CN101145031A - Robot electronic fencing control system - Google Patents
Robot electronic fencing control system Download PDFInfo
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- CN101145031A CN101145031A CNA2007100713742A CN200710071374A CN101145031A CN 101145031 A CN101145031 A CN 101145031A CN A2007100713742 A CNA2007100713742 A CN A2007100713742A CN 200710071374 A CN200710071374 A CN 200710071374A CN 101145031 A CN101145031 A CN 101145031A
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- 230000005672 electromagnetic field Effects 0.000 claims abstract description 6
- 239000003990 capacitor Substances 0.000 claims description 17
- 230000006870 function Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000004065 semiconductor Substances 0.000 claims description 7
- 239000013078 crystal Substances 0.000 claims description 3
- 230000005669 field effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Abstract
The present invention discloses an electronic-fence control system for robots, and can be used for delineating work areas for robots working in non-specific working areas. The system includes a control circuit of processor, as well as a power supply circuit, a management circuit for charging batteries, a virtual line transmitting circuit and a radio transmitting module, and are all connected with the processor, wherein, the control circuit of processor comprises a microprocessor connected with other circuits through all function pins; the virtual line transmitting circuit comprises a amplifying circuit, leads and a rectifying and voltage-dividing circuit; the amplifying circuit is connected with a foot 11 of the microprocessor; the rectifying and voltage-dividing circuit is connected with a foot 14 of the microprocessor; the management circuit for charging batteries is connected with a foot 19 of the microprocessor; the radio transmitting module is connected with a foot 15 of the microprocessor; the present invention is provided with a single chip computer, and the present invention uses the electromagnetic field technique to realize the advantages of automatic navigation, obstacle avoidance, testing and operation.
Description
Technical field
The present invention relates to a kind of robot electronic fencing control system, it is used to the robot delineation perform region that is operated under the particular range not.
Background technology
At present, the robot that carries out work in places such as family, public spaces realizes that its major technique means of working realize by infrared ray, ultrasound wave or impact switch (as microswitch, Hall switch) in specified scope.Infrared ray effect under strong solar light irradiation can become very poor, and the reflection distance does not almost have; Ultrasound wave is to send one section interrupted sound wave, ultrasonic signal is accepted in a period of time wait that can pause after sending one section acoustic signals, owing to there is the problem of response time and measuring distance, the restriction of maximum distance and minimum distance is arranged, exceeding this distance range is exactly hyperacoustic blind area; Impact switch is mounted in the switch in machine the place ahead, considers cost and aesthetic problem, generally all is to adorn several impact switches fifty-fifty in machine the place ahead, and impact switch all is equipped with in each position forwardly.These modes out of doors or landform change under the not specific situation, all can't realize fixed point work well.
Summary of the invention
Technical matters to be solved by this invention provides a kind of robot electronic fencing control system of realizing self-navigation, keeping away barrier, detect and operate with single-chip microcomputer and electromagnetic field technology.
The technical solution adopted in the present invention is: this control system comprises processor control circuit, and the power circuit that links to each other with processor control circuit, battery charging management circuit, dummy line radiating circuit and radio transmission module, wherein processor control circuit comprises microprocessor, and microprocessor is by each function end pin and other circuit interconnections; The dummy line radiating circuit comprises amplifying circuit, lead and rectification and voltage division circuit, amplifying circuit connects the pin 11 of microprocessor, it receives the pulse control signal that is produced by microprocessor, and the drive current of increase pulse control signal, produce again double polarity pulse signal to lead to drive the dummy line virtual wall that generates an electromagnetic field, the rectification and voltage division circuit connects the pin 14 of microprocessor, and it is gathered voltage signal and judges the duty of dummy line and provide indicator signal by the processing controls pilot lamp; Battery charging management circuit connects the pin 19 of microprocessor, is used to control charged state; The radio transmission module connects the pin 15 of microprocessor, is used to the wireless remote control function of the system that realizes.
The present invention controls the drive current that a pair of field effect transistor increases pulse signal by current-limiting resistance R31 in the dummy line radiating circuit, produce double polarity pulse signal to lead through capacitance C9 and transformation coil T1 again.
The present invention is in processor control circuit, and the pin 4 of microprocessor and pin 5 are connected to the oscillating circuit of being made up of crystal oscillator Y1, capacitor C 21, capacitor C 22; The pin 1 of microprocessor is connected to the reset circuit of being made up of resistance R 30, capacitor C 20, capacitor C 26; The pin 2 of microprocessor, pin 3 meet program download port P2; The pin 6 of microprocessor, pin 7, pin 8, pin 9 meet the reservation port JP2 of other functions of expansion.
The pin 12 of microprocessor of the present invention, pin 13, pin 14 are the AD port, and pin 12 is used for gathering the data of battery charging state, and pin 13 is used for gathering the data of battery charging voltage, and pin 14 is used for gathering the data of dummy line.
Rectification and voltage division circuit of the present invention is made up of schottky diode D1, resistance R 28, resistance R 19, electric capacity R29, capacitor C 10.
Battery charging management circuit of the present invention comprises the charging voltage bleeder circuit of being made up of resistance R 13, R15, R19, and the charging voltage bleeder circuit connects the pin 13 of microprocessor.
Battery charging management circuit of the present invention is controlled charged state by metal-oxide-semiconductor Q4; Pull-up resistor R14 in the battery charging management circuit, pull down resistor R16 are used for guaranteeing that drive current has stable voltage to control metal-oxide-semiconductor Q4; The plug-in unit pin 2 of battery charging management circuit middle port P5 connects the pin 12 of microprocessor.
In the battery charging management circuit of the present invention, the pin 16 of microprocessor, pin 17, pin 18 meet pilot lamp port JP1, with the charged state of battery under the reflection duty.
The present invention compared with prior art, have following beneficial effect: this control system and Hall element are used, during work by the pulse control signal that produces after the microprocessor processes, on the coupling lead that the company of being loaded into goes out after the amplification, lead is ceaselessly launched electromagnetic signal, forms the electromagnetic field of a sealing, when Hall element is sensed magnetic field, the signal that detection obtains is input to processor control circuit after by the made of hardware circuits which process on the wiring board, and the action of robot is controlled.Have power and adjust automatically, short-term detects automatically and is the function that robot replenishes electric weight, and is simple in structure, cost is low, good reliability, antijamming capability are strong, can be robot assigned work scope in landform arbitrarily.
Description of drawings
Fig. 1 is a system construction drawing of the present invention.
Fig. 2 is that principle of the present invention is always schemed.
Fig. 3 is the schematic diagram of power switch circuit among Fig. 2.
Fig. 4 is processor control circuit and the electric schematic diagram of dummy line emission among Fig. 2.
Fig. 5 is the schematic diagram of battery charging management circuit among Fig. 2.
Embodiment
Referring to Fig. 1 and Fig. 2, present embodiment comprises processor control circuit 1, power circuit 2, dummy line radiating circuit 3, battery charging management circuit 4 and radio transmission module 5, wherein processor control circuit 1 comprises that model is the STC microprocessor (hereinafter to be referred as U4) of 5410AD, and dummy line radiating circuit 3 comprises amplifying circuit 31, lead 32 and rectification and voltage division circuit 33.
Referring to Fig. 3, in the power circuit 2, meet port P6 by external direct current power supply, behind current-limiting resistance R1, filter capacitor C2, the pin 1 of input switch voltage stabilizing integrated chip U3.The control pin 5 of integrated chip U3 and grounding leg 3 ground connection make U3 in running order.Provide 5V stabilized voltage supply behind voltage output pin 2 process inductor rectifier L2, the filter capacitor C3 of integrated chip U3 and the C4.The voltage output pin 2 of integrated chip U3 ground connection behind backward dioded D6 is formed protective circuit of voltage regulation, and the output voltage after the voltage stabilizing connects the feedback input pin 4 of integrated chip U3 and realizes the automatic feedback regulation of circuit, burning voltage.
Referring to Fig. 4, in processor control circuit 1, the pin 4 of microprocessor U4 and pin 5 are connected to the oscillating circuit of being made up of crystal oscillator Y1, capacitor C 21, capacitor C 22, are used to provide microprocessor U4 work clock; The pin 1 of microprocessor U4 is connected to the reset circuit of being made up of resistance R 30, capacitor C 20, capacitor C 26; The pin 2 of microprocessor U4, pin 3 meet program download port P2, and microprocessor U4 is online to download to make things convenient for; The pin 6 of microprocessor U4, pin 7, pin 8, pin 9 connect reserves port JP2, with convenient other functions of expansion.The U4 pin 12 of microprocessor, pin 13, pin 14 are the AD port, and pin 12 is used for gathering the data of battery charging state, and pin 13 is used for gathering the data of battery charging voltage, and pin 14 is used for gathering the data of dummy line.
Dummy line radiating circuit 3 comprises amplifying circuit 31, lead 32 and rectification and voltage division circuit 33, wherein amplifying circuit 31 connects the pin 11 of microprocessor U4, the pulse control signal that reception is produced by microprocessor U4, control the drive current that a pair of field effect transistor increases pulse signal by current-limiting resistance R31, again through capacitance C9 and transformation coil T1 produce double polarity pulse signal to lead 32 to drive the dummy line virtual wall that generates an electromagnetic field, be robot assigned work scope.Rectification and voltage division circuit 33 connects the pin 14 of microprocessor U4, and it is made up of schottky diode D1, resistance R 28, resistance R 19, electric capacity R29, capacitor C 10.Rectification and voltage division circuit 33 is gathered voltage signal and is judged the duty of dummy line and provide indicator signal by the processing controls pilot lamp that wherein R29 is a current-limiting resistance, is used for effectively preventing the excessive device that burns of electric current.
Referring to Fig. 5, battery charging management circuit 4 connects the pin 19 of microprocessor U4, and Q4 controls charged state by metal-oxide-semiconductor, and pull-up resistor R14 wherein, pull down resistor R16 are used for guaranteeing that drive current has stable voltage to control metal-oxide-semiconductor Q4; The charging voltage bleeder circuit of being made up of resistance R 13, R15, R19 connects the pin 13 of microprocessor U4, for the voltage of microprocessor U4 monitoring battery.The plug-in unit pin 2 of port P5 connects the pin 12 of microprocessor U4, is used for monitoring the on off state of metal-oxide-semiconductor Q4.Pilot lamp port JP1 connects pin 16, pin 17, the pin 18 of microprocessor, with the charged state of battery under the reflection duty.
During use, be applied on the grass-removing robot as this electronic fencing control system, be used by Hall element that is installed in grass-removing robot wiring board both sides and robot electronic fencing system, Hall element is the sensor in perception magnetic field.The robot electronic fencing system works is by radio signal of radio transmission module 5 transmissions in per 10 seconds, be used for whether the robot electronic fencing system being arranged in work to the grass-removing robot sign, as do not have, then the robot electronic fencing system does not work, processor control circuit 1 control dummy line radiating circuit 3 is launched electromagnetic signals simultaneously, when grass-removing robot runs on the robot electronic fencing limit that arranges in advance, Hall element is sensed magnetic field, outputs level signals is to microprocessor U4, at this moment the automatic avoiding barrier program start that is provided with among the microprocessor U4, turn to another direction operation after the indication grass-removing robot retreats, realize hiding automatically function.In the time will realizing mowing along the line and automatic charge function, microprocessor U4 enters the self-navigation program, and grass-removing robot runs to directly over the robot electronic fencing, walks automatically along robot electronic fencing by the Hall element control grass-removing robot at two; When the grass-removing robot walking is taken back, the Hall element on the right will detect the electromagnetic signal strong than left side Hall element, the Hall element outputs level signals on both sides is to microprocessor U4, at this moment the self-navigation program start that is provided with among the microprocessor U4, the automatic direction of indication grass-removing robot is advanced, and realizes the self-navigation function.When the grass-removing robot battery electric quantity is on the low side, grass-removing robot will be opened automatic charging procedure, the indication grass-removing robot stops the machine operation of mowing, walking self-navigation (process as above) cradle of walking of reaching the standard grade again, the charging electrode that sticks on the cradle by two charging electrodes that are installed in the grass cutter dead ahead charges, at this moment electromagnetism charge management circuit 4 is started working, charge to grass-removing robot, battery detection circuit wherein detects voltage and rises, the slow down speed of movable motor of microprocessor U4 control movable motor, it is slowly advanced, tightly be close to charging electrode, realize automatic charge function.
Claims (8)
1. robot electronic fencing control system, it is characterized in that: comprise processor control circuit (1), and the power circuit (2) that links to each other with processor control circuit (1), battery charging management circuit (4), dummy line radiating circuit (3) and radio transmission module (5), wherein:
Processor control circuit (1) comprises microprocessor, and microprocessor is by each function end pin and other circuit interconnections;
Dummy line radiating circuit (3) comprises amplifying circuit (31), lead (32) and rectification and voltage division circuit (33), amplifying circuit (31) connects the pin 11 of microprocessor, it receives the pulse control signal that is produced by microprocessor (1), and the drive current of increase pulse control signal, produce again double polarity pulse signal to lead (32) to drive the dummy line virtual wall that generates an electromagnetic field, rectification and voltage division circuit (33) connects the pin 14 of microprocessor, and it is gathered voltage signal and judges the duty of dummy line and provide indicator signal by the processing controls pilot lamp;
Battery charging management circuit (4) connects the pin 19 of microprocessor, is used to control charged state;
Radio transmission module (5) connects the pin 15 of microprocessor, is used to the wireless remote control function of the system that realizes.
2. robot electronic fencing control system according to claim 1, it is characterized in that: in dummy line radiating circuit (3), control the drive current that a pair of field effect transistor increases pulse signal by current-limiting resistance R31, produce double polarity pulse signal to lead (32) through capacitance C9 and transformation coil T1 again.
3. robot electronic fencing control system according to claim 1 is characterized in that: in processor control circuit (1), the pin 4 of microprocessor and pin 5 are connected to the oscillating circuit of being made up of crystal oscillator Y1, capacitor C 21, capacitor C 22; The pin 1 of microprocessor is connected to the reset circuit of being made up of resistance R 30, capacitor C 20, capacitor C 26; The pin 2 of microprocessor, pin 3 meet program download port P2; The pin 6 of microprocessor, pin 7, pin 8, pin 9 meet the reservation port JP2 of other functions of expansion.
4. robot electronic fencing control system according to claim 1, it is characterized in that: the pin 12 of microprocessor, pin 13, pin 14 are the AD port, pin 12 is used for gathering the data of battery charging state, and pin 13 is used for gathering the data of battery charging voltage, and pin 14 is used for gathering the data of dummy line.
5. robot electronic fencing control system according to claim 1 is characterized in that: described rectification and voltage division circuit (33) is made up of schottky diode D1, resistance R 28, resistance R 19, electric capacity R29, capacitor C 10.
6. according to claim 1 or 4 described robot electronic fencing control systems, it is characterized in that: battery charging management circuit (4) comprises the charging voltage bleeder circuit of being made up of resistance R 13, R15, R19, and the charging voltage bleeder circuit connects the pin 13 of microprocessor.
7. according to claim 1 or 4 described robot electronic fencing control systems, it is characterized in that: described battery charging management circuit (4) is controlled charged state by metal-oxide-semiconductor Q4; Pull-up resistor R14 in the battery charging management circuit (4), pull down resistor R16 are used for guaranteeing that drive current has stable voltage to control metal-oxide-semiconductor Q4; The plug-in unit pin 2 of battery charging management circuit (4) middle port P5 connects the pin 12 of microprocessor.
8. robot electronic fencing control system according to claim 1 is characterized in that: in the described battery charging management circuit (4), the pin 16 of microprocessor, pin 17, pin 18 meet pilot lamp port JP1, with the charged state of battery under the reflection duty.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100713742A CN100498602C (en) | 2007-09-21 | 2007-09-21 | Robot electronic fencing control system |
| PCT/CN2008/000028 WO2009036644A1 (en) | 2007-09-21 | 2008-01-03 | Robot mower system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100713742A CN100498602C (en) | 2007-09-21 | 2007-09-21 | Robot electronic fencing control system |
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| Publication Number | Publication Date |
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| CN101145031A true CN101145031A (en) | 2008-03-19 |
| CN100498602C CN100498602C (en) | 2009-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100713742A Expired - Fee Related CN100498602C (en) | 2007-09-21 | 2007-09-21 | Robot electronic fencing control system |
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| CN (1) | CN100498602C (en) |
Cited By (12)
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|---|---|---|---|---|
| CN102393659A (en) * | 2011-08-19 | 2012-03-28 | 应放天 | Determination apparatus for intelligent mower location inside or outside virtual line and determination method thereof |
| WO2012100623A1 (en) * | 2011-01-28 | 2012-08-02 | 嘉兴亚特园林机械研究所 | System and method for setting operation area of robot |
| CN103608742A (en) * | 2011-06-17 | 2014-02-26 | 罗伯特·博世有限公司 | System having a boundary conductor unit and an independent mobile unit |
| CN104124730A (en) * | 2014-05-14 | 2014-10-29 | 杭州菲沃机器人科技有限公司 | Charging device of intelligent mower and charging method thereof |
| CN104750109A (en) * | 2015-04-07 | 2015-07-01 | 上海市建筑科学研究院 | Cable climbing robot pulling back method and device |
| CN104867314A (en) * | 2014-02-20 | 2015-08-26 | 深圳市恒润晖光电科技有限公司 | Electronic fence generation apparatus |
| CN106137058A (en) * | 2015-04-15 | 2016-11-23 | 小米科技有限责任公司 | Cleaning robot system and virtual wall detection method |
| CN109571469A (en) * | 2018-11-29 | 2019-04-05 | 深圳市优必选科技有限公司 | Control circuit for robot obstacle avoidance, robot and robot obstacle avoidance method |
| CN109870954A (en) * | 2019-02-26 | 2019-06-11 | 南京工业职业技术学院 | A kind of fence sender unit |
| CN110597253A (en) * | 2019-09-05 | 2019-12-20 | 珠海市一微半导体有限公司 | Robot control method, chip and laser type cleaning robot |
| WO2022151932A1 (en) * | 2021-01-18 | 2022-07-21 | 苏州科瓴精密机械科技有限公司 | Obstacle avoidance system, obstacle avoidance device, and mowing robot |
| CN111103803B (en) * | 2011-09-19 | 2023-11-03 | 费希尔-罗斯蒙特系统公司 | Inference process modeling, quality prediction, and fault detection using multi-stage data separation |
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| CN102960125A (en) * | 2012-12-07 | 2013-03-13 | 金阳 | Solar intelligent navigation power supply station for robot mower |
-
2007
- 2007-09-21 CN CNB2007100713742A patent/CN100498602C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012100623A1 (en) * | 2011-01-28 | 2012-08-02 | 嘉兴亚特园林机械研究所 | System and method for setting operation area of robot |
| CN103608742A (en) * | 2011-06-17 | 2014-02-26 | 罗伯特·博世有限公司 | System having a boundary conductor unit and an independent mobile unit |
| CN103608742B (en) * | 2011-06-17 | 2017-10-31 | 罗伯特·博世有限公司 | System with limitation conductor element and independent mobile unit |
| CN102393659A (en) * | 2011-08-19 | 2012-03-28 | 应放天 | Determination apparatus for intelligent mower location inside or outside virtual line and determination method thereof |
| CN102393659B (en) * | 2011-08-19 | 2013-04-24 | 应放天 | Determination apparatus for intelligent mower located inside or outside virtual line and determination method thereof |
| CN111103803B (en) * | 2011-09-19 | 2023-11-03 | 费希尔-罗斯蒙特系统公司 | Inference process modeling, quality prediction, and fault detection using multi-stage data separation |
| CN104867314A (en) * | 2014-02-20 | 2015-08-26 | 深圳市恒润晖光电科技有限公司 | Electronic fence generation apparatus |
| CN104124730A (en) * | 2014-05-14 | 2014-10-29 | 杭州菲沃机器人科技有限公司 | Charging device of intelligent mower and charging method thereof |
| CN104750109B (en) * | 2015-04-07 | 2017-07-04 | 上海市建筑科学研究院 | Cable-climbing robot recovery method and its equipment |
| CN104750109A (en) * | 2015-04-07 | 2015-07-01 | 上海市建筑科学研究院 | Cable climbing robot pulling back method and device |
| CN106137058A (en) * | 2015-04-15 | 2016-11-23 | 小米科技有限责任公司 | Cleaning robot system and virtual wall detection method |
| CN106137058B (en) * | 2015-04-15 | 2019-08-06 | 小米科技有限责任公司 | Cleaning robot system and virtual wall detection method |
| CN109571469A (en) * | 2018-11-29 | 2019-04-05 | 深圳市优必选科技有限公司 | Control circuit for robot obstacle avoidance, robot and robot obstacle avoidance method |
| CN109870954A (en) * | 2019-02-26 | 2019-06-11 | 南京工业职业技术学院 | A kind of fence sender unit |
| CN110597253A (en) * | 2019-09-05 | 2019-12-20 | 珠海市一微半导体有限公司 | Robot control method, chip and laser type cleaning robot |
| CN110597253B (en) * | 2019-09-05 | 2022-12-09 | 珠海一微半导体股份有限公司 | Robot control method, chip and laser type cleaning robot |
| WO2022151932A1 (en) * | 2021-01-18 | 2022-07-21 | 苏州科瓴精密机械科技有限公司 | Obstacle avoidance system, obstacle avoidance device, and mowing robot |
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| CN100498602C (en) | 2009-06-10 |
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