, a scanning module is further disposed on the self-moving device 100 for detecting the identification code so as to identify the specific area, and further perform the specific area on the specific area, for example, perform no cleaning on the specific area. The self-moving device 100 according to the embodiment of the present invention is further described with reference to fig. 3 to 4.

Fig. 3 is a schematic block diagram of a smart mobile device according to an embodiment of the present invention; fig. 4 is a schematic block diagram of a scanning module of a smart mobile device according to an embodiment of the present invention; fig. 5 is a schematic diagram of an identification mark area of an intelligent mobile device according to an embodiment of the present invention.

As shown in fig. 3 to 5, the smart mobile device 100 according to an exemplary embodiment of the present invention includes a scanning module 16, a controller 17, a driving mechanism 18, and a traveling mechanism 19. The scanning module 16 is mounted on the housing for detecting an identification code 20 provided at a traveling area of the self-moving apparatus 100, the identification code 20 being used to form a virtual wall for identifying an area where a specific operation is performed from the self-moving apparatus 100. The controller 17 is connected with the scanning module 16 and the driving mechanism 18, and is used for identifying the information of the identification code and controlling the driving mechanism 18 according to the identified information, so as to control the movement of the traveling mechanism 19. A travel mechanism 19 is provided on the housing of the self-moving device 100, which includes, for example, the aforementioned left and

right wheels

12 and 13 and corresponding components. The drive mechanism 18 includes, for example, a motor and its components, which may include a left wheel drive motor that may rotate the left wheel 12 and a right wheel drive motor that may rotate the right wheel 13, as previously described. The left wheel driving motor and the right wheel driving motor are independently controlled by the travel control module of the controller 17, respectively, so that the main body 11 can be moved (including moved forward or backward or rotated).

As one example, in the present embodiment, the identification code 20 includes a barcode or a two-dimensional code. The identification code 20 is encoded or set with corresponding information indicating information of an area on which a setting operation is performed from the mobile device 100, and the controller 17 causes the mobile device 100 to perform the setting operation on the area. The setting operation may include no access and/or bypass, or may include multiple accesses and/or sweepings. That is, when the controller 17 identifies the identification area or the virtual wall area according to the scanning module 16, the area may be set according to the setting, for example, as shown in fig. 5, when the scanning module 16 scans a line identified by the identification code 20, the controller 17 identifies the line as a virtual wall, and the virtual wall may be bypassed according to the setting, that is, the virtual wall does not pass through the virtual wall, so as to compare the virtual wall and the area behind the virtual wall for cleaning.

The structure of the scanning module 16 of the mobile device 100 and the identification principle of the identification code 20 will be described below by taking a bar code as an example.

As shown in fig. 4, the scanning module 16 includes a light source 1, an optical lens 2, an optical lens 3, a photoelectric converter 4, a magnifying and shaping circuit 5, and a decoding interface circuit 6. Wherein a light source 1 is mounted on the housing for emitting a light beam towards the ground, the light source 1 being for example a laser light source. The optical lens 2 serves to convert the light beam emitted by the light source 1 into an exit light beam, for example into a parallel exit light beam. In the present embodiment, in order to cause the identification code 20 to be irradiated with the outgoing light beam of the light source 1, the light source 1 is configured such that the outgoing light beam of the light source 1 is at an angle of 20 degrees to 60 degrees with respect to a horizontal plane, that is, the outgoing light beam passing through the optical lens 1 is at an angle of 20 degrees to 60 degrees with respect to a horizontal plane (e.g., the ground). The optical lens 3, the photoelectric converter 4, the magnifying and shaping circuit 5 and the decoding interface circuit 6 constitute a receiving unit for receiving the reflected light of the identification code 20 and converting the reflected light into a digital signal.

Specifically, taking bar codes as an example, the bar codes are coded by bars and spaces with different widths and different reflectivity according to a certain coding rule (code system) and are used for expressing a group of graphic identifiers of numeric or alphabetic symbol information. That is, the bar code is a group of parallel line patterns with different thickness and arranged at intervals according to a certain rule. A common bar code consists of black bars (bars for short) and white bars (spaces for short) with widely different reflectivity. In this embodiment, the bar code is made of black and white material, and the width of the white bar is different from that of the black bar, representing different information. Because the wavelength of the visible light reflected by the objects with different colors is different, the white object can reflect the visible light with various wavelengths, and the black object can absorb the visible light with various wavelengths. When light beams emitted by the laser light source 1 pass through the optical lens 2 and then irradiate black-white bar codes, reflected light is focused by the optical lens 3 and then irradiates the photoelectric converter 4, so that the photoelectric converter 4 receives reflected light signals with different intensities corresponding to white bars and black bars, converts the reflected light signals into corresponding electric signals and outputs the electric signals to the amplifying and shaping circuit 5, the shaping circuit converts analog signals into digital electric signals, the digital electric signals are decoded into digital character information through the decoding interface circuit 6, and the digital character information is sent to the controller 17. The controller 17 identifies whether the identification code 20 is an identification code for identifying a set area according to the alphanumeric information, and illustratively, the identification code 20 is considered as an identification code for forming a virtual wall when it is identified that the code value of the identification code 20 is greater than or equal to a set threshold, for example, when the controller 17 controls the self-moving device 100 to avoid the virtual wall.

Illustratively, as shown in fig. 5, in the present embodiment, the scanning module 16 is disposed at the front end of the housing, which refers to the front end of the housing when the mobile device 100 walks in the normal direction (default direction).

According to the utility model discloses a from mobile device, through set up the scanning module on from mobile device and scan the identification code in the area of traveling to the region that identification code appointed is discerned, in order to carry out setting operation to the region, for example not get into this region (more specifically, for example clean this region) or get into this region many times (for example clean this region many times). Therefore, according to the utility model discloses a can realize the specific operation to specific area according to the user's demand from mobile device and virtual wall to because this specific area is by the identification code sign, consequently can set for wantonly, and owing to need not outside independent power supply, the cost is lower, and because do not have magnetism therefore do not have the influence to electronic equipment.

The utility model also provides a virtual wall for from mobile device, the virtual wall of this embodiment includes one or more identification codes, one or more identification codes indicate to carry out the region of setting for the operation from mobile device, the region comprises/encloses by at least one identification code, or by one or more identification codes and the fixed part (for example cavity, furniture etc.) in the region of advancing constitute/enclose, set for the operation including not getting into and/or detouring, or including getting into and/or cleaning many times. Illustratively, the identification code comprises a bar code or a two-dimensional code.

As an example, as shown in fig. 6A, the virtual wall 200A includes three identification codes (e.g., bar codes) 20, which constitute a virtual wall, and the virtual wall 200A and the solid wall 21 together enclose an area where a specific operation is performed from the mobile device, for example, the area cannot be accessed from the mobile device, or the area is not cleaned from the mobile device. When the proximity of the area is moved from the mobile device, the scanning module of the mobile device detects the identification code, thereby recognizing the virtual wall 200A, and then performs a detour operation on the virtual wall.

As another example, as shown in fig. 6B, the virtual wall 200B includes 5 identification codes 20, and the 5 identification codes 20 enclose a circular-like area, which is an area where a specific operation is performed from a mobile device, for example, the area cannot be accessed from the mobile device, or the area is not cleaned from the mobile device. When the proximity of the area is moved from the mobile device, the scanning module of the mobile device detects the identification code, thereby recognizing the virtual wall 200B, and then performs a detour operation on the virtual wall.

As yet another example, as shown in fig. 6C, the virtual wall 200C includes 8 identification codes 20, and the 8 identification codes 20 enclose a rectangular area, which is an area where a specific operation is performed from a mobile device, for example, the area cannot be accessed from the mobile device, or the area is not cleaned from the mobile device. When the proximity of the area is moved from the mobile device, the scanning module of the mobile device detects the identification code, thereby recognizing the virtual wall 200C, and then performs a detour operation on the virtual wall.

It should be understood that the virtual wall and the area identified by the virtual wall are not limited to the shapes shown in fig. 6A to 6C, but may be any shape that is set by the user as needed, and since the virtual wall is set using the identification code, it does not require a separate power supply and thus is low in cost, and does not affect the electronic device because it does not have magnetism.

It should be appreciated that in the description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The above description is only for the specific embodiments of the present invention or the description of the specific embodiments, the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A self-moving apparatus, comprising:

a driving mechanism mounted in the housing for driving the traveling mechanism to drive the self-moving device to move;

a scanning module mounted on the housing for detecting an identification code disposed within a travel area of the self-moving device;

2. The self-propelled device of claim 1, wherein the scanning module comprises:

the light source is arranged on the shell and used for emitting light beams towards the ground direction;

3. A self-moving apparatus according to claim 2, wherein the light source is configured such that the light beam exiting the light source is at an angle of 10 to 70 degrees to the horizontal.

4. The self-propelled device of claim 1, wherein the scanning module is disposed at a front end of the housing.

5. The self-moving apparatus according to claim 1, wherein the identification code comprises a barcode and/or a two-dimensional code.

6. The self-moving apparatus according to claim 1, wherein the information of the identification code indicates information of an area where the self-moving apparatus performs a setting operation, and the controller causes the self-moving apparatus to perform the setting operation on the area.

7. A self-propelled device according to claim 3 and wherein said light source is configured such that the light beam emitted from said light source is at an angle of between 20 and 60 degrees to the horizontal.

8. A virtual wall for a self-moving device, comprising:

one or more identification codes indicating an area in which the self-moving apparatus performs a setting operation, the area being composed of/surrounded by the one or more identification codes or composed of/surrounded by the at least one identification code and a fixed part in the area.

9. The virtual wall of claim 8, wherein the identification code comprises a bar code and/or a two-dimensional code.