WO2004102368A2 - Autonomous system with automatic electric recharging - Google Patents
Autonomous system with automatic electric recharging Download PDFInfo
- Publication number
- WO2004102368A2 WO2004102368A2 PCT/FR2004/001138 FR2004001138W WO2004102368A2 WO 2004102368 A2 WO2004102368 A2 WO 2004102368A2 FR 2004001138 W FR2004001138 W FR 2004001138W WO 2004102368 A2 WO2004102368 A2 WO 2004102368A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- charging base
- fixed charging
- intended
- movable member
- battery
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03543—Mice or pucks
Definitions
- 1 invention relates to an autonomous system with automatic electric charging.
- the purpose of this invention is to make the use of an autonomous system more user-friendly, in particular associated with a computer, such as a pointing system, commonly called a “mouse”, such as a robot, for example operating on a office, and aimed at providing information and / or distracting the user from the computer, or performing useful robotic tasks, for example domestic tasks such as surface treatment, surveillance, telepresence, entertainment, manipulation, or another autonomous mobile robot carrying out an industrial or military application.
- a computer such as a pointing system, commonly called a “mouse”
- a robot for example operating on a office
- useful robotic tasks for example domestic tasks such as surface treatment, surveillance, telepresence, entertainment, manipulation, or another autonomous mobile robot carrying out an industrial or military application.
- a wireless system with automatic electric charging comprising: a movable member, comprising a battery, in particular of the rechargeable battery type, - a fixed charging base, said fixed charging base comprising: charging stations located in an opening of said fixed charging base, intended to provide a power supply, - transmission means intended to transmit localization signals, in particular in a conical zone of an opening, for example of the order of 45 °, situated in the axis of said opening of said base fixed recharge.
- Said coded location signals contain information relating to the position of said fixed charging base; said movable member comprising: sensors, in particular of phototransistors type, located at the front and on either side of said movable member, intended to pick up said location signals, a motorization, in particular two motors in tank type configuration, intended to allow:
- a member according to the invention locates the fixed charging base and moves independently to mate with this fixed charging base in order to recharge its battery.
- This new system provides a permanent autonomous system.
- the amount of energy on board can be reduced, thereby saving space and weight.
- An advantage of the automatic recharging system according to the invention compared to a known recharging system, which would be composed of a shoe on which the user would place his autonomous system to recharge it when he is not using it, is that , in this automated system, the user does not need to have a discipline of use: he uses the system when he needs it, and each time that the user has not used this system for a certain time , the system moves to go to the charging system. The user never encounters the inconvenience of finding his autonomous system unloaded.
- said system is such that said transmission means of said fixed charging base transmit said location signals discontinuously, in particular 10 ms every second, so that the transmission means are active 1% of the time and inactive 99% of the time, so that the amount of energy emitted by the transmitter is thus limited.
- said system is such that said motorization is constituted in whole or in part by retractable elements; said retractable elements being actuated automatically in the retracted position by said control means at the end of each coupling of said movable member to said recharging terminals of said fixed charging base, so that the elements constituting the motorization do not impede movement of the member pointing device when these are manually controlled by the user.
- said movable member comprises sensors intended to measure the displacements of said movable member controlled manually by said user; said control means of said movable member further comprising a microcontroller, associated with said sensors, and intended to activate said motorization according to:
- said displacement measurements of said movable member made by said sensor, and / or • predetermined parameters, in particular as a function of a determined duration or of a predefined charge level of said battery, so that the motorization is activated when the the user ceases to use the movable member beyond a certain duration and / or when the charge level of the battery of the movable member crosses a determined threshold.
- said system is such that said fixed charging base is also connected to a power supply, in particular of the sector type, independent of said computer equipment, so that said mobile member can move autonomously to couple to the fixed charging base in order to recharge its battery even when the IT equipment is switched off.
- the location signals are transmitted in the infrared domain.
- the movable member is a pointing member, commonly known as a "mouse".
- the mobile member is a robotic computer peripheral of the “mobile terminal” type operating on a desk and intended to entertain and / or assist the user of the computer.
- the mobile member is a robotic system performing useful tasks, for example domestic tasks, such as surface treatment, surveillance, telepresence, entertainment, manipulation, or industrial or military applications.
- the present invention also relates to a method implementing an automatic wireless electric charging method implementing a system according to one of the preceding embodiments.
- the system consists of a mobile pointing device 1 and a fixed charging base 2.
- the mobile pointing device 1 is of the computer mouse type, the main function of which is to measure the displacement of the housing relative to the ground and the action of other sensors arranged on this box.
- This member 1 transmits these measurements by radio waves or by infrared radiation to the computer to which it is useful.
- the novelty of the system lies in the fact that it is able to move independently and locate itself relative to its charging base 2.
- the main function of charging base 2 is to provide an electrical voltage allowing the recharging of the pointing member 1.
- This base 1 is fixed and emits around it a coded infrared field allowing system 1 to locate it in order to direct itself there.
- the . product is composed of a mains transformer to low voltage, a charging base connected by a connector to the transformer as well as to the computer by an input / output access, such as a USB connector (Universal Sériai Bus ) and a wireless mouse.
- a USB connector Universal Sériai Bus
- the mouse In normal operating mode, the mouse translates the user's actions (moving, pressing buttons, wheel actions or other) and transmits them via radio or infrared waves to the charging base and / or directly to the computer.
- the charging base If the charging base receives this information, it transmits it to the computer via an input / output port (PS2 port, serial port, USB bus or wireless transmission). So far, this is the classic way wireless mice work. When the user stops acting on the mouse and after a predefined delay, the mouse moves autonomously in order to regain the charging base. It stays there as long as the user does not come to look for it and electrically recharge its batteries. A charge control system allows the charge to be stopped when the batteries are charged.
- the pointing device or mouse must contain the following functionalities: battery, control electronics, connection compatible with the charging base, sensors (movement, switch, wheel, ...), transmission channel (radio / infrared) to the '' computer (whether or not via the charging base), motorization, motor control, drive mechanics (*), charging base location system (*), control system (microcontroller, ASIC.). (*) Additional elements due to technology.
- FIG. 1 A diagram of operation of the pointing device is found in Fig2.
- the digital references carried correspond to the following elements: connectors 3, battery 4, regulation 5, sensors 6, processor 7, location 8, transmission 9, mechanics 10, motors 11, energy 12, gauge 13, control 14.
- this one is motorized in order to be able to return to the charging base.
- the motorization is not active when using the pointer and must not impede the movement of the user.
- Motor control can optionally be done within the microcontroller with information from the motion sensor inherent in any pointing system.
- the location system allows the pointing device to locate the charging base so that it can guide itself and reach it. We will assume that the space between the two elements is free to allow a direct trajectory.
- the location system placed on the charging base permanently (or cyclically) sends a message in the area where the pointing device is moving. This message allows the latter to be able to converge when it decides on the charging system. Description of the charging base.
- the charging base must contain the following functions: mains to low voltage voltage converter with connectors compatible with the mobile pointing device,
- FIG. 1 An operating diagram of the charging base is shown in Fig3.
- the digital references carried correspond to the following elements: transformer 15, location information 16, connectors 17, energy 18, sector energy 19.
- Another implementation may relate to a mobile member which is a robotic computer peripheral of the “mobile terminal” type operating on a desk and intended for entertaining and / or assisting the user of the computer.
- Another implementation may relate to a mobile member which is a robotic system performing useful tasks, for example domestic tasks, such as surface treatment, surveillance, telepresence, entertainment, manipulations, or industrial or military applications.
- useful tasks for example domestic tasks, such as surface treatment, surveillance, telepresence, entertainment, manipulations, or industrial or military applications.
- the charging base emits an infrared cone from a diode in a pulsed manner. This cone is directed in front of the base, in the axis of the opening allowing the connection of the two elements at the level of the pointing system.
- the infrared cone is for example of an opening of the order of +/- 45 °.
- the mobile pointing system has two infrared receivers (phototransistors) placed on either side of the front.
- FIG. 1 A schematic diagram is found in Fig4.
- the numerical references carried correspond to the following elements: charging base 20, infrared beam 21, pointing system 22, first infrared receiver 100, second infrared receiver 200.
- the curve shown in Figure 5 describes the response of a sensor as a function of the distance from the infrared source. This response can be translated into intensity depending on the background noise of the environment. However, this measure does not allow you to orient yourself towards the charging base.
- the digital references carried correspond to the following elements: infrared intensity 23, distance 24, reception of a sensor as a function of distance 25.
- the two curves shown in FIG. 6 show that it is interesting to search for the minimum of the difference of the sensors in order to find the direction in which to direct the mobile device. This quantity is freed from the surrounding level by the fact that the difference in measurement is used.
- the numerical references carried correspond to the following elements: infrared intensity 26, alpha angle 27, reception of the first sensor as a function of the angle alpha 28, reception of the second sensor as a function of the angle alpha 29, difference of the infrared intensities first sensor minus second sensor 30, minimum 90 ° 31, angle alpha 32.
- infrared intensity 26 reception of the first sensor as a function of the angle alpha 28
- reception of the second sensor as a function of the angle alpha 29
- difference of the infrared intensities first sensor minus second sensor 30 minimum 90 ° 31, angle alpha 32.
- In order to limit the energy emitted by the infrared emitter it is possible to use discontinuous operation of the infrared source. We can decide for example that the charging base emits the 10m
- the motorization of the pointing system must not be perceptible in the presence of the user. This may imply, for example, that the drive element is retracted when the drive is not active. In order to be able to move and orient yourself easily, a motorization composed of two motors in tank type configuration is recommended.
- the recharging procedure can be conditioned by:
- the computer can control the location reason and authorize or not the recharging of the pointing system.
- the computer should in this case take into account the time elapsed since the last recharge, any preferences of the user, and in priority, if the user has left his workstation.
- the pointing system will initiate its charging procedure if it has not been used for a fixed time and if the battery level becomes low.
- the charging system is permanently connected to the electrical network and the autonomous pointing system is capable of coming to charge even when the computer is turned off. Since recharging can be carried out regularly, the autonomy of the system can be considerably reduced to a few days, lowering the cost of the accumulators and their charger, and reducing the mass to be moved.
- an autonomous system such as a robot intended to distract and / or provide information to the user of a computer
- a system according to the invention is equipped with a system according to the invention.
- useful robotic tasks for example domestic tasks, such as surface treatment, surveillance, telepresence, entertainment, manipulations, or industrial or military applications, can be powered by a process according to the invention.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Position Input By Displaying (AREA)
- Manipulator (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2004239446A AU2004239446A1 (en) | 2003-05-09 | 2004-05-10 | Autonomous system with automatic electric recharging |
CA002524801A CA2524801A1 (en) | 2003-05-09 | 2004-05-10 | Autonomous system with automatic electric recharging |
EP04742694A EP1673688A2 (en) | 2003-05-09 | 2004-05-10 | Autonomous system with automatic electric recharging |
JP2006530343A JP2006529038A (en) | 2003-05-09 | 2004-05-10 | Autonomous system with automatic power recharge function |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR03/05632 | 2003-05-09 | ||
FR0305632A FR2854966B1 (en) | 2003-05-09 | 2003-05-09 | AUTOMATIC ELECTRIC RECHARGEABLE WIRELESS POINTING SYSTEM FOR COMPUTER |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2004102368A2 true WO2004102368A2 (en) | 2004-11-25 |
WO2004102368A3 WO2004102368A3 (en) | 2005-09-01 |
Family
ID=33306258
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2004/001138 WO2004102368A2 (en) | 2003-05-09 | 2004-05-10 | Autonomous system with automatic electric recharging |
Country Status (8)
Country | Link |
---|---|
EP (1) | EP1673688A2 (en) |
JP (1) | JP2006529038A (en) |
KR (1) | KR20060009006A (en) |
CN (1) | CN1784648A (en) |
AU (1) | AU2004239446A1 (en) |
CA (1) | CA2524801A1 (en) |
FR (1) | FR2854966B1 (en) |
WO (1) | WO2004102368A2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009064498A1 (en) * | 2007-11-15 | 2009-05-22 | Ergowerx, Llc | Motorized mouse |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0171747A2 (en) * | 1984-08-14 | 1986-02-19 | Metaphor Computer Systems | Cordless intelligent mouse |
US4844493A (en) * | 1986-09-01 | 1989-07-04 | Kramer Dale C | Remotely-controlled vehicle |
US5634237A (en) * | 1995-03-29 | 1997-06-03 | Paranjpe; Ajit P. | Self-guided, self-propelled, convertible cleaning apparatus |
US6389329B1 (en) * | 1997-11-27 | 2002-05-14 | Andre Colens | Mobile robots and their control system |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5181478A (en) * | 1991-12-23 | 1993-01-26 | Sebastiano Berardi | Amphibious vehicle with retractable wheels |
DE10117694A1 (en) * | 2001-04-09 | 2003-02-13 | Waldemar Marinitsch | Method and device for recognizing a risk of collision between two objects moving relative to one another, in particular vehicles |
-
2003
- 2003-05-09 FR FR0305632A patent/FR2854966B1/en not_active Expired - Fee Related
-
2004
- 2004-05-10 WO PCT/FR2004/001138 patent/WO2004102368A2/en not_active Application Discontinuation
- 2004-05-10 CN CNA2004800120807A patent/CN1784648A/en active Pending
- 2004-05-10 KR KR1020057021259A patent/KR20060009006A/en not_active Application Discontinuation
- 2004-05-10 JP JP2006530343A patent/JP2006529038A/en active Pending
- 2004-05-10 CA CA002524801A patent/CA2524801A1/en not_active Abandoned
- 2004-05-10 AU AU2004239446A patent/AU2004239446A1/en not_active Abandoned
- 2004-05-10 EP EP04742694A patent/EP1673688A2/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0171747A2 (en) * | 1984-08-14 | 1986-02-19 | Metaphor Computer Systems | Cordless intelligent mouse |
US4844493A (en) * | 1986-09-01 | 1989-07-04 | Kramer Dale C | Remotely-controlled vehicle |
US5634237A (en) * | 1995-03-29 | 1997-06-03 | Paranjpe; Ajit P. | Self-guided, self-propelled, convertible cleaning apparatus |
US6389329B1 (en) * | 1997-11-27 | 2002-05-14 | Andre Colens | Mobile robots and their control system |
Also Published As
Publication number | Publication date |
---|---|
FR2854966A1 (en) | 2004-11-19 |
CN1784648A (en) | 2006-06-07 |
CA2524801A1 (en) | 2004-11-25 |
AU2004239446A1 (en) | 2004-11-25 |
EP1673688A2 (en) | 2006-06-28 |
FR2854966B1 (en) | 2005-12-30 |
KR20060009006A (en) | 2006-01-27 |
JP2006529038A (en) | 2006-12-28 |
WO2004102368A3 (en) | 2005-09-01 |
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