CN106537272B - Self-propelled electronic equipment - Google Patents
Self-propelled electronic equipment Download PDFInfo
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- CN106537272B CN106537272B CN201580039217.6A CN201580039217A CN106537272B CN 106537272 B CN106537272 B CN 106537272B CN 201580039217 A CN201580039217 A CN 201580039217A CN 106537272 B CN106537272 B CN 106537272B
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- 238000004140 cleaning Methods 0.000 description 3
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- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
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- 150000001450 anions Chemical class 0.000 description 2
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- 208000033748 Device issues Diseases 0.000 description 1
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 229910003307 Ni-Cd Inorganic materials 0.000 description 1
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- 239000012491 analyte Substances 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
A kind of self-propelled electronic equipment, has: power part, at least advanced and disk turn walking；Fence reaches sensor, reaches region to the signal for the fence signal that the fence sender unit outside entering is exported with directive property and detects；Control unit controls above-mentioned power part to make disk turn to start in response to the entrance for reaching region to above-mentioned signal；And disk turns sensor, is used to judge the end that above-mentioned disk turns, above-mentioned control unit carries out control to make the disk turn to terminate in response to turning the signal of sensor from above-mentioned disk.
Description
Technical field
The present invention relates to self-propelled electronic equipments, send more specifically to fence (fence) signal outside detection
Wireless signal that device issues and automatically control the self-propelled electronic equipment of walking.
Background technique
It has proposed the region for limiting self-propelled electronic equipment movement and is constrained in the various sides in specific place
Case.As one of them, propose following system, have: portable sideband signal transmitter sends sideband signal, on
State mainly has directive property in a manner of along the axis for defining boundary；And mobile robot, have sideband signal detector,
Above system revolves the direction of mobile robot when the sideband signal detector of mobile robot detects above-mentioned sideband signal
It goes to until no longer detecting the sideband signal (referring for example to patent document 1).
Existing technical literature
Patent document
Patent document 1: special open 2003-228421 bulletin
Summary of the invention
Problems to be solved by the invention
The concrete mode of sideband signal transmitter as patent document 1, can enumerate such as under type: using battery as electricity
Source, in order to prevent with the interference of the infrored equipments such as sunlight or remote control device, radiation is by the frequency with common infrared ray bit stream
The further modulated infrared light beam of the different frequency of rate.
It, will be in order to divide the mobile region of self-propelled electronic equipment and provide self-propelled electronics in this way, in the present specification
The information in the path that equipment should move guides self-propelled electronic equipment, and along wireless signals such as axial radiation light, electric waves (following
Also referred to as fence signal) device be known as fence sender unit.
Fence sender unit is set to the boundary in the region for being not intended to make self-propelled electronic equipment to enter, and is believed using fence
It number takes self-propelled electronic equipment to avoid taking action.Rotate self-propelled electronic equipment to no longer detecting to enclose
In way until column signal, self-propelled electronic equipment can advance along the axis of fence signal, it is possible to repeatedly avoid going
It is dynamic.
The present invention allows for the fact that above and completes, and provides a kind of self-propelled electronic equipment, can walk
In detect to the signal of fence signal reach region enter and disk turn when, suitably control from above-mentioned signal reach region be detached from
Direction, that is, disk turn terminate timing and far from above-mentioned signal reach region.
The solution to the problem
The present invention provides a kind of self-propelled electronic equipment, which is characterized in that has: power part, carry out at least advance and
The walking that disk turns；Fence reaches sensor, the fence exported to the fence sender unit outside entering with directive property
The signal of signal reaches region and is detected；Control unit controls above-mentioned power part, thus in response to reaching area to above-mentioned signal
Domain entrance and make disk turn start；And disk turns sensor, is used to judge the end that above-mentioned disk turns, above-mentioned control unit is controlled
System, so that the disk be made to turn to terminate in response to the signal for turning sensor from above-mentioned disk.
Invention effect
The disk that self-propelled electronic equipment of the invention has for judging the end of disk turn turns sensor, and control unit is controlled
System can be detected to fence signal to make the disk turn to terminate in response to turning the signal of sensor from disk in walking
Signal reach region entrance and disk turn, and suitably control at this moment from above-mentioned signal reach region be detached from direction i.e. disk
Turn the timing terminated and reaches region far from above-mentioned signal.
Detailed description of the invention
Fig. 1 is the block diagram for indicating the schematic configuration of self-propelled suction cleaner according to the present invention.
Fig. 2 is the outside drawing for indicating an embodiment of self-propelled suction cleaner according to the present invention.(top view)
Fig. 3 is the outside drawing for indicating an embodiment of self-propelled suction cleaner according to the present invention.(side view)
Fig. 4 is the outside drawing for indicating an embodiment of self-propelled suction cleaner according to the present invention.(front view)
Fig. 5 be Fig. 4 A-A to view sectional view.
Fig. 6 is the outside drawing for indicating the embodiment different from self-propelled suction cleaner shown in FIG. 1 to FIG. 5.(2 disks turn
Sensor)
Fig. 7 is to indicate and the outside drawing of the further different embodiment of self-propelled suction cleaner shown in FIG. 1 to FIG. 5.(3
A disk turns sensor)
Fig. 8 is the stereoscopic figure for indicating the example of fence sender unit involved in embodiments of the present invention.
Fig. 9 is the block diagram for indicating the electric schematic configuration of fence sender unit involved in embodiments of the present invention.
Figure 10 is to schematically show non-directive irradiation unit and directional radiation portion spoke involved in the embodiment
The signal for the optical signal penetrated reaches the explanatory diagram in region.
Figure 11 is when indicating that reception of wireless signals portion involved in embodiments of the present invention radiates the optical signal of 1 frame repeatedly
Waveform explanatory diagram.
Figure 12 is to indicate that self-propelled suction cleaner shown in FIG. 1 to FIG. 5 enters the signal of fence signal and reaches region when entering
The explanatory diagram of the case where control unit control walking.
Figure 13 is to indicate control unit when self-propelled suction cleaner reaches region with the entry angle entering signal different from Figure 12
The explanatory diagram of the case where control walking.
Figure 14 be indicate control unit according to the present invention in response to the signal of fence signal reach region entrance and
Control the flow chart of the processing of walking.(switching to stop to disk is started)
Figure 15 be indicate control unit according to the present invention in response to the signal of fence signal reach region entrance and
Control the flow chart of the processing of walking.(disk turns to terminate)
Figure 16 is to indicate that control unit controls when self-propelled suction cleaner shown in fig. 6 enters the signal arrival region of fence signal
The explanatory diagram of the case where walking.
Figure 17 is to indicate that control unit controls when self-propelled suction cleaner shown in Fig. 7 enters the signal arrival region of fence signal
The explanatory diagram of the case where walking.
Figure 18 is the outside drawing for indicating the different embodiments of self-propelled suction cleaner shown in FIG. 1 to FIG. 5.(left and right 2
Fence signal transducer)
Figure 19 is to indicate control unit control when self-propelled suction cleaner shown in Figure 18 enters the signal arrival region of fence signal
The explanatory diagram of the case where system walking.
Specific embodiment
Hereinafter, the present invention is described in further detail using attached drawing.In addition, the following description is to illustrate in terms of whole, do not answer
It is interpreted as limitation of the invention.
(embodiment 1)
" concrete mode of self-propelled electronic equipment "
Illustrate " self-propelled suction cleaner " of an example as self-propelled electronic equipment of the invention.Self-propelled suction cleaner tool
It is standby: in bottom surface with air entry and in the internal cabinet with dust collecting part；The driving wheel for making cabinet walk；Control driving wheel
Rotation stops and the control unit of direction of rotation etc. etc., refers to the hand for leaving user and the dust catcher that automatically carries out dust suction movement,
An example is shown using the embodiment of attached drawing by aftermentioned.
In addition, the present invention not only includes self-propelled suction cleaner, it further include carrying out air suction and arranging purified air
Self-propelled air purifier out, in addition, including the self-propelled ion generator for generating ion, in addition to this, further including can be right
Information needed for user's prompt etc. is simultaneously able to satisfy the self-propelled equipment such as the desired robot requested of user.
" composition of self-propelled suction cleaner "
Fig. 1 is the block diagram for indicating the schematic configuration of an embodiment of self-propelled suction cleaner according to the present invention.Such as Fig. 1 institute
Show, self-propelled suction cleaner according to the present invention mainly has rotating brush 9, side brush 10, control unit 11, rechargeable battery 12, obstacle
Analyte detection portion 14, dust collecting part 15.Moreover, having power part 21, right driving wheel 22R, left driving wheel 22L, air entry 31, exhaust outlet
32, electric blowing machine 115 and ion generating portion 117.In addition, being also equipped with brush motor 119 and reception of wireless signals portion 217.
Self-propelled suction cleaner one side according to the present invention automatically walk on the ground in the place being set, sucks on one side
Air comprising the dust on ground, and the air after removing dust is discharged, to carry out dust suction on the ground.Institute of the present invention
The self-propelled suction cleaner being related to has the function that cradle (not shown) is automatically returned at the end of dust suction.
Fig. 2~Fig. 4 is the outside drawing for indicating an embodiment of self-propelled suction cleaner according to the present invention.Fig. 2 is to bow
View, Fig. 3 are side views, and Fig. 4 is front view.
In addition, Fig. 5 be Fig. 4 A-A to view sectional view.
As shown in Fig. 2~Fig. 5, self-propelled suction cleaner 1 has discoidal appearance.But, self-propelled electronics of the invention
The appearance of equipment is not particularly limited to disc, can be arbitrary shape.
Self-propelled suction cleaner 1 has the bottom plate 2a for the internal mechanism for carrying dust catcher and is formed with the recessed of storage dust collecting part 15
The top plate 2b in portion.The edge of one half part of rear side of bottom plate 2a is surrounded by rear side plate 2d.Configured in covering on top plate 2b
The cover 3 in the upper opening portion of recess portion is stated, and cover 3 can either on or off.Bottom plate 2a, top plate 2b and rear side plate 2d are equivalent to case
Body.
It is the buffering of circular ring shape when the peripheral part of self-propelled suction cleaner 1 and rising wood from the peripheral part to cover are overlooked
Device 2c covering.Buffer 2c is covered from the top of top plate 2b, can be moved to a certain degree in the horizontal direction relative to top plate 2b
It is fixed in the state of position.
It is configured with front ultrasonic sensor 14F in the front front of buffer, is configured with left ultrasonic wave in left front
Sensor 14L.In addition, being configured with right ultrasonic sensor 14R in right front.
In this embodiment, the latter half slave peripheral part to the lower edge of bottom plate 2a of self-propelled suction cleaner is rear
Side plate 2d, first half are the skirt section 2e with buffer 2c one.It is substantially neat with rear side plate 2d in the top of rear side plate 2d
Level land is configured with buffer 2c.
The fence in reception of wireless signals portion 217 reaches the front that sensor 217a is protruded upwards and is configured at buffer 2c
Top.It protrudes and is configured on the rear of buffer 2c upwards in addition, the disk in reception of wireless signals portion 217 turns sensor 217b
Portion.(fence reaches sensor 217a and disk turns sensor 217b) is received from behaviour (not shown) in reception of wireless signals portion 217
Make the various wireless signals such as remote signal, the inductive signal from cradle, the fence signal from fence unit of remote controler
Optical sensor (such as photodiode).In this embodiment, fence reaches sensor 217a detection from the institute in plane
There is the light that direction is transmitted.In addition, disk, which turns sensor 217b, can detect the light transmitted from all directions in the plane at rear.Control
Portion 11 is mounted to the microcomputer and peripheral circuit of circuit substrate, in response to believing from remote controller, cradle, fence
Instruction represented by the various wireless signals of number transmitter etc. and the walking or other movements for controlling self-propelled suction cleaner 1.
Bottom plate 2a, which is formed with, makes right driving wheel 22R, left driving wheel 22L and rear-wheel 26 expose from bottom plate 2a and protrude downwards
Multiple openings.Moreover, being formed with air entry 31, it is configured with rotating brush 9 at its depth, is configured in the left and right of air entry 31
Side brush 10 is configured with front ground detection sensor 18 in front end, examines in the front of left driving wheel 22L configured with revolver ground
Sensor 19L is surveyed, is configured with right wheel ground detection sensor 19R in the front of right driving wheel 22R.
The advance when right driving wheel 22R and left driving wheel 22L are rotated in the forward direction to same direction of self-propelled suction cleaner 1, to matching
It is equipped with the direction walking of front ultrasonic sensor 14F.In addition, the driving wheel of left and right retreats when reversely rotating to same direction,
It rotates to mutually opposite direction to which disk turns.It such as can be bright from the position of right driving wheel 22R shown in fig. 5 and left driving wheel 22L
True, the center that disk turns and the central point of discoid self-propelled suction cleaner 1 are substantially uniform.In addition, it is contemplated that right driving wheel 22R
It is set as " substantially " with deviation, driving wheel and the skidding on ground at the center of the rotary shaft and disk of left driving wheel 22L etc..
For example, self-propelled suction cleaner 1 detects to reach suction area in each sensor for the test section 14 that breaks the barriers
Periphery the case where and in the case where detecting barrier in forward path, make left and right driving wheel slow down after make its stopping.
Later, make left and right driving wheel to mutually opposite direction rotate and disk transfer change direction.In this way, self-propelled suction cleaner 1 exists
In entire setting place or entire expected range, automatically walk on one side while avoiding obstacles.
Here, so-called front refers to the direction of advance (in Fig. 2 be top) along paper of self-propelled suction cleaner 1, institute
Meaning rear refers to the direction of retreat (in Fig. 2 be lower section) along paper of self-propelled suction cleaner 1.
Hereinafter, illustrating each component shown in FIG. 1.
The control unit 11 of Fig. 1 is the part for controlling the movement of each component of self-propelled suction cleaner 1, main by including
The microcomputer of CPU, ROM, RAM, I/O controller as the nonvolatile memory that can be rewritten, timer etc. is realized.
CPU acts each hardware organically, executes based on being pre-reserved to above-mentioned ROM and being deployed into the control program of RAM
Dust-absorbing function, walking function of the invention etc..
Rechargeable battery 12 is the part to each functional imperative of self-propelled suction cleaner 1 supply electric power, is mainly for being applied to
Carry out the part of the electric power of dust-absorbing function and travelling control.For example, using lithium ion battery, nickel-metal hydride battery, Ni-Cd battery etc.
Rechargeable battery.Rechargeable battery 12 is configured at the lower section of control unit 11.
The charging terminal of the exposing both made in the state of making self-propelled suction cleaner 1 close to cradle (not shown) is each other
Contact, to carry out the charging of rechargeable battery 12.
Each sensor 14L, 14F, 14R of detection of obstacles portion 14, particularly left, front, right are in self-propelled suction
Bar contacts or the close part such as detection and indoor wall, desk, chair in 1 walking process of dirt device.Obstacle quality testing
It is detected using ultrasonic sensor to the close of barrier in survey portion 14.Ultrasonic sensor can also be substituted or passed with ultrasonic wave
Sensor together, uses the non-contact sensor of the other ways such as infrared distance measuring sensor.
Left contact sensor 14CL and right contact sensor 14CR in order to detect self-propelled suction cleaner 1 when walking with obstacle
The contact of object and the inside for being configured at buffer 2c.CPU is based on coming from left contact sensor 14CL and right contact sensor 14CR
Output signal, know buffer 2c and barrier is collided and its direction.
Front ground detection sensor 18, revolver ground detection sensor 19L and right wheel ground detection sensor 19R detection
The step of downlink stair etc..
Position of the CPU based on the signal exported from detection of obstacles portion 14, where cognitive disorders object or step.Based on identification
The location information of barrier or step out determines to avoid the barrier or step and the direction that next should walk.In addition, left
Take turns the detection that ground detection sensor 19L and right wheel ground detection sensor 19R detection is located at front ground detection sensor 18
The left front of direction of travel outside range or the step of right front.Downlink stair are detected as a result, prevent self-propelled suction cleaner
1 falls to downlink stair.
Power part 21 is to realize row by the driving motor of the driving wheel rotation and stopping that making the left and right of self-propelled suction cleaner 1
The part walked.Driving wheel can make left and right is constituted driving motor in a manner of independently rotating in forward and reverse direction, to realize
The walking states such as the advance of self-propelled suction cleaner 1, retrogressing, disk turn, acceleration and deceleration.
Air entry 31 and exhaust outlet 32 are to carry out the air-breathing of air and the part of exhaust for dust suction respectively.
Dust collecting part 15 is to execute the part for the dust-absorbing function for collecting indoor rubbish or dust, mainly has collection (not shown)
Dirt container, filter portion and the cover portion for covering dust collecting container and filter portion.It is connected in addition, having with air entry 31
The discharge path for flowing into road and being connected to exhaust outlet 32.Electric blowing machine 115 is configured in discharge path.Electric blowing machine 115
Suck air from air entry 31, which be directed in dust collecting container via road is flowed into, generate make the air after dust via
Discharge path is from exhaust outlet 32 to the air-flow of outside release.
At the depth of air entry 31, equipped with the rotating brush 9 around the axle center rotation parallel with bottom surface, on a left side for air entry 31
Right two sides are equipped with around the side brush 10 with the rotation of the axis of rotation of plane perpendicular.Rotating brush 9 is by the roller as rotary shaft
Outer peripheral surface spirally plant brush and formed.Side brush 10 is by being formed the lower end of rotary shaft is with radial setting brush bundle
's.In addition, the rotary shaft of the rotary shaft of rotating brush 9 and a pair of of side brush 10 is articulated in a part of bottom plate 2a, and via at it
The brush motor 119 that is nearby arranged and power transfer mechanism connection including pulley and band etc..
This composition only as an example of, also can be set make side brush 10 rotate dedicated driving motor.
In addition, self-propelled suction cleaner 1 involved in the embodiment, which has, occurs function as the ion of additional function.?
Ion generating portion 117 is equipped in discharge path.When the ion generating portion 117 movement when, from exhaust outlet discharge air-flow contain by from
The ion (such as can be plasmoid ion (registered trademark) or anion) that sub- generating unit 117 generates.Contain the ion
Air from the exhaust outlet 32 for the upper surface for being set to self-propelled suction cleaner 1 be discharged.Room is carried out by the air containing the ion
Interior degerming and deodorization.In addition, it is also known that in the case where anion, people's relaxation effect can be brought.At this point, air is from exhaust outlet
32 are discharged towards the oblique upper at rear, therefore can prevent the elevator of the dust on ground, can improve indoor degree of purification.In addition, also
Dust can be de-energized, can reliably carry out the discarded of the dust after dust.
In addition it is also possible to which a part guiding of the ion generated by ion generating portion 117 is flowed into road.In this way, from suction
Port 31, which is directed in the air-flow for flowing into road, contains ion, therefore can be carried out dust collecting container (not shown) possessed by dust collecting part 15
With the degerming and deodorization of filter.
The specific configuration example of self-propelled suction cleaner 1 above, and the configuration example of self-propelled air purifier be by Fig. 1~
Self-propelled suction cleaner 1 shown in fig. 5 with a portion of change.Specifically, substitution rotating brush 9, dust collecting part 15, ion hair
Life portion 117 and brush motor 119 and have air cleaning portion, by be arranged air entry 31 position be changed to push up from the bottom plate 2a of cabinet
Plate 2b, above-mentioned air cleaning portion have the filter of air cleaning.In addition, the configuration example of self-propelled ion generator is from figure
Air entry 31 will be arranged by except rotating brush 9, dust collecting part 15 and brush motor 119 in 1~self-propelled suction cleaner 1 shown in fig. 5
Position is changed to top plate 2b from the bottom plate 2a of cabinet.
In addition, Fig. 6 and Fig. 7 are to indicate that the outside drawing of the embodiment different from self-propelled suction cleaner 1 shown in Fig. 2 (is bowed
View).The self-propelled suction cleaner 1 of Fig. 2 only there is 1 disk to turn sensor 217b.And the self-propelled suction cleaner 1 of Fig. 6 and Fig. 2 are not
Together, the disk without rear-center portion turns sensor 217b, but configures in the position for turning center rearward than disk and keeping left
There is disk to turn sensor 217c, turns sensor 217d configured with disk in the position for turning center rearward than disk and keeping right.Have 2 in total
A disk turns sensor.
In addition, there are the self-propelled suction cleaner 1 of Fig. 73 disks to turn sensor 217b, 217c and 217d.At the center at rear
Turn sensor 217b configured with disk, turns sensor 217c configured with disk in the position for turning center left side rearward than disk, than disk
The position for turning center right side rearward turns sensor 217d configured with disk.
" control based on the wireless signal from fence sender unit "
Reception of wireless signals portion 217 receives the instruction from the user sent from remote controller as wireless signal, control
Portion 11 processed in response to the instruction that receives and the movement for controlling self-propelled suction cleaner 1.Moreover, reception of wireless signals portion 217 receives
The wireless signal that cradle issues is returned using the wireless signal as target to cradle.
It is received from the fence sender unit for being set to travel region comprising the present invention moreover, fence reaches sensor 217a
The wireless signal (fence signal) of related control information.An example of the function of fence sender unit is fence function.It encloses
Column function is functioned as sightless wall.When there are users in self-propelled suction cleaner 1 physically walking region
When the place for being not intended to make self-propelled suction cleaner 1 to enter, the usable fence sender unit of fence function is configured at the place and
Form the boundary that can't see.
In this embodiment, use the optical signal based on infrared light as wireless signal.As the format of signal, can fit
So-called household appliances association format etc. as defined in such as household appliances association.It is however also possible to not be using light but make
The composition communicated with electric wave or other media, the format for the signal being applicable in are also not necessarily limited to above-mentioned household appliances association lattice
Formula.
In addition, fence sender unit is not only to issue stable light but issue the signal with specific format,
This be for ease of being distinguished with the light of ambient light or illumination etc., be applicable in such as household appliances association format be for ease of with its
The remote signal etc. of its equipment distinguishes.
It is the continuous infrared ray bit stream of multiple bits by 1 frame definition in above-mentioned data format.1 frame includes beginning
Custom code, numeric data code and the stopping at the end bit of lead code, 32 bits thereafter.Lead code includes 3.2 milliseconds of conducting
With 1.6 milliseconds of cut-off.Custom code is the data of 32 bits, such as the 16 bits distribution of beginning is each institute, enterprise is intrinsic
Value, the distribution of next 8 bit is the parity check bit of 4 bits and the enterprise sort code of 4 bits, and 8 last bits divide
What is matched is the intrinsic value of device type.
Numeric data code is the data of 16 bits, by each device type definition identified with above-mentioned custom code.Such as it is right
Each button of remote controler distributes numeric data code, provides specific information in the part.The bit value of custom code or numeric data code is 0
Or 1, do not distinguished with the presence or absence of infrared ray, with during between the having and have of infrared ray length, do not have
Length during issuing infrared ray is distinguished.The separation of 1 frame and frame thereafter is by being referred to as frame space (frame
Space the interregnum of 8 milliseconds or more of length) judges.Infrared ray is not issued during frame space.
The manufacturer of self-propelled suction cleaner 1 predetermines identification code used in the usable signal of fence function.Control unit
11 when fence reaches sensor 217a and receives the optical signal of the identification code, is identified as the fence letter from fence unit
Number.Then, the walking for controlling self-propelled suction cleaner 1 enters so that it will not cross the signal to other side side.Fence function is usable
Identification code is a mode of control information according to the present invention.
Fig. 8 is the stereoscopic figure for indicating the example of fence sender unit involved in the embodiment.Such as Fig. 8 institute
Show, fence sender unit 231 is in the shape of approximately cuboid, is configured in upper surface by the power switch of power supply on or off
233, it indicates the flag indicator 235 of the on or off of power supply and the state of battery 243 and switches the sensor of luminous intensity
Distance switching switch 237.Moreover, the non-directive irradiation unit 239a of the oriented all direction radiation optical signals of configuration.Match in side
It is equipped with the directional radiation portion 239b to a direction radiation fence signal.Have in the inside of fence sender unit 231 and receives
It receives the battery chamber of signal generating circuit and the battery 243 as power supply, the lid (not shown) of bottom can be opened and take out, be put into electricity
Pond.
Fig. 9 is the block diagram for indicating the electric schematic configuration of an embodiment of fence sender unit 231.As shown in figure 9, this is enclosed
Column sender unit 231 has power switch 233, flag indicator 235, sensor distance switching switch 237 and signal radiation
Portion 239.Signal radiation portion 239 has non-directive irradiation unit 239a and directional radiation portion 239b.Theirs are shown in FIG. 8
Appearance.Moreover, the residual capacity that fence sender unit 231 has the battery 243 being accommodated in battery chamber, detects battery 243
Residual capacity of battery test section 241, the storage unit 242 and each portion of control that are previously stored with identification code transmitter control unit
240.Transmitter control unit 240 detects the operation of power switch 233, sensor distance switching switch 237.In addition, referring to storage
Above-mentioned identification code that portion 242 is saved and make non-directive irradiation unit 239a and directional radiation portion 239b export respectively comprising pair
The optical signal for the identification code answered.
What is radiated from non-directive irradiation unit 239a is the optical signal reached near fence sender unit 231, so that
Self-propelled suction cleaner 1 will not be in contact with it close to fence sender unit 231.
On the other hand, the strong optical signal (fence of the directive property for radiating an arrival distant place to side from directional radiation portion 239b
Signal).The fence signal radiated from directional radiation portion 239b has with the optical signal from non-directive irradiation unit 239a not
Same identification code.The control unit 11 of self-propelled suction cleaner 1 can make to avoid controlling different modes with the identification code according to the two
It is controlled.That is, crossing the fence signal from directional radiation portion 239b in fence arrival sensor 217a and receiving this
When fence signal, control according to the present invention is carried out, but reach sensor 217a in fence and receive from non-directive spoke
When penetrating the optical signal of portion 239a, such as controlled in a manner of disk turnback.Switch 237 can be switched by sensor distance
Selecting the fence signal radiated from directional radiation portion 239b, accessibility distance is 2 meters or 4 meters in the direction of the optical axis.It is enclosing
The arrival distance of column signal be 2 meters or less with regard to enough purposes in the case where, as long as 2 meters of longer life expectancy of selection battery 243
One side.
Flag indicator 235 is LED light, is extinguished in the state that power switch 233 turns off, and is connected in power switch 233
In the state of light.It is lighted during the residual capacity of battery 243 is sufficient with green, is reduced and close replacement in residual capacity
It is lighted when period with red.
In this embodiment, the signal generating circuit sending for being built in fence sender unit 231 is set to for fence
The optical signal of the intrinsic information of identification code of the identification code and fence sender unit 231 of function.
Figure 10 is to schematically show the optical signal radiated from non-directive irradiation unit 239a and directional radiation portion 239b
The explanatory diagram in region can be reached by the signal that the reception of wireless signals portion 217 of 1 side of self-propelled suction cleaner receives.In Figure 10,
The 3rd signal that optical signal from non-directive irradiation unit 239a is reached reaches the region that region 245c is round shape, from finger
It is big that the 2nd signal that the fence signal of tropism irradiation unit 239b is reached, which reaches region 245b and the 1st signal arrival region 245a,
Cause elliptoid region.By sensor distance switch switch 237 be set as 2 meters it is reachable apart from when corresponding to being used in Figure 10
The 2nd signal that double dot dash line indicates reaches region 245b, be set as 4 meters it is reachable apart from when correspond in Figure 10 with solid line table
The 1st signal shown reaches region 245a.Arrow B indicates the optical axis direction from the directional radiation portion 239b fence signal radiated.
Figure 11 is to indicate that signal radiation portion 239 radiates the explanatory diagram of the waveform of the optical signal of 1 frame repeatedly.Signal follows household electrical appliances
Product association format.It is separated between frame and frame by the frame space that the radiation of optical signal interrupts 8 milliseconds or more.It, will in Figure 11
The frame period is set as during until radiating the optical signal to the optical signal across frame space radiation next frame of 1 frame.
When self-propelled suction cleaner 1 advances in the direction of arrow A, the part that fence reaches sensor 217a enters believes from fence
The signal for the fence signal that number transmitter 231 radiates reaches region, and when fence reaches sensor 217a and receives fence signal,
Control unit 11 parses the information of the signal institute band received.It is identified as the signal of fence unit namely based on identification code, and then identifies
It is the signal from which fence sender unit 231.Then, so that it will not cross this for the walking of control self-propelled suction cleaner 1
Signal and to other side side enter.
" control when region enters is reached to the signal of fence signal "
Then, description self-propelled suction cleaner 1 reaches travelling control when region enters to the signal of fence signal.
Figure 12 is to indicate the control walking of control unit 11 when self-propelled suction cleaner 1 enters the signal arrival region of fence signal
The explanatory diagram of situation.The explanation for the case where Figure 13 is when indicating to reach region with the entry angle entering signal different from Figure 12
Figure.Figure 14 and Figure 15 is the process of an example for the processing for indicating that control unit 11 is executed in response to reaching the entrance in region to signal
Figure.
The 2 and Figure 13 and flow chart along Figure 14 and Figure 15 illustrates travelling control referring to Fig.1.In self-propelled suction cleaner 1
During walking while avoiding obstacles and carrying out operation (the step S11 of Figure 14), control unit 11 gradually monitors that fence arrives
Whether detected the fence signal (step S13) from fence sender unit 231 up to sensor 217a.If fence reaches sensing
Device 217a detects fence signal ("Yes" of step S13), then control unit 11 continues to reach to signal during pre-determined
Enter (2 (a) and Figure 13 (a) referring to Fig.1) in region, checks whether to detect fence signal (step S15) in succession during this period.
Reason for this is that, it is contemplated that the near border in region is reached in fence signal, the detection of fence signal dies down and unstable
The case where, and make self-propelled suction cleaner 1 into the position that can be carried out stable detection reliably to be detected.Moreover, this is
Turn mid-game in disk later and turn sensor to can be carried out stabilization to make self-propelled suction cleaner 1 reach region to signal in advance and enter to
Fence signal detection position until.
If detecting fence signal in succession during pre-determined, control unit 11 makes self-propelled suction cleaner stop (step
Rapid S17), later, turn self-propelled suction cleaner 1 (referring to step S19, Figure 12 (b) and Figure 13 to pre-determined steering wheel
(b)).As shown in Figure 12 and Figure 13, the center that disk turns and the center of discoidal self-propelled suction cleaner 1 are substantially uniform.
In disk turns (step S21), gradually monitor turns whether sensor 217b detects fence signal (step to control unit 11
Rapid S23).
If disk turns sensor 217b as disk transfers to reach region into the signal of fence signal and detects fence signal
("Yes" in step S23), then control unit 11 waits during pre-determined detects fence signal (step S25) in succession.
If by during pre-determined disk turn sensor 217b and detect fence signal to being judged as to have obtained stable fence
The detection (2 (c) and Figure 13 (c) referring to Fig.1) of signal, then control unit 11 makes the disk of self-propelled suction cleaner 1 turn to stop (step
S27).In addition it is also possible to during predetermining above-mentioned step S25 in a manner of corresponding with above-mentioned steps S15.
Fence reaches sensor 217a and disk turns sensor 217b and is configured at the position substantially symmetric relative to the center of disk turn
It sets.Thus, it is relative to entrance side that disk, which turns the direction that sensor 217b detects fence signal and control unit 11 makes disk turn to stop,
To (direction being indicated by the arrow C in figure 12 and figure 13) at the direction (arrow D) of the angle close to 180 °.
Later, control unit 11 makes self-propelled suction cleaner 1 walk while avoiding obstacles and continues operation (referring to step
S29, Figure 12 (d) and Figure 13 (d)).
As it appears from the above, 1 disk of self-propelled suction cleaner is gone to relative to approach axis (Figure 12 and the Figure 13 for reaching region to signal
Shown in the direction arrow C) become close to 180 ° of direction, then reach region from signal and be detached from (arrow shown in Figure 12 and Figure 13
Head D is off-direction).Off-direction is the direction substantially opposite with approach axis, therefore being avoided that makes off-direction along enclosing
The axial direction of column signal.
(embodiment 2)
If making different from during S25 during the step S15 of Figure 14 and flow chart shown in figure 15, disengaging side can be made
To will not be with approach axis antithesis.Or fence arrival sensor 217a and the disk configuration for turning sensor 217b are set as opposite
Turning center in disk is asymmetrical position, so as to make off-direction will not be with approach axis antithesis.It is so-called to be not set to symmetrically
Position, referring to both for example makes to turn the distance between center with disk different without as point symmetry, or from across disk
Turn the position deviateed on the straight line at center configuration disk and turn sensor 217b, so that it will not reach sensor 217a with fence to become line
Symmetrically.
(embodiment 3)
In the embodiment 1, when disk turns to turn to stop by disk when sensor 217b detects fence signal.But it is also possible to
By using other devices of the variation in the direction of detection self-propelled suction cleaner 1, make self-propelled suction cleaner 1 relative to approach axis
Turned with substantially 180 ° of disks.
Such as the variation in the direction of self-propelled suction cleaner 1 can be detected with gyro sensor, realize that disk turns the function of sensor
Energy.
(embodiment 4)
Or it is also possible to left driving wheel 22L and right driving wheel 22R has respectively with the rotation of each driving wheel and exports
The encoder of pulse signal, with the variation in the direction of the signal detection self-propelled suction cleaner 1 of the encoder.
(embodiment 5)
The embodiment describes the travelling control of self-propelled suction cleaner 1 shown in fig. 6.Self-propelled suction cleaner 1 shown in fig. 6
It is the mode for turning sensor with 2 disks.That is, being that the disk at left rear side turns sensor 217c and the disk at right rear side turns sensor
217d.Make 1 disk of self-propelled suction cleaner go to 2 disks to turn until sensor 217c and 217d detect fence signal, so as to
It is detached from it to the direction axially close to right angle relative to fence signal.
Figure 16 is to indicate control unit 11 when self-propelled suction cleaner shown in Fig. 6 enters the signal arrival region of fence signal
The explanatory diagram of the case where control walking.Figure 16 (a) indicates that self-propelled suction cleaner 1 is entered with entry angle identical with Figure 13 (a)
Signal reaches the case where region.Figure 16 (b) indicates that control unit 11 reaches sensor 217a in response to fence and detects fence signal
And the case where turning 1 inverse time of self-propelled suction cleaner dials, it is same with Figure 13 (b).
In disk turns, gradually monitor turns sensor 217c and 217d to control unit 11, and the two is waited to detect fence signal.
Such as in Figure 16 (b), disk turns sensor 217d and is about to entering signal arrival region, but disk turns sensor 217c and still arrives in signal
Up to except region.Even if only disk turns sensor 217d and detects fence signal, control unit 11 will not make disk turn to terminate.
Soon, as shown in Figure 16 (c), disk turns the equal entering signal of sensor 217c and 217d and reaches region.Then, if stablizing
Ground detects fence signal, then control unit 11 makes disk turn to stop.Later, as shown in Figure 16 (d), region is reached from signal and is detached from.
Off-direction (arrow D) is relative to the fence signal being indicated by the arrow B axially close to right angle.Thus, self-propelled dust suction can be made
Device 1 turns to the direction walking that region is reliably reached far from signal by 1 disk.
(embodiment 6)
The embodiment describes the travelling control of self-propelled suction cleaner 1 shown in Fig. 7.Self-propelled suction cleaner 1 shown in Fig. 7
Rear have 3 disks turn sensor, i.e. the disk of rear-center turns sensor 217b, the disk at left rear side turns sensor 217c and
The disk at right rear side turns sensor 217d.Make 1 disk of self-propelled suction cleaner go to the multiple or whole that 3 disks turn in sensor to examine
Until measuring fence signal, so as to more reliably detect fence signal, disk can be terminated by preferred direction and turned.
Figure 17 is to indicate that control unit controls when self-propelled suction cleaner shown in Fig. 7 enters the signal arrival region of fence signal
The explanatory diagram of the case where walking.Figure 17 (a) indicates self-propelled suction cleaner 1 with entry angle entering signal identical with Figure 13 (a)
The case where reaching region.Figure 17 (b) indicates that control unit 11 detects fence signal in response to fence arrival sensor 217a and makes
The case where 1 inverse time of self-propelled suction cleaner dials turns.
In disk turns, gradually monitor turns sensor 217b, 217c and 217d to control unit 11, and multiple disks is waited to turn sensor
Detect fence signal.Such as in Figure 17 (b), disk turns sensor 217d and is about to entering signal arrival region, but other disks turn
Sensor 217b and 217c are still reached except region in signal.Even if only disk turns sensor 217d and detects fence signal, control
Portion 11 will not make disk turn to terminate.
Soon, as shown in Figure 17 (c), disk turns sensor 217d and 217b entering signal and reaches region, if being turned by 2 disks
Detect to sensor stabilization fence signal, then control unit 11 makes disk turn to stop.Then, make self-propelled suction cleaner 1 from signal to
(arrow D1) is detached from up to region.
But such as far from fence sender unit 231, fence weak output signal, disk turns sensor sometimes
217d or 217b can not steadily detect fence signal.In this case, control unit makes disk turn to continue.Soon, such as Figure 17
(d) shown in, disk turns sensor 217c, and also entering signal reaches region.If disk turns wantonly 2 in sensor 217b, 217d and 217c
Detect to sensor stabilization fence signal, then control unit 11 makes disk turn to stop.Then, make self-propelled suction cleaner 1 from signal to
(arrow D2) is detached from up to region
In this way, turning sensor by configuring multiple disks, it can more reliably detect fence signal and keep self-propelled suction cleaner 1 de-
From.
It detects fence signal in addition, Figure 17 represents 2 for turning in sensor when 3 disks then and terminates the mode that disk turns,
But it also can be set to and detect fence signal just and make that disk turns end when wantonly 1 disk turns sensor.In addition, disk turns the quantity of sensor
It is also possible to 2, can also be 4 or more.As long as suitably determining several to detect fence when what these disks turned in sensor
Signal just makes disk turn to terminate.
(embodiment 7)
In this embodiment, it describes to have to detect respectively in the different location of the left and right directions orthogonal with direction of advance to enclose
2 sensors of column signal, make wherein a side as fence reach sensor function, so that another party is turned sensor as disk
The mode functioned.
Figure 18 is the outside drawing for indicating an example of mode of self-propelled suction cleaner involved in the embodiment.Such as Figure 18 institute
Show, self-propelled suction cleaner 1 has fence signal transducer 219L and 219R at the both ends of left and right respectively.
During walking on one side avoiding obstacles while, control unit 11 gradually monitor fence signal transducer 219L and
219R。
Figure 19 is to indicate control unit control when self-propelled suction cleaner 1 shown in Figure 18 enters the signal arrival region of fence signal
The explanatory diagram of the case where system walking.Figure 19 (a) indicates that fence signal transducer 219L arrived the signal arrival area of fence signal
Domain.Control unit 11 detects fence signal in response to fence signal transducer 219L and starts timer.Or it is also possible to
Left driving wheel 22L and right driving wheel 22R has with the rotation of each driving wheel and the encoder of output pulse signal, replaces above-mentioned
Timer and the signal of the encoder is counted.The count value of encoder is proportional to travel distance.
Figure 19 (b) indicates that fence signal transducer 219R arrived the signal arrival region of fence signal.11 sound of control unit
Fence signal should be detected in fence signal transducer 219R and stop timer.In substitution timer to code device signal
When being counted, the counting of code device signal is stopped.Then, it count value based on timer or code device signal and encloses
The distance between column signal transducer 219L and 219R calculate entry angle.In addition, in the case where timer, it is contemplated that walking
Speed and the count value of time is scaled travel distance.In the case where code device signal, it is contemplated that the walking of every 1 pulse away from
From and be scaled travel distance.Entry angle can be according to the distance between fence signal transducer 219L and 219R and to fixed
When device or code device signal counted during the distance advanced and found out by geometric calculating, this is apparent
's.
Entry angle of the control unit 11 based on calculating and pre-determined off-direction, determine until towards off-direction
The angle turned should be coiled.Off-direction can be set to direction for example orthogonal with the axial direction (arrow B) of fence signal (referring to Fig.1 9
(c) and (d)).Or can also be set to relative to fence signal axial direction be positive reflection angle.Moreover, approach axis with
In the case that axial (arrow B) angulation is less than pre-determined threshold value (such as 30 °), it can also be set to by the threshold value
Angle is detached from.
Then, until control unit 11 makes self-propelled suction cleaner disk go to the angle turned as the disk determined.Thus, from rear
Side detects that the fence signal transducer 219R of fence signal reaches sensor as fence and functions.Another fence signal passes
Sensor 219L is used to determine the angle that disk turns.It in other words, is the end turned for determining disk, therefore turn sensor hair as disk
Wave function.The angle that disk turns can both be monitored by above-mentioned encoder, can also be transferred with certain disk rotating speed scale by fixed
When device calculate disk turn the time.
According to which, the detection of 2 fence signals can be used to calculate the entry angle for reaching region to signal, find out to
The disk gyration of pre-determined off-direction.Thus, it, can be to pre-determined disengaging side when being entered with any entry angle
To disengaging.That is, self-propelled suction cleaner 1 can be made to turn to the direction walking for reliably reaching region far from signal by 1 disk.
In addition, fence signal transducer 219L and 219R can not also be on straight lines in left and right directions.Pass through progress
And the deviation from the position on straight line corrects accordingly, is able to achieve same function.
(embodiment 8)
In the above embodiment, the control unit 11 when the signal for entering fence signal reaches region is described to control certainly
Walk the various modes that formula dust catcher 1 changes direction of travel.
In addition, self-propelled suction cleaner 1 has front ultrasonic sensor 14F, left as described in the embodiment 1
Ultrasonic sensor 14L, right ultrasonic sensor 14R, the detection based on the barrier carried out by these sensors are kept away
Open barrier walking.
If fence signal also to be considered into the barrier that can't see, it is contemplated that similarly being carried out for fence signal
With the detection of barrier carried out by ultrasonic sensor and avoid corresponding processing.In this case, most preferably make
The detection pair of the detection of the fence signal carried out by fence signal transducer and the barrier carried out by ultrasonic sensor
It answers.That is, it is preferred that right respectively with front ultrasonic sensor 14F, left ultrasonic sensor 14L, right ultrasonic sensor 14R
It answers and configures fence signal transducer in front, left front and right front.In this way, in configuration corresponding with each ultrasonic sensor
It, can be by detecting barrier with corresponding ultrasonic sensor in the case that fence signal transducer detects fence signal
Situation similarly handles to avoid the signal of fence signal and reach region walking.
Walking processing when region is reached as the signal for entering fence signal, can be carried out using with by obstacle sensor
Barrier avoid common walking processing, therefore compared with the case where carrying out other processing, can simplified control portion place
Exploitation and verifying involved in reason.
In addition, self-propelled suction cleaner 1 shown in FIG. 1 to FIG. 5 has front ground detection sensor 18, revolver ground detection
Step is avoided in sensor 19L, right wheel ground detection sensor 19R, the detection based on the step carried out by these sensors
Walking.
Accordingly it is also possible to be set as by avoiding fence signal with the same processing of step walking is avoided.In this case,
It is preferred that right respectively with front ground detection sensor 18, revolver ground detection sensor 19L, right wheel ground detection sensor 19R
It answers and configures fence signal transducer in front, left front and right front.In this way, in configuration corresponding with each ground detection sensor
Fence signal transducer detect fence signal in the case where, can be by detecting step with corresponding ground detection sensor
The case where similarly handle avoid fence signal signal reach region walking.
As enter fence signal signal reach region when walking processing, can apply with by ground detection sensor into
Capable step avoids common walking processing, therefore compared with the case where carrying out other processing, the place in energy simplified control portion
Exploitation and verifying involved in reason.
As described above,
(i) self-propelled electronic equipment of the invention is characterized in that having: power part, is at least advanced and disk turns
Walking；Fence reaches sensor, the fence signal exported to the fence sender unit outside entering with directive property
Signal reach region detected；Control unit controls above-mentioned power part, thus in response to reaching region to above-mentioned signal
Into and make disk turn start；And disk turns sensor, is used to judge the end that above-mentioned disk turns, above-mentioned control unit is controlled,
To make the disk turn to terminate in response to turning the signal of sensor from above-mentioned disk.
In the present invention, self-propelled electronic equipment automatically moves to carry out operation.Its concrete mode is in addition in reality
Apply other than self-propelled suction cleaner shown in mode, can also enumerate for example self-propelled Floor wiper machine, self-propelled air purifier,
Self-propelled ion generator etc..
In addition, the representative mode of walking is the walking by wheel, but not limited to this, it is also possible to have tracked
Mode floats and mobile mode from ground.
Fence signal is to limit the mobile region of self-propelled electronic equipment and constrained in specific place and edge
The axial wireless signal exported with directive property.As signal, other than the infrared signal described in embodiments,
Optical, electromagnetic wave, ultrasonic wave etc. can also be used.It is the biography for detecting above-mentioned fence signal that fence arrival sensor and disk, which turn sensor,
Sensor.
Moreover, disk turns to be to change nyctitropic movement centered on certain point.It but, is to include due to skidding etc. and in causing
The disk of broad sense including the case where heart is vibrated with movement, which rotates, to be made.
Further illustrate preferred embodiment of the invention.
(ii) it is also possible to above-mentioned fence and reaches sensor than the center side configuration on the front that disk turns, above-mentioned disk turns
Sensor than disk turn center rearward side configure and detect above-mentioned fence signal, above-mentioned control unit in response to above-mentioned disk turn
Sensor is rotated by disk to be reached region into above-mentioned signal and detects above-mentioned fence signal, and above-mentioned disk is made to turn to terminate.
In this way, with than disk turn center rearward side configuration disk turn sensor enter fence signal signal reach region be
It triggers and disk is made to turn to terminate, therefore, self-propelled electronic equipment can be made in the shape in the direction for being directed away from above-mentioned signal arrival region
Terminate disk under state to turn.
(iii) it is also possible to above-mentioned disk to turn sensor to include the multiple sensors for being respectively arranged at different positions, it is above-mentioned
Control unit enters above-mentioned signal arrival region in response to multiple sensor and detects above-mentioned fence signal, and turns above-mentioned disk
Terminate.
It is triggering and disk is made to turn to terminate in this way, reaching region with multiple sensor entering signals, therefore, and uses 1 disk
The case where turning sensor is compared, and self-propelled electronic equipment can be made more accurately to be directed away from the direction that above-mentioned signal reaches region.
(iv) it is also possible to have configuration on the straight line of the left and right directions orthogonal with direction of advance and detects respectively
2 fence signal transducers of above-mentioned fence signal, above-mentioned control unit make to be introduced into above-mentioned signal arrival region and detect
The fence signal transducer for stating fence signal turns sensor as above-mentioned disk and functions, and above-mentioned signal is entered after making and reaches region
And detect that the fence signal transducer of above-mentioned fence signal functions as above-mentioned fence arrival sensor and turns on disk
Begin, sensor and above-mentioned fence are turned based on above-mentioned disk and reach time difference and herein that sensor detects above-mentioned fence signal respectively
The speed of travel of period determines that disk turns the timing terminated.
In this way, the time of fence signal can be detected based on 2 sensors on the straight line of configuration in left and right directions
Difference calculates the axial entry angle that region is reached relative to signal, determines disk gyration to make self-propelled electronic equipment direction
Pre-determined off-direction.
(v) it is also possible to above-mentioned disk and turns the variation that sensor detects the direction turned with disk, above-mentioned control unit is in response to upper
It states fence to reach sensor into above-mentioned signal arrival region and detect above-mentioned fence signal, and disk is made to turn to start, in response to
The variation that the disk turns caused direction has reached pre-determined range, and above-mentioned disk is made to turn to terminate.
In this way, the sensing of the variation by using the direction of 1 sensor of detection fence signal and the adjoint disk turn of detection
Device can make self-propelled electronic equipment terminate disk in the state of being directed away from above-mentioned signal and reaching the direction in region and turn.
(vi) above-mentioned disk turns sensor and is also possible to gyro sensor.
(vii) it is also possible to the driving wheel that above-mentioned power part includes left and right, it is each driving of output that above-mentioned disk, which turns sensor,
The encoder of the rotating signal of wheel.
(viii) it is also possible to self-propelled electronic equipment of the invention to have: the barrier of the barrier on detection walking road
Hinder sensor or detects the anti-free fall sensor of the step on ground；Detect the fence signal transducer of fence signal；And control
The control unit of walking is made, above-mentioned control unit controls above-mentioned power part in response to the obstacle carried out by above-mentioned obstacle sensor
The detection of object avoids the barrier, or the above-mentioned power part of control is in response to being carried out by above-mentioned anti-free fall sensor
The step is avoided in the detection of step, when above-mentioned fence signal transducer detects above-mentioned fence signal, carry out with pass through it is upper
State avoiding similarly for the step of the barrier of obstacle sensor progress avoided or carried out by above-mentioned anti-free fall sensor
Control.
In this way, walking processing when reaching region as the signal for entering fence signal, can sense using with by obstacle
At the processing for the avoiding obstacles that device carries out or the common walking of processing for avoiding step carried out by anti-free fall sensor
Reason, therefore, compared with the case where carrying out other processing, exploitation involved in the processing in energy simplified control portion and verifying.
It in a preferred embodiment of the present invention further include side obtained from combining the arbitrary mode in above-mentioned multiple modes
Formula.
Other than above embodiment, there can also be various modifications example about the present invention.These variations are interpreted as belonging to
In the scope of the present invention.It in the present invention should include all deformations in the meaning and above range being equal with claim.
Description of symbols
1: self-propelled suction cleaner；2a: bottom plate；2c: buffer；2d: rear side plate；2e: skirt section；3: cover；9: rotating brush；
10: side brush；11: control unit；12: rechargeable battery；14: detection of obstacles portion；14CL: left contact sensor；14CR: right contact passes
Sensor；14F: front ultrasonic sensor；14L: left ultrasonic sensor；14R: right ultrasonic sensor；15: dust
Portion；18: front ground detection sensor；19L: revolver ground detection sensor；19R: right wheel ground detection sensor；21: dynamic
Power portion；22L: left driving wheel；22R: right driving wheel；31: air entry；32: exhaust outlet；115: electric blowing machine；117: ion hair
Life portion；119: brush motor；217: reception of wireless signals portion；217a: fence reaches sensor；217b, 217c, 217d: disk turns to pass
Sensor；219L, 219R: fence signal transducer；231: fence sender unit；233: power switch；235: flag indicator；
237: sensor distance switching switch；239: signal radiation portion；239a: non-directive irradiation unit；239b: directional radiation portion；
240: transmitter control unit；241: residual capacity of battery test section；242: storage unit；243: battery；245a: the 1 signal reaches area
Domain；245b: the 2 signal reaches region；245c: the 3 signal reaches region.
Claims (2)
1. a kind of self-propelled electronic equipment, which is characterized in that have:
Power part, at least advanced and disk turn walking；
Fence reaches sensor, to the letter for the fence signal that the fence sender unit outside entering is exported with directive property
Number reach region detected；
Control unit controls above-mentioned power part, to make disk turn to start in response to the entrance for reaching region to above-mentioned signal；With
And
Disk turns sensor, is used to judge the end that above-mentioned disk turns,
Above-mentioned control unit is controlled, so that the disk is made to turn to terminate in response to the signal for turning sensor from above-mentioned disk,
Above-mentioned fence reaches center on the front side configuration of the sensor than disk turn,
Above-mentioned disk turn sensor than disk turn center rearward side configure and detect above-mentioned fence signal,
Above-mentioned control unit in response to above-mentioned disk turns sensor and rotates into reach into above-mentioned signal by disk region and to detect above-mentioned enclose
Column signal, and above-mentioned disk is made to turn to terminate.
2. self-propelled electronic equipment according to claim 1,
It includes the multiple sensors for being respectively arranged at different positions that above-mentioned disk, which turns sensor,
Above-mentioned control unit enters above-mentioned signal arrival region in response to multiple sensor and detects above-mentioned fence signal, and makes
Above-mentioned disk turns to terminate.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014156365A JP6378962B2 (en) | 2014-07-31 | 2014-07-31 | Self-propelled electronic device |
| JP2014-156365 | 2014-07-31 | ||
| PCT/JP2015/060856 WO2016017212A1 (en) | 2014-07-31 | 2015-04-07 | Self-propelled electronic device |
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| Publication Number | Publication Date |
|---|---|
| CN106537272A CN106537272A (en) | 2017-03-22 |
| CN106537272B true CN106537272B (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201580039217.6A Expired - Fee Related CN106537272B (en) | 2014-07-31 | 2015-04-07 | Self-propelled electronic equipment |
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| Country | Link |
|---|---|
| JP (1) | JP6378962B2 (en) |
| CN (1) | CN106537272B (en) |
| WO (1) | WO2016017212A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9868211B2 (en) | 2015-04-09 | 2018-01-16 | Irobot Corporation | Restricting movement of a mobile robot |
| US11586219B2 (en) | 2018-11-28 | 2023-02-21 | Sharkninja Operating Llc | Optical beacon for autonomous device and autonomous device configured to use the same |
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- 2015-04-07 CN CN201580039217.6A patent/CN106537272B/en not_active Expired - Fee Related
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106537272A (en) | 2017-03-22 |
| WO2016017212A1 (en) | 2016-02-04 |
| JP6378962B2 (en) | 2018-08-22 |
| JP2016033746A (en) | 2016-03-10 |
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