CN101095606A - Robot cleaner system and method of controlling the same - Google Patents

Abstract

A robot cleaner system and a control method thereof reduce manufacturing costs, expand a detected distance, and precisely control a movement and positioning of a robot cleaner. The robot cleaner system includes a robot cleaner and a station. One of the robot cleaner and the station transmits a signal of a predetermined frequency and the other receives the signal so that a direction toward the transmitting side for transmitting the signal is detected based on a Doppler shift observed by the receiving side that receives the signal.

Description

The method of robot cleaner system and control robot cleaner system

Technical field

The present invention relates to a kind of robot cleaner system and a kind of method of controlling described robot cleaner system, and more particularly, the present invention relates to a kind of method of controlling the mobile and position of robot cleaner system, described robot cleaner system is used for freely advancing in the zone that will be cleaned and being used for the described zone of automated cleaning.

Background technology

Robot cleaner is cleaning was just independently advanced and the dust on the floor, foreign matter etc. were carried out in a kind of user's of need not manipulation in the cleaning area of pre-sizing a device.By using sensor or video camera, robot cleaner determines from being installed in such as the distance such as the barrier of furniture, stationary object, wall etc. in the cleaning areas such as family, office, and advance so that when avoiding colliding barrier with determined information execution clean.

When robot cleaner must move to ad-hoc location in the cleaning area when independently advancing and cleaning the cleaning area, the tradition control of the mobile and position of robot cleaner is carried out as follows: the ad-hoc location that radio frequency (RF) signal generator has been installed obtains detection in the mode of surveying the RF signal that produces since the RF generator that is installed in ad-hoc location, so that robot cleaner is shifted to described ad-hoc location, or utilize video camera to obtain the general image of relevant cleaning area, and analyze the general image that is obtained.

Yet when utilizing the RF acquisition of signal, because the transmission range of RF signal is shorter relatively, and the sensitivity of RF signal obviously reduced by barrier, uses the method for RF acquisition of signal to be not suitable for wide cleaning area or complex region.When using video camera, because the software that expensive video camera also need have the complicated algorithm that is used for analysis image must be installed, cost can be very high.

Summary of the invention

Consider that the problems referred to above make the present invention, and one aspect of the present invention is to provide a kind of robot cleaner system and control method thereof, in described robot cleaner system, use is by cheap apparatus rather than the Doppler frequency shift that need observe such as the vision system of the expensive device of video camera, the relative position between robot cleaner and the station can be obtained, thereby the manufacturing cost of robot cleaner can be reduced.

Another aspect of the present invention is to provide a kind of robot cleaner system and control method thereof, in described robot cleaner system, described robot cleaner can be controlled in than the wideer zone of the situation of using vision system or RF signal, thereby the search coverage at robot cleaner and station is significantly increased.

Another aspect of the present invention is to provide a kind of robot cleaner system and control method thereof, in described robot cleaner system, when using RF signal or vision system in order to solve, the problem of detecting location and direction because barrier may make a mistake, used the Doppler frequency shift of observing the relatively little radio wave (sound wave) of the influence that is subjected to barrier, so that can realize to the position between robot cleaner and the station and the accurate detection of direction.

According to an aspect, the present invention proposes a kind of robot cleaner system, described robot cleaner system comprises robot cleaner and station, and wherein the signal of preset frequency is launched at one of robot cleaner and station, and another receives described signal, so that: based on the observed Doppler frequency shift of the receiver side that is used for received signal, survey direction towards the emitting side that is used to transmit.

Described station comprises emitter, described emitter is used to launch the signal of preset frequency, described robot cleaner comprises movably receiving element, described movably receiving element is mounted for receiving from the signal of the emitter emission at described station and is used for the Doppler frequency shift of the signal that observation post receives, wherein based on the Doppler frequency shift of receiving element observation, the direction at described station obtains surveying.

Described receiving element comprises antenna, and described antenna is used to receive the signal from the emission of described station.

Described receiving element mobile is moving of the rotational trajectory that rotates when the halted state along robot cleaner of the antenna of receiving element.

Described receiving element also comprises rotary body, and described rotary body is set in robot cleaner and rotates, and wherein antenna is installed; And described receiving element mobile is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

Described receiving element mobile is antenna along robot cleaner, robot cleaner the moving through the travel track of predetermined displacement of advancing.

Described receiving element also comprises: frequency detector, described frequency detector are used to survey the frequency of the signal that is received by receiving element; And directional detector, described directional detector by the frequency relatively surveyed by frequency detector and from the frequency of the signal of described station emission survey described erect-position in direction, to generate directional information.

When the frequency of surveying from frequency detector is not observed Doppler frequency shift, described directional detector will by the antenna indicated direction be defined as described erect-position in direction.

When since antenna move along track in the rotational trajectory of the rotational trajectory of robot cleaner and rotary body, when observing Doppler frequency shift, the positive direction of described robot cleaner and described erect-position in direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{.}{x}}_1}{r{\stackrel{.}{\mathrm{\θ}}}_1}\right)$

Wherein, r is a distance to antenna from the rotating shaft of rotary body and robot cleaner,

Be θ ₁Angular speed, and

Be when the antenna of advancing along rotational trajectory is positioned at the positive direction of robot cleaner, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

When since antenna move through along the travel track of the predetermined displacement of robot cleaner, when observing Doppler frequency shift, the positive direction of described robot cleaner and described erect-position in direction between angle θ ₂Represent by following equation:

${\mathrm{\θ}}_2={\cos }^{-1}\left(\frac{{\stackrel{.}{x}}_2}{\left|V\right|}\right)$

Wherein, Be the directions X linear velocity of vectorial V of the displacement of advancing of indication robot cleaner, described directions X is parallel to from the direction of propagation of the signal of described station emission, and | V| is vectorial V size (being speed).

When the quantity of antenna is 2 secondary or more for a long time, described antenna is installed with predetermined space.

Described station comprises the mooring station, and described mooring station is used for the robot cleaner charging and discharges foreign matter.

According to an aspect, a kind of control method with the robot cleaner system at robot cleaner and station has been proposed, said method comprising the steps of: from the signal of one of described robot cleaner and described station emission preset frequency, wherein said signal is received by another; With based on by the observed Doppler frequency shift of the receiver side of received signal, survey the direction that the emitting side that transmits is positioned at.

Described station is by the signal of emitter emission preset frequency; Described robot cleaner receives from the signal of described station emission by receiving element; Described receiving element determines whether to observe Doppler frequency shift; With observation based on Doppler frequency shift, survey described erect-position in direction.

Described receiving element comprises antenna, and described antenna is used to receive the signal from the emission of described station.

Described receiving element mobile is moving of the rotational trajectory that rotates when the halted state along robot cleaner of the antenna of receiving element.

Described receiving element also comprises rotary body, and described rotary body is set in robot cleaner rotation and antenna wherein is installed; And described receiving element mobile is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

Described receiving element mobile is antenna along robot cleaner, robot cleaner the moving through the travel track of predetermined displacement of advancing.

When the frequency of surveying from frequency detector is not observed Doppler frequency shift, described directional detector will by the antenna indicated direction be defined as described erect-position in direction.

When since antenna move along a track in the rotational trajectory of the rotational trajectory of robot cleaner and rotary body, when observing Doppler frequency shift, the positive direction of described robot cleaner and described erect-position in direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1=\mathrm{si}{n}^{-1}\left(\frac{{\stackrel{.}{x}}_1}{r{\stackrel{.}{\mathrm{\θ}}}_1}\right)$

Wherein, r is a distance to antenna from the rotating shaft of rotary body and robot cleaner,

Be θ ₁Angular speed, and

Be when the antenna that moves along rotational trajectory is positioned at the positive direction of robot cleaner, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

When since antenna move through along the travel track of the predetermined displacement of robot cleaner, when observing Doppler frequency shift, the positive direction of described robot cleaner and described erect-position in direction between angle θ ₂Represent by following equation:

${\mathrm{\θ}}_2={\cos }^{-1}\left(\frac{{\stackrel{.}{x}}_2}{\left|V\right|}\right)$

Wherein,

Be the directions X linear velocity of vectorial V of the displacement of advancing of indication robot cleaner, described directions X is parallel to from the direction of propagation of the signal of described station emission, and | V| is vectorial V size (being speed).

According to an aspect, the present invention proposes a kind of robot cleaner system, comprising: robot cleaner, described robot cleaner is used to launch the signal of preset frequency; And station, described station comprises removable receiving element, described removable receiving element is used to receive the signal from the robot cleaner emission, and be used for the Doppler frequency shift of observation post's received signal, and based on the observed Doppler frequency shift of receiving element, direction that the sniffing robot cleaner is positioned at and the distance of leaving with robot cleaner.

Described receiving element comprises antenna, and described antenna is used to receive the signal from the robot cleaner emission.

Described receiving element also comprises rotary body, and described rotary body is set in the station and rotates, and wherein antenna is installed; And described receiving element mobile is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

Described receiving element also comprises: frequency detector, described frequency detector are used to survey the frequency of the signal that is received by receiving element; And directional detector, described directional detector by the frequency relatively surveyed by frequency detector and from the frequency of the signal of described robot cleaner emission survey described erect-position in direction to generate directional information.

When the frequency of surveying from frequency detector is not observed Doppler frequency shift, described directional detector will be defined as the direction that robot cleaner is positioned at by the antenna indicated direction.

When since antenna move along the rotational trajectory of rotary body, when observing Doppler frequency shift, antenna indicated direction and described robot cleaner direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{\stackrel{.}{x_1}}{r{\stackrel{.}{\mathrm{\θ}}}_1}\right)$

Wherein, r is the distance from the rotating shaft of rotary body to antenna;

Be θ ₁Angular speed, and

Be when the antenna of advancing along rotational trajectory is positioned at direction indication, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

Represent by following equation to the distance R of the emitter of robot cleaner from the central point of receiving element:

$R=\frac{r}{\cos ({\mathrm{\θ}}_3-{{\mathrm{\θ}}_3}^{\′})}$

Wherein, r is the distance from the central point of receiving element to antenna, θ ₃Be the predetermined reference direction of receiving element and robot cleaner direction between angle, and θ ₃' be reference direction and wherein antenna towards direction between angle.

When the quantity of antenna is 2 secondary or more for a long time, described antenna is installed with predetermined space.

Described station comprises the mooring station, and described mooring station is used for the robot cleaner charging and discharges foreign matter.

According to an aspect, the present invention proposes a kind of control method of robot cleaner system, described control method may further comprise the steps: from the signal of robot cleaner emission preset frequency; By receiving element, described station receives from the signal of robot cleaner emission; Determine whether receiving element observes Doppler frequency shift; With based on Doppler frequency shift, direction that the sniffing robot cleaner is positioned at and the distance of leaving with robot cleaner.

Described receiving element comprises antenna, and described antenna is used to receive the signal from the robot cleaner emission.

Described receiving element also comprises rotary body, and described rotary body is set in the station and rotates, and wherein antenna is installed; And described receiving element mobile is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

When the frequency of the signal that receives from receiving element is not observed Doppler frequency shift, described directional detector will be defined as the direction that described robot cleaner is positioned at by the antenna indicated direction.

When since antenna move along the rotational trajectory of rotary body, when observing Doppler frequency shift, antenna indicated direction and described robot cleaner direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{.}{x}}_1}{r{\stackrel{.}{\mathrm{\θ}}}_1}\right)$

Wherein, r is the distance from the rotating shaft of rotary body to antenna,

Be θ ₁Angular speed, and

Be when the antenna that moves along rotational trajectory is positioned at direction indication, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

Represent by following equation to the distance R of the emitter of robot cleaner from the central point of receiving element:

$R=\frac{r}{\cos ({\mathrm{\θ}}_3-{{\mathrm{\θ}}_3}^{\′})}$

Wherein, r is the distance from the central point of receiving element to antenna, θ ₃Be the predetermined reference direction of receiving element and robot cleaner direction between angle, and θ ₃' be reference direction and wherein antenna towards direction between angle.

According to an aspect, the present invention proposes a kind of robot cleaner system, described robot cleaner system comprises: at least three emitters, described emitter is used to launch the signal of the predetermined intrinsic frequency that differs from one another; And station, described station comprises removable receiving element, described removable receiving element is used to receive the signal from least three emitter emissions, and be used for the Doppler frequency shift of observation post's received signal, and be used for based on the Doppler frequency shift of observing by receiving element obtain described at least three emitters each directional information and obtain the current relative position at described station at least based on the directional information of described three emitters.

Described receiving element comprises antenna, and described antenna is used to receive the signal from least three emitter emissions.

Described receiving element also comprises rotary body, and described rotary body is set in robot cleaner and rotates, and wherein antenna is installed; And the rotation of described receiving element is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

Described receiving element also comprises: frequency detector, described frequency detector are used to survey the frequency of the signal that is received by receiving element; And directional detector, the direction that described directional detector is positioned at by the frequency relatively surveyed by frequency detector with from described three emitters of frequency sonding of the signal of described station emission at least is to generate directional information.

When the frequency of being surveyed by frequency detector is not observed Doppler frequency shift, described directional detector will be defined as the direction that at least three emitters are positioned at by the antenna indicated direction.

When since antenna move along a track in the rotational trajectory of the rotational trajectory of robot cleaner and rotary body, when observing Doppler frequency shift, the positive direction of robot cleaner and at least three emitters direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{.}{x}}_1}{r{\stackrel{.}{\mathrm{\θ}}}_1}\right)$

Wherein, r is a distance to antenna from the rotating shaft of rotary body and robot cleaner, Be θ ₁Angular speed, and

Be when the antenna of advancing along rotational trajectory is positioned at the positive direction of robot cleaner, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

Described at least three emitters comprise first emitter, second emitter and the 3rd emitter.By estimating first angle that forms by first emitter, robot cleaner and second emitter, with second angle that forms by second emitter, robot cleaner and the 3rd emitter, and consider first angle and second angle, the current location of sniffing robot cleaner.

When the quantity of antenna is two secondary or more for a long time, described antenna is installed with uniform interval.

One of described at least three emitters comprises the mooring station, and described mooring station is used for the robot cleaner charging and discharges foreign matter.

Described at least three emitters are installed in predetermined place, fixed position.

According to an aspect, the present invention proposes a kind of control method of robot cleaner system, described control method may further comprise the steps: from the signal of at least three predetermined intrinsic frequencies of emitter emission; By receiving element, receive from the signal of at least three emitter emissions by robot cleaner; Determine whether receiving element observes Doppler frequency shift; With observation, survey wherein at least three directions that emitter is positioned at based on Doppler frequency shift.

Described receiving element comprises antenna, and described antenna is used to receive the signal from least three emitter emissions.

Described receiving element also comprises rotary body, and described rotary body is set in robot cleaner and rotates, and wherein antenna is installed; And the rotation of described receiving element is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

When the frequency of being surveyed by frequency detector is not observed Doppler frequency shift, described directional detector will be defined as the direction that at least three emitters are positioned at by the antenna indicated direction.

When since antenna move along a track in the rotational trajectory of the rotational trajectory of robot cleaner and rotary body, when observing Doppler frequency shift, the positive direction of robot cleaner and at least three emitters direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{.}{x}}_1}{r{\stackrel{.}{\mathrm{\θ}}}_1}\right)$

Wherein, r is a distance to antenna from the rotating shaft of rotary body and robot cleaner,

Be θ ₁Angular speed, and

Be when the antenna of advancing along rotational trajectory is positioned at the positive direction of robot cleaner, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

Described at least three emitters comprise first emitter, second emitter and the 3rd emitter.By estimating first angle that forms by first emitter, robot cleaner and second emitter, with second angle that forms by second emitter, robot cleaner and the 3rd emitter, and consider first angle and second angle, the current location of sniffing robot cleaner.

Others of the present invention and advantage part are elaborated in the following description, and part will become from described description obviously, maybe can understand by putting into practice the present invention.

Description of drawings

In conjunction with the accompanying drawings, by the following description to embodiment, these and further feature of the present invention and advantage will become more apparent and be more readily understood, and accompanying drawing is as follows:

Fig. 1 is the perspective view of diagram according to the robot cleaner system of first embodiment of the invention;

Fig. 2 is the block diagram of the control system of the robot cleaner system in the pictorial image 1;

Fig. 3 is the view that is shown in according to the principle of utilizing Doppler (Doppler) frequency displacement detection direction in the robot cleaner system of the present invention.

Fig. 4 is shown in the curve that the rotable antenna medium frequency changed with respect to the time;

Fig. 5 is that diagram is when the robot cleaner according to first embodiment of the invention stops, by observing the view of Doppler frequency shift detection direction;

Fig. 6 is in the robot cleaner moving process that is shown in according to first embodiment of the invention, by observing the view of Doppler frequency shift detection direction;

Fig. 7 is the flow chart of diagram according to the control method of the robot cleaner system of first embodiment of the invention;

Fig. 8 is the perspective view of diagram according to the robot cleaner system of second embodiment of the invention.

Fig. 9 is the block diagram of the control system of the robot cleaner system in the pictorial image 8.

Figure 10 is the view that is shown in according to passing through to observe Doppler frequency shift detection range and direction in the robot cleaner system of second embodiment of the invention;

Figure 11 is the flow chart of diagram according to the control method of the robot cleaner system of second embodiment of the invention;

Figure 12 is the block diagram of diagram according to the control system of the robot cleaner system of third embodiment of the invention;

Figure 13 is the view that is shown in according to passing through to observe the Doppler frequency shift detecting location in the robot cleaner system of third embodiment of the invention; With

Figure 14 is the flow chart of diagram according to the control method of the robot cleaner system of third embodiment of the invention.

The specific embodiment

To describe embodiments of the invention in detail below, the example view of described embodiment is in Fig. 1-14, and among the figure, identical Reference numeral is always represented components identical.Embodiment is described below with reference to the accompanying drawings to explain the present invention.

Fig. 1 is the perspective view of diagram according to the robot cleaner system of first embodiment of the invention.As shown in Figure 1, described robot cleaner system comprises robot cleaner 100 and mooring station (or Docking station) 102.Described robot cleaner 100 is advanced in the interior space, and the electrostatic force that utilizes suction that the fan rotation produces and charging equipment to produce sucks foreign matter on the floor to clean the floor.Described mooring station 102 is set for the battery charge of robot cleaner 100 and discharges foreign matter therefrom.

The electric driving wheel (not shown) is installed in robot body 104 downside, so that robot cleaner 100 can be advanced.The described wheel by the drive motors (not shown) drives, so that robot cleaner 100 can linearity advanced and rotate.In addition, the obstacle detection sensor 106 such as infrared sensor or ultrasonic sensor has been installed, so that robot cleaner 100 can avoiding obstacles in traveling process in robot body 104 the outside.Opening 108 is formed on robot body 104 side, so that the foreign matter that is inhaled into that holds in the robot cleaner 100 is transferred to mooring station 102.Described opening 108 is connected with the suction inlet 110 at mooring station 102, so that robot cleaner 100 is discharged to foreign matter in the mooring station 102.

Guide member 112 is arranged on the front side at mooring station 102, with the mooring (or butt joint) of guided robot cleaner 100.Described guide member 112 is provided with splicing ear 114, and described splicing ear 114 is used for being arranged on the battery charge of robot cleaner 100.

Described robot cleaner 100 is independently advanced and the automated cleaning cleaning area; And when thereby the foreign matter owing to the excessive suction of foreign matter that sucks must be discharged from, because thereby the electric weight of battery reduces battery must charge the time, or finish when cleaning, described robot cleaner 100 returns the work of mooring station 102 and carry out desired (such as discharging foreign matter, to battery charge, wait for the next item down task, or the like).In order to turn back to mooring station 102 from the ad-hoc location away from mooring station 102, described robot cleaner 100 must obtain the directional information at mooring station 102 at least.In robot cleaner system according to the embodiment of the invention, use Doppler frequency shift, so that: described robot cleaner 100 obtains the directional information at mooring station 102.In other words, when transmission and received signal between robot cleaner 100 and mooring station 102, based on the Doppler frequency shift of observing at the receiver side place that is used for received signal, obtain to send the directional information of side, and, control the direct of travel and the position of described robot cleaner 100 based on described directional information.

For this reason, the mooring station 102 of the robot cleaner system among Fig. 1 is provided with emitter 150, and described emitter 150 is used to send the radio wave of preset frequency; And described robot cleaner 100 is provided with receiving element 160, and described receiving element 160 is used to receive the radio wave from emitter 150 emissions at mooring station 102.Clearly, can use sound wave instead of wireless electric wave.In one embodiment, the receiving element 160 of described robot cleaner 100 comprises the fourth officer antenna 160a that is installed on the ring rotation body 160e to 160d, and fourth officer antenna 160a is to having even interval between the 160d.Along with described rotary body 160e rotates with pre-set velocity, fourth officer antenna 160a advances along desired trajectory to 160d.Be used for antenna 160a and be not limited to annular to the shape of the rotary body 160e of 160d, and any available shape that can use antenna 160a can advance along desired trajectory to 160d.In addition, under the situation that does not have rotary body 160e, entire machine people's cleaner 100 is also rotatable to cause antenna 160a moving to 160d.As shown in Figure 1, except antenna 160a to 160d and rotary body 160e, described receiving element 160 also comprises frequency sonding unit and orientation detection unit.Described frequency sonding unit and orientation detection unit are described with reference to Fig. 2.

Fig. 2 is the block diagram of the control system of the robot cleaner system in the pictorial image 1.As shown in Figure 2, described mooring station 102 comprises emitter 150 and battery charger 202.Fig. 1 describes as reference, the radio wave of described emitter 150 emission preset frequencies.The alternating current that described battery charger 202 will be imported (or external) from the outside is converted to the electric power that is used for rechargeable battery 210 chargings of robot cleaner 100, thereby the battery 210 of robot cleaner 100 can be recharged.

The control system of described robot cleaner 100 comprises controller 214, and described controller 214 is used to control the whole operation of robot cleaner 100.The input side of described controller 214 is electrically connected to frequency detector 204, directional detector 206, travel distance detector 208, dump energy detector 212, obstacle detection device 106 and the foreign matter amount detector 216 that will be communicated with controller 214.Described frequency detector 204 receives from the radio wave of the preset frequency of emitter 150 emissions at mooring station 102, and surveys the radio wave frequency that is received.Because the antenna 160a of robot cleaner 100 moves along circular trace to 160d, because of Doppler frequency shift, antenna 160a may have the value that is different from from the radio wave frequency (original frequency) of emitter 150 emissions to the radio wave frequency (Doppler frequency) of 160d actual detection according to the position of antenna 160a-160d.Based on the frequency that frequency detector 204 is surveyed, described directional detector 206 is surveyed towards the direction of the emitter 150 at mooring station 102 (that is, the direction towards the position of emitting radio wave), and directional information is offered controller 214.The travel distance of described travel distance detector 208 sniffing robot cleaners 100 also provides it to controller 214.The travel distance of described robot cleaner 100 can be obtained by the rotation of surveying wheel 218 by encoder.The dump energy of described dump energy detector 212 monitoring cells 210, and the information of relevant dump energy offered controller 214.In the time must charging to battery 210 because battery dump energy is little, described controller 214 control robot cleaners 100 stop execution work at once, and turn back to mooring station 102, so that to battery 210 chargings.Described obstacle detection device 106 surveys whether there is barrier in robot cleaner 100 the place aheads in traveling process, and the information of relevant barrier is offered controller 214.Based on obstacle information, described controller 214 changes travel paths so that robot cleaner 100 cut-through things, so that: robot cleaner 100 can be owing to barrier stops to advance.The foreign matter amount of collecting in the described foreign matter amount detector 216 sniffing robot cleaners 100, and the information of relevant collected foreign matter amount offered controller 214.Described controller 214 is by foreign matter amount information, check the foreign matter amount in the current time robot cleaner 100, and control robot cleaner 100, so that: when maximum foreign matter amount that the foreign matter amount arrives that robot cleaner 100 can hold, stop clean operation, and robot cleaner 100 returns mooring station 102 to discharge foreign matter.

Described rotary body 160e, wheel 218 and suction unit 220 are connected to the outlet side of controller 214.Described rotary body 160e is with reference to one in the member of the receiving element 160 of Fig. 1 description, and antenna 160a is moved along desired trajectory to 160d.Describedly take turns 218 and be set for robot cleaner 100 is moved, and the direction that comprises the driving wheel that is used to advance and falls back and be used to change direct of travel changes wheel.The downside of robot cleaner 100 is faced in described suction unit 220, and sucks the foreign matter on the floor in the cleaning area, is contained in the spatial accommodation of robot cleaner 100 with the foreign matter that will suck.

Described take turns 218 comprise that driving wheel and direction change wheel so that robot cleaner 100 to rotate when the halted state.Therefore, if utilize the operational attribute of robot cleaner 100, replace using the rotary body 160e of receiving element 160, described antenna 160a can be rotated by rotary machine people cleaner 100 to 160d.

Fig. 3 is the view that is shown in according to the principle of utilizing Doppler (Doppler) frequency displacement detection direction in the robot cleaner system of the present invention.When existence relatively moves between signal source and receiver, can observe Doppler frequency shift at the receiver side place.When signal source during near receiver, with respect to the initial frequency from the signal of signal source emission, the frequency of the signal that receiver received increases.On the other hand, when signal source during away from receiver, with respect to the initial frequency from the signal of signal source emission, the frequency of the signal that receiver received reduces.When between signal source and receiver, not having any relatively moving, identical from the signal frequency of signal source emission with the signal frequency that receiver receives, can not observe Doppler frequency shift at receiver side like this.

In Fig. 3, the track that the circle 304 with central point 302 forms during the rotation of 306 indicated direction physics to 160d along arrow corresponding to the antenna 160a among Fig. 1, and arrow 308 indications are from the direction of propagation of the signal (radio wave) of emitter 150 emissions.

When any pair of fourth officer antenna 160a in the 160d (for example, when 160a) being positioned at a some a, the transient component that the rotation of antenna 160a is moved is the component along the arrow A indicated direction, and at described some a place, the linear velocity component that the rotation of antenna 160a is moved is vertical with the direction of propagating from the signal (radio wave) of emitter 150 emissions 308.Therefore, can not observe Doppler frequency shift at an a place.

(edge has the circumference of the circle 304 of central point 302 when antenna 160a is positioned in when becoming the some b place of 90 degree with respect to some a, the track that described circle 304 forms when 306 indicated direction physics rotate to 160d along arrow corresponding to the antenna 160a among Fig. 1), antenna 160a advances along the arrow B indicated direction, the arrow B indicated direction is identical with the direction of propagation of the signal of launching from emitter 150 (radio wave), and away from emitter 150.Therefore, when antenna 160a was positioned at a some b place, the signal (radio wave) that receives from antenna 160a generated peak frequency and reduces, and this is caused by above-mentioned Doppler frequency shift.

(edge has the circumference of the circle 304 of central point 302 when antenna 160a is positioned in when becoming the some c place of 90 degree with respect to some b, the track that described circle 304 forms when 306 indicated direction physics rotate to 160d along arrow corresponding to the antenna 160a among Fig. 1), the linear velocity component that has along by the arrow C direction indication is moved in the rotation of antenna 160a.For example, when antenna 160a was positioned at a some a place, the linear velocity component that antenna 160a moves in a rotation at c place was vertical with the direction of propagation 308 from the signal (radio wave) of emitter 150 emissions.Therefore,, be similar to the situation of an a, can not observe Doppler frequency shift even when antenna 160 is positioned at a some c place.

When antenna 160a was positioned at a some d place, the linear velocity component by arrow D indicated direction that has along towards emitter 150 was moved in the rotation of antenna 160a.Therefore, caused by above-mentioned Doppler frequency shift, the signal (radio wave) that antenna 160a receives produces maximum frequency to be increased.

Need not, although can remove some a on the track of antenna 160a rotation, Doppler frequency shift is observed at the some place beyond the b, c and d.Especially, at a b and d place, and do not reduce and maximum increasing in the maximum of position a and c place observed frequency.

Fig. 4 is shown in the curve that the rotable antenna medium frequency changed with respect to the time.From Fig. 4, can obtain frequency corresponding to each position of rotable antenna.As shown in Figure 4, when four width of cloth antenna 160a when any width of cloth of 160d is positioned at a some b place, the frequency minimum that is received, and when the time, the frequency maximum that is received at some d place receive frequency.In other words, owing to be proved the direction of propagation to 160d with respect to the anglec of rotation of reference point, can determine from antenna 160a to 160d to emitter 150 direction with definite signal of launching from emitter 150 (radio wave) at the antenna 160a at an a place.

In order to obtain the curve among Fig. 4, be integrated to each signal message of 160d from antenna 160a.In other words, although in the situation of rotation single width antenna with the observation Doppler frequency shift, curve among Fig. 4 may only obtain when the single width antenna rotates circular trace fully, if but four width of cloth antenna 160a are installed in predetermined space that rotary body 160e goes up and rotary body 160e when being rotated as shown in Figure 1 to 160d, rotary body 160e only rotates 1/4 curve that just can obtain Fig. 4.

In other words, when the rotary body 160e of the receiving element among Fig. 1 160 turns around, dividing into a, b, the observation at the various piece place of c and d is repeated to carry out four times, observes so that can carry out more accurate Doppler frequency shift.Therefore, when antenna quantity increases, be used to observe the time shortening of Doppler frequency shift, and can realize more accurate Doppler frequency shift observation.

Fig. 5 is that diagram is when the robot cleaner according to first embodiment of the invention stops, by observing the view of Doppler frequency shift detection direction.In Fig. 5, X-axis is parallel with the direction of propagation of the radio wave of launching from the emitter 150 at mooring station 102 502, and when robot cleaner 100 stops, along with the rotary body 160e of receiving element 160 rotates with constant speed, four width of cloth antenna 160a to 160d along arrow 504 indicated directions rotate with constant speed.In this case, at least one width of cloth (for example 160a) of four width of cloth antenna 160a in the 160d is through some a and point of arrival a ' on the X-axis.Some a among Fig. 5, similar to the some a among Fig. 3, be the point that wherein will never observe Doppler frequency shift, and some a ' is wherein because the displacement d of antenna 160a observes the point of Doppler frequency shift (frequency reduces).Therefore, when an a ' is positioned at robot cleaner 100 the place aheads, as the angle θ between fruit dot a and the some a ' ₁Known, for advancing forward, the direct of travel of robot cleaner 100 is compensated-θ ₁, so that: robot cleaner 100 can promptly, be advanced towards the emitter 150 at mooring station 102 along X-direction.In Fig. 5, the angle θ between some a and a ' ₁Can be by 1 expression of following equation.

[equation 1]

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{\stackrel{.}{x}}{r{\stackrel{.}{\mathrm{\θ}}}_1}\right)$

Wherein,

Being antenna 160a advances to the linear velocity of the directions X of an a ' from an a,

Being antenna 160a advances to the angular speed of an a ' from an a, and r is the distance from the rotating shaft of rotary body 160e to antenna 160a.Because antenna 160a rotates angular speed on desired trajectory with constant speed

Can obtain from the product description of receiving element 160 with distance r.

In addition, linear velocity Can obtain from following equation 2.

[equation 2]

$f^{\′}=(1\±\frac{v^0}{v})f$

Wherein, f is that f ' is the frequency (Doppler frequency) of receiver received signal from the original frequency of the signal of signal source emission, and v is the spread speed of signal in medium, v ⁰Be receiver speed, ± respectively representation signal source and receiver (+) closer to each other and away from each other when (-).In the embodiment of Fig. 5, v is the aerial spread speed of radio wave, and v ⁰Be the rotary speed of antenna 160a to 160d.Yet,, can suppose: the v in the equation 2 because Doppler frequency shift is influenced by the linear velocity component of the X-direction of Fig. 5 promptly only only by the influence of the relative velocity between signal source and the receiver ⁰In (receiver speed) and the receiver 1

(the directions X speed of antenna) is identical.Therefore, because f, f ' and v are known, $v^0(={\stackrel{.}{x}}_1)$ Value can obtain by them.When in the condition substitution equation 1, can obtain θ ₁Size.Therefore, as fruit dot a ' before robot cleaner 100 time, angle θ ₁Known, the front side of robot cleaner 100 (some a ') turns clockwise-θ ₁And advance, thereby robot cleaner 100 advance along X-axis, and can turn back to mooring station 102, i.e. signal source.

Fig. 6 illustrates according to first embodiment of the invention in the robot cleaner moving process, by observing the view of Doppler frequency shift detection direction.In Fig. 6, X-axis is parallel with the direction of propagation of the radio wave of launching from the emitter 150 at mooring station 102 602, and vectorial V is the direct of travel of indication robot cleaner 100 and the vector of speed.In this case, the angle θ between the direction of propagation of the direct of travel of robot cleaner 100 and radio wave 602 ₂Can be by 3 expressions of following equation.

[equation 3]

${\mathrm{\θ}}_2={\cos }^{-1}\left(\frac{{\stackrel{.}{x}}_2}{\left|V\right|}\right)$

Wherein, in equation 3,

Be the directions X linear velocity of vectorial V, and | V| is the size (being speed) of vectorial V.Because linear velocity

Can with obtain from equation 2 $v^0(={\stackrel{.}{x}}_1)$ Identical mode obtains, and controller 214 is known the speed of robot cleaner 100 | V|, angle θ ₂Can be from linear velocity

And speed | V| obtains.Therefore, navigate to the front side of robot cleaner 100 and angle θ when the direction of vectorial V ₂When known, the front side of robot cleaner 100 is by rotation-θ ₂And move, robot cleaner 100 is advanced along X-axis like this, and can turn back to signal source, and promptly the mooring station 102.

Fig. 7 is the flow chart of diagram according to the control method of the robot cleaner system of the first embodiment of the present invention.As shown in Figure 7, described robot cleaner 100 zone that automated cleaning will be cleaned when independently advancing (702).When since aspirated foreign body be accumulated in that foreign matter need be discharged from the automated cleaning process time, because battery electric quantity reduces need be to battery charge the time, or finish when cleaning, described controller 214 switches to the backtrack mode (704) that robot cleaner 100 is turned back to mooring station 102 with the operator scheme of robot cleaner 100.When robot cleaner 100 was switched to backtrack mode (in 704 for ' being '), described controller 214 was determined to advance or stop (706) at current time robot cleaner 100.

If robot cleaner 100 stops at current time, antenna 160a is to the 160d rotation, so that: by surveying the radio wave frequency that rotable antenna 160a receives to 160d, observation Doppler frequency shift (708).The observed value of Doppler frequency shift is applied to the equation 1 described with reference to Fig. 5, to survey towards mooring station 102, i.e. and the direction of signal source (710).When detecting the direction at mooring station 102, the direct of travel of described controller 214 control robot cleaners 100, so that: described robot cleaner 100 can advance towards mooring station 102 (712).

On the other hand, when robot cleaner 100 when current time is advanced, observe because the advancing of robot cleaner 100 Doppler frequency shift (714) that causes to relatively moving 160d and the emitter 150 by antenna 160a.Described Doppler frequency shift observed value is applied to the equation 3 described with reference to Fig. 5, to survey towards mooring station 102, i.e. and the direction of signal source (716).When the direction that detects towards mooring station 102, the direct of travel of described controller 214 control robot cleaners 100, so that: described robot cleaner 100 can be along the direction at the mooring station of being surveyed 102 advance (718).

Described robot cleaner 100 determines whether there is barrier (720) in traveling process in the path of advancing towards mooring station 102.When in travel path, there being barrier (720 for ' being '), carry out obstacle avoidance advance (722).In addition, owing to may miss the directional information at mooring station 102 in the obstacle avoidance traveling process, described control turns back to controller chassis 706 obtaining new mooring station 102 directional informations, and attempts to return mooring station 102.If there is not barrier (720 for ' deny ') in the path of advancing, described robot cleaner 100 is advanced turning back to mooring station 102 according to current directional information, and when finishing end backtrack mode (724) when returning.Behind backtrack mode,, carry out and discharge foreign matter, battery charge or carry out ready mode according to the purpose that turns back to the mooring station.

In robot cleaner according to an embodiment of the invention, be used to generate preset frequency signal emitter (signal source) the installation site and not only be confined to mooring station 102.In other words, a plurality of emitters can be installed in several positions in the cleaning area, and particular transmitter is controlled with emitting radio wave as required, so that: described robot cleaner 100 can be directed into the installation site of corresponding transmitter.By like this, the specific region in guided robot cleaner 100 cleaning of buildings easily, described building is divided into several sections.

Fig. 8 is the perspective view of diagram according to the robot cleaner system of second embodiment of the invention.As shown in Figure 8, described robot cleaner system comprises robot cleaner 800 and mooring station 802.Described robot cleaner 800 is advanced in the interior space, and the electrostatic force that utilizes suction that the fan rotation produces and charging equipment to produce sucks foreign matter on the floor to clean base plate; And mooring station 802 is set for the battery charge of robot cleaner 800 and discharges foreign matter therefrom.

At robot body 804 downside, the electric driving wheel (not shown) is mounted so that robot cleaner 800 can be advanced.The described wheel by the drive motors (not shown) drives, so that: robot cleaner 800 can be carried out linearity and advance and rotate.In addition, the obstacle detection sensor 806 such as infrared sensor or ultrasonic sensor has been installed in robot body 804 the outside so that: robot cleaner 800 can be in traveling process avoiding obstacles.Opening 808 is formed on robot body's 804 sides, transfers to mooring station 802 with the foreign matter of the suction that will hold in the robot cleaner 800.Described opening 808 connects with the suction inlet 810 at mooring station 802, so that: robot cleaner 800 is discharged to foreign matter in the mooring station 802.

Guide member 812 is arranged on the front side at mooring station 802, with the mooring (or butt joint) of guided robot cleaner 800.Described guide member 812 is provided with splicing ear 814, and described splicing ear 814 is used for the battery charge to robot cleaner 800.

Described robot cleaner 800 is independently advanced and the automated cleaning cleaning area, and in the time must being discharged from owing to the excessive foreign matter that sucks of foreign matter that sucks, in the time of must be because the electric weight of battery reduces or when finishing cleaning to battery charge, described robot cleaner 800 turns back to the work of mooring station 802 and carry out desired (such as discharging foreign matter, to battery charge, wait for the next item down task, or the like).In order to turn back to mooring station 802 from the ad-hoc location away from mooring station 802, described robot cleaner 800 must obtain the directional information at mooring station 802 at least.In robot cleaner system according to the embodiment of the invention, utilize Doppler frequency shift, so that: described robot cleaner 800 obtains the directional information at mooring station 802.In other words, between robot cleaner 800 and mooring station 802, send and during received signal,, obtain the directional information of transmission side based on the Doppler frequency shift that the receiver side place of received signal is observed; And based on described directional information, the direct of travel and the position of control robot cleaner 800.

For this reason, the described robot cleaner 800 of the robot cleaner system among Fig. 8 is provided with emitter 850, and described emitter 850 is used to launch the radio wave of preset frequency; And described mooring station 802 is provided with receiving element 860, and described receiving element 860 is used to receive the radio wave from emitter 850 emissions of robot cleaner 800.Clearly, can use sound wave instead of wireless electric wave.The receiving element 860 at described mooring station 802 comprises the fourth officer antenna 860a that is installed on the ring rotation body 860e to 160d, and fourth officer antenna 860a is to having even interval between the 160d.Along with described rotary body 860e rotates with pre-set velocity, four width of cloth antenna 860a advance along desired trajectory to 160d.Described rotary body 860e is used to make antenna 860a to advance to 860d, and its shape is not limited to annular shape, and any applicable shapes that can use antenna 860a can advance along desired trajectory to 160d.As shown in Figure 8, except antenna 860a to 860d and rotary body 860e, described receiving element 860 also comprises frequency sonding unit and orientation detection unit.Described frequency sonding unit and orientation detection unit are described with reference to Fig. 9.

In addition, described mooring station 802 is provided with data transmitter 872, and described robot cleaner is provided with data receiver 870.The data transmitter 872 at described mooring station 802 is used for data-signal is transmitted into robot cleaner 800 from mooring station 802, and the data receiver 870 of described robot cleaner 800 is used to receive the data-signal of 802 emissions from the mooring station.

Fig. 9 is the block diagram of the control system of the robot cleaner system in the pictorial image 8.As shown in Figure 9, described mooring station 802 comprises: controller 922; Frequency detector 904; Directional detector 906; Rotary body 860e; Battery charger 902; With data transmitter 872.Described frequency detector 904 receives from the radio wave of the preset frequency of emitter 850 emissions of robot cleaner 800, and surveys the radio wave frequency that receives.Because the antenna 860a at described mooring station 802 moves to 860d, because of Doppler frequency shift, antenna 860a to the 860d actual detection to radio wave frequency (Doppler frequency) may have the value that is different from from the radio wave frequency (original frequency) of emitter 850 emissions to the position of 860d according to antenna 860a.Based on the frequency that frequency detector 904 is surveyed, described directional detector 906 is surveyed towards the direction of the emitter 850 at mooring station 800 (that is, the direction towards the position of emitting radio wave), and directional information is offered controller 922.Described rotary body 860e is with reference to one in the member of the receiving element 860 of Fig. 8 description, and antenna 860a is moved along desired trajectory to 860d.The commercial ac power that described battery charger 902 will be imported (or external) from the outside is converted to the electric power that is used for rechargeable battery 910 chargings of robot cleaner 800, so that: the battery 910 of robot cleaner 800 can be recharged.The data transmitter of describing with reference to Fig. 8 872 is used for data-signal is sent to robot cleaner 800 from mooring station 802.Especially, when passing through to observe Doppler frequency, described mooring station 802 detect towards the direction of robot cleaner 800 and thereunto apart from the time, comprise towards the direction of robot cleaner 800 with to the data-signal of the distance of robot cleaner 800 and be sent to robot cleaner 800 from data transmitter 872, so that: robot cleaner 800 can obtain the position at mooring station 802 and from the distance at mooring station 802.

The control system of described robot cleaner 800 comprises controller 914, and described controller 914 is used to control whole operations of robot cleaner 800.The input side of described controller 914 is electrically connected to data receiver 870, travel distance detector 908, dump energy detector 912, obstacle detection device 806 and the foreign matter amount detector 916 that will be communicated with controller 914.Fig. 8 describes as reference, and described data transmitter 870 is used to receive the data-signal of 802 emissions from the mooring station.The travel distance of described travel distance detector 908 sniffing robot cleaners 800 also provides it to controller 914.The travel distance of described robot cleaner 800 can be obtained by the rotation of surveying wheel 918 by encoder.The dump energy of described dump energy detector 912 monitoring cells 910, and the information of relevant dump energy offered controller 914.In the time must charging to battery 910 because battery dump energy diminishes, described controller 914 control robot cleaners 800 stop execution work at once, turn back to mooring station 802, so that to battery 910 chargings.Described obstacle detection device 806 surveys whether robot cleaner 800 the place aheads exist barrier in traveling process, and the information of relevant barrier is offered controller 914.Based on described obstacle information, described controller 914 changes travel paths so that robot cleaner 800 cut-through things, so that: robot cleaner 800 can be owing to barrier stops to advance.The foreign matter quantity of collecting in the described foreign matter amount detector 916 sniffing robot cleaners 800, and the information of the foreign matter amount of relevant collection offered controller 914.By foreign matter amount information, described controller 914 is checked the foreign matter amount in the robot cleaner 800 this moment, and control robot cleaner 800, so that: when maximum foreign matter amount that the foreign matter amount reaches that robot cleaner 800 can hold, stop clean operation, and robot cleaner 800 is turned back to mooring station 802 to discharge foreign matter.

Described emitter 850, wheel 918 and suction unit 920 are connected to the outlet side of controller 914.Fig. 8 describes as reference, the radio wave of described emitter 850 emission preset frequencies.Describedly take turns 918 and be set for robot cleaner 800 is moved, and the direction that comprises the driving wheel that is used to advance and falls back and be used to change direct of travel changes wheel.The downside of robot cleaner 800 is faced in described suction unit 920, and sucks the foreign matter on the floor in the cleaning area, is contained in the spatial accommodation of robot cleaner 800 with the foreign matter that will suck.

In the robot cleaner shown in Fig. 9, receiving observed Doppler frequency shift from the radio wave process of emitter 850 emissions by using, survey the direction of emitter 850.In this case, the principle of orientation detection is identical with the description of Fig. 3-5.

Figure 10 is the view that is shown in according to passing through to observe Doppler frequency shift detection range and direction in the robot cleaner system of second embodiment of the invention.In Figure 10, Y-axis is a reference direction default in the mooring station.At first, method and the equation of describing according to reference Fig. 51 and 2 obtains angle θ ₃, with the direction of sniffing robot cleaner 800, and the equation 4 below using, survey distance R from the central point 1002 of the receiving element 860 at mooring station 802 to the emitter 850 of robot cleaner 800.

[equation 4]

$R=\frac{r}{\cos ({\mathrm{\θ}}_3-{{\mathrm{\θ}}^{\′}}_3)}$

In equation 4, r is the distance from the central point 1002 of receiving element 860 to antenna (for example antenna 860a), θ ₃Be the angle between the direction of reference direction (Y-axis) and robot cleaner 800, and θ ' ₃Be that reference direction (Y-axis) and antenna 860a are along the angle between its direction that moves.

In Figure 10, wherein the position Vmax that is arranged in of antenna 860a is corresponding to the some b of Fig. 3, antenna 860a has the maximal rate of edge away from the direction of emitter 850 like this, and because the radio direction of wave travel is parallel with the direct of travel of antenna 860a, position Vmax is that the radio wave frequency that is wherein received by the antenna 860a at described some place reduces maximum point.In addition, the some V that is positioned at by dotted line representative and antenna 860a ₀Corresponding to the some a among Fig. 3, between antenna 860a and emitter 850, do not exist like this to relatively move, and because the radio direction of wave travel is vertical with the direct of travel of antenna 860a, some V ₀Be the point that can not observe Doppler frequency shift, and the radio wave frequency that receives of the antenna 860a radio wave frequency that equals to launch.

When distance R between the direction of emitter 850 and emitter 850 and the receiving element 860 was obtained by equation 1 to 4, through data transmitter 872, the controller 922 at mooring station 802 sent to robot cleaner 800 with directional information and range information.By data receiver 870, the controller 914 receive direction information and the range informations of described robot cleaner 800, and, control advancing and the position of robot cleaner 800 based on directional information that receives and range information.

For example, when the distance between mooring station 802 and the robot cleaner 800 and direction obtained and when offering robot cleaner 800 with method same as described above, needing robot cleaner 800 to turn back in the situation at mooring station 802, robot cleaner 800 is advanced based on described range information and described directional information, so that turn back to mooring station 802 fast and exactly.

In another example, when the ad-hoc location of dirt in the zone that will be cleaned must be removed fast by robot cleaner 800, and when robot cleaner 800 is moved to the relevant position by order, utilize distance and its direction between mooring station 802 and the robot cleaner 800, obtain the current coordinate of described robot cleaner 800, and the coordinate that itself and robot cleaner 800 are moved to ad-hoc location relatively, to estimate required travel path, so that robot cleaner 800 is advanced along the travel path of being estimated.Therefore, described robot cleaner 800 can be fast and is moved to the target location exactly.

Equably when advancing in whole cleaning area, obtain and store himself distance and direction by robot cleaner 800 with respect to mooring station 802, can realize the obtaining of coordinate of ad-hoc location, and set coordinate figure corresponding to distance of being stored and direction.After this, owing to set preferred coordinates, when described robot cleaner 800 must move to corresponding coordinate time, described robot cleaner 800 moves to and satisfies corresponding to the range information of described coordinate and the position of directional information.

Figure 11 is the flow chart of diagram according to the control method of the robot cleaner system of second embodiment of the invention, and illustrate when robot cleaner 800 must be when current location moves to the another location, by the current location (distance and direction) and the coordinates of targets of distribution of machine people cleaner, control robot cleaner 800 moves to the method for coordinates of targets.As shown in figure 11, described robot cleaner 800 independently navigates on the cleaning area, or launches the radio wave (1102) of preset frequency in stand-by process in specific location.Similarly, when described robot cleaner 800 when current location moves to the another location, described mooring station 802 makes the antenna 860a of receiving element 860 rotate to 860d, with direction that obtains robot cleaner 800 and the distance of leaving (to the position at mooring station 802) with robot cleaner 800, and the Doppler frequency shift (1104) of the radio wave of observation post's reception.Described mooring station 802 is with receiving element 860 observed Doppler frequency shift (frequency change) substitution equatioies 1,2,3 and 4, with the direction of sniffing robot cleaner 800 and the distance of leaving with robot cleaner 800 (1106).

By data transmitter 872, described mooring station 802 sends to robot cleaner 800 (1108) with the current directional information and the range information of the robot cleaner 800 that detects.In addition, by data transmitter 872, described mooring station 802 also sends to robot cleaner 800 (1110) with robot cleaner 800 with the coordinates of targets of the position that moves to.By data receiving element 870, described robot cleaner 800 receives 802 its directional information and range information and the coordinates of targets that send from the mooring station, and based on described information, moves to the position (1112) of coordinates of targets.

Described robot cleaner 800 determines whether there is barrier (1114) in the travel path of target location in traveling process.If in travel path, there is barrier (in 1114 for ' being '), carry out obstacle avoidance advance (1116).In addition, owing in the obstacle avoidance traveling process, may miss the directional information at mooring station, described control operation turns back to controller chassis 712 with the new direct of travel of the setting coordinate of based target position.If there is not barrier (' denying ') in 1114 in the path of advancing, according to current directional information, described robot cleaner 800 moves to the target location, and when arriving the target location, stops to move (1118).After the arrival, according to the stroke target, foreign matter is discharged from, battery is recharged, carry out automated cleaning or carry out ready mode.

Figure 12 is the block diagram of diagram according to the control system of the robot cleaner system of third embodiment of the invention.In order to realize the aspect of the third embodiment of the present invention, robot cleaner system shown in Figure 12 adopts the structure of the robot cleaner among Fig. 1 substantially, and constructed the controller 1214 of robot cleaner 1200 and the 26S Proteasome Structure and Function of directional detector 1206, and increased the number of emitter 150a to 150c.

A plurality of emitter 150a that the radio wave of emission preset frequency is used are not limited to be installed in the mooring station 102 to 150c, and do not consider its position and quantity, comprise that respectively a plurality of stations of emitter and other peripheral circuit can be installed in the working region of wherein robot cleaner 120 work.Yet, in the situation in the working region that emitter 150a is installed in robot cleaner 1200 to 150c, emitter 150a is installed in the precalculated position usually to 150c, so that: the reference position that described position is used as robot cleaner 1200 when determining himself position.In this embodiment, the radio wave separately (or sound wave) that each emitter 150a differs from one another to the 150c tranmitting frequency, and robot cleaner 1200 utilizes the different intrinsic frequency of the radio wave of emission from emitter 150a to 150c, distinguishes each emitter 150a to 150c.

As shown in figure 12, the control system of described robot cleaner 1200 comprises controller 1214, and described controller 1214 is used to control whole operations of robot cleaner 1200.The input side of described controller 1214 is electrically connected to frequency detector 204, directional detector 1206, travel distance detector 208, dump energy detector 212, obstacle detection device 106 and the foreign matter amount detector 216 that is communicated with controller 1214.Described frequency detector 204 receives the intrinsic frequency radio wave of the emission from emitter 150a to 150c, and surveys the radio wave frequency that is received.Because the antenna 160a of robot cleaner 1200 moves along circular trace to 160d, because of Doppler frequency shift, antenna 160a may have the value that be different from from emitter 150a to the 150c radio wave frequency (original frequency) of emission according to antenna 160a to the position of 160d to the radio wave frequency (Doppler frequency) of 160d actual detection.Frequency based on frequency detector 204 detections, described directional detector 1206 is surveyed towards each emitter 150a to the direction of 150c (promptly, direction towards the position of emitting radio wave), and with the emitter 150a of correspondence offer controller 1214 to the directional information of 150c.The travel distance of described travel distance detector 208 sniffing robot cleaners 1200 also provides it to controller 1214.The travel distance of described robot cleaner 1200 can be obtained by the rotation of surveying wheel 218 by encoder.The dump energy of described dump energy detector 212 monitoring cells 1210, and the information of relevant dump energy offered controller 1214.In the time must charging to battery 1210 because battery dump energy diminishes, described controller 1214 control robot cleaners 1200 stop execution work at once, turn back to mooring station 102, so that to battery 1210 chargings.Described obstacle detection device 106 surveys whether robot cleaner 1200 the place aheads exist barrier in traveling process, and the information of relevant barrier is offered controller 1214.Based on described obstacle information, described controller 1214 changes travel paths so that robot cleaner 1200 cut-through things, so that: robot cleaner 1200 can be owing to barrier stops to advance.The foreign matter quantity of collecting in the described foreign matter amount detector 216 sniffing robot cleaners 1200, and the information of relevant collected foreign matter amount offered controller 1214.By foreign matter amount information, described controller 1214 is checked the foreign matter amount in the robot cleaner 1200 this moment, and control robot cleaner 1200, so that: when maximum foreign matter amount that the foreign matter amount reaches that robot cleaner 100 can hold, stop clean operation, and robot cleaner 1200 turns back to mooring station 102 to discharge foreign matter.

Described rotary body 160e, wheel 218 and suction unit 220 are connected to the outlet side of controller 1214.Described rotary body 160e is with reference to one in the member of the receiving element 160 of Fig. 1 description, and antenna 160a is moved along desired trajectory to 160d.Describedly take turns 218 and be set for robot cleaner 1200 is moved, and the direction that comprises the driving wheel that is used to advance and falls back and be used to change direct of travel changes wheel.The downside of robot cleaner 1200 is faced in described suction unit 220, and sucks the foreign matter on the floor in the cleaning area, is contained in the spatial accommodation of robot cleaner 1200 with the foreign matter that will suck.

Comprise that driving wheel and direction change the described 218 permission robot cleaners 1200 of taking turns of taking turns and rotate when halted state.Therefore, if utilize the operational attribute of robot cleaner 1200, replace using the rotary body 160e of receiving element 160, described antenna 160a can be rotated by rotary machine people cleaner 1200 to 160d.

In the robot cleaner shown in Figure 12, utilize the Doppler frequency shift of in the radio wave process that receives emission from 150a to 150c, observing, survey all directions of emitter 150a to 150c.The principle of the detection direction of Shi Yonging is with described identical with reference to Fig. 3-5 in this case.

Figure 13 is the view that is shown in according to passing through to observe the Doppler frequency shift detecting location in the robot cleaner system of third embodiment of the invention.As shown in figure 13, three emitter 150a are installed in the predetermined point place in the zone 1300 of wherein robot cleaner 1200 work to 150c, and each emitter 150a launches the radio wave that intrinsic frequency differs from one another to 150c.By rotable antenna 160a to 160d, described robot cleaner 1200 receives the radio wave of the intrinsic frequency of emission from each emitter 150a to 150c, and the Doppler frequency shift of the radio wave of observation post's reception, thereby obtain relevant each emitter 150a to the direction of 150c, and survey angle θ from described direction from the current location of robot cleaner 120 ₄And θ ₅

In other words, three some a1 of the antenna of Figure 13 (for example 160a), a2 and a3 be corresponding to wherein not from three emitter 150a to 150c the radio wave of emission observe the position of some a of Fig. 3 of Doppler frequency shift.Therefore, because antenna 160a is when being positioned at a some a1, the Doppler frequency shift of the radio wave that receives from emitter 150a emission and by antenna 160a is 0, so can obtain the direction of emitter 150a.Adopt in a like fashion the direction of another emitter 150b in the time of can obtaining antenna 160a and be positioned at a some a2 place, and the direction of remaining emitter 150c can obtain antenna 160a and be positioned at a some a3 place time.When obtaining three emitter 150a to the directional information of 150c, angle θ ₄And θ ₅Can be from described information acquisition, and as mentioned above, equation 1 and 2 can be used for obtaining the direction of each emitter 150a to 150c.

Similarly, if three emitter 150a have been installed to 150c, and when receiving the radio wave of emission from three emitter 150a to 150c, observe each emitter 150a to the direction of 150c, can obtain the current location of robot cleaner 1200 with respect to the robot cleaner 1200 that uses Doppler frequency shift.In other words, if only use two emitters (for example, 150a and 150b), can obtain angle θ ₄Yet, since on the predetermined curve of zone in 1300 a lot of angulation θ between two emitter 150a and 150b and the robot cleaner 1200 wherein of existence ₄The position, the accurate position of described robot cleaner 1200 can't be only obtains from an angle.Therefore, when increasing another emitter 150c to obtain angle θ ₅, by considering angle θ ₄And θ ₅, satisfy angle θ ₄Curve with satisfy angle θ ₅Curve between single crosspoint obtained, and the crosspoint is the current location of described robot cleaner 1200.As a result, at least three emitter 150a that are installed in diverse location when use can obtain the current location of described robot cleaner 1200 during to 150c exactly.

Similarly, when obtaining the current location of described robot cleaner 1200, the coordinate of the target location that described robot cleaner 1200 moves to is provided for described robot cleaner 1200, so that: described robot cleaner 1200 is movable to the position corresponding to described coordinate.For this reason, the controller 1214 of described robot cleaner 1200 typically comprises question blank, and being used for provides coordinate information according to each position in the zone 1300.

By setting corresponding to angle θ ₄And θ ₅Coordinate, can realize acquisition, when described robot cleaner 1200 navigates on regional described angle θ 1300 time equably to the coordinate of the ad-hoc location of zone in 1300 ₄And θ ₅Change in location according to robot cleaner 1200.After this, when the coordinate of ad-hoc location is set and robot cleaner 1200 must move to position corresponding to described coordinate the time, described robot cleaner 1200 just moves to the angle θ that satisfies corresponding to described coordinate ₄And θ ₅The position.

In Figure 13, when determining the radio wave of the different frequency of emission, need consideration to be installed in the rotary speed of the rotary body 160e of the receiving element 160 in the robot cleaner from three emitter 150a to 150c.Because the radio wave frequency that robot cleaner 1200 uses receiving element 160 to receive is distinguished all directions of three emitter 150a to 150c, so only work as according to the radio wave of emitter 150a to 150c, by the antenna 160a of receiving element 160 to the maximum of the radio wave frequency of 160c actual observation increase and maximum reducing frequency band when not overlapping each other, each emitter 150a divides each emitter 150a definite to the intrinsic frequency of 150c to the direction accessible region of 150c.

Figure 14 is the flow chart of diagram according to the control method of the robot cleaner system of third embodiment of the invention, and illustrate when robot cleaner 1200 must be when current location moves to the another location, based on the information of the current location of associated machine people cleaner 1200, control robot cleaner 1200 moves to the method for target location.As shown in figure 14, described robot cleaner 1200 receives the radio wave (1402) of the different frequency of emission from three emitter 150a to 150c when independently navigating on the cleaning area or being in dormant state.In this case, for obtaining its current location, the antenna 160a of described robot cleaner 1200 rotation receiving elements 160 is to 160c, with the Doppler frequency shift (1404) of observing each radio wave.Described robot cleaner 1200 is with receiving element 160 observed Doppler frequency shift (frequency change) substitution equatioies 1 and 2, to survey the direction (1406) of each emitter 150a to 150c.Described robot cleaner 1200 obtains angle θ among Figure 13 by emitter 150a to the directional information of 150c ₄And θ ₅, and utilize angle θ ₄And θ ₅Determine the current location (1410) of robot cleaner 1200.

If described robot cleaner 1200 must move to any position in the zone 1300, based on the coordinate of its current location and target location, described robot cleaner 1200 moves to target location (1412).

Described robot cleaner 1200 checks whether there is barrier (1414) in the travel path in traveling process.If in travel path, there is barrier (in 1414 ' being '), carry out obstacle avoidance advance (1416).In addition, owing in the obstacle avoidance traveling process, may miss the directional information at mooring station, described control operation turns back to controller chassis 712 with the new direct of travel of the setting coordinate of based target position.If there is not barrier (' denying ') in 1414 in the path of advancing, described robot cleaner 1200 advances to the target location according to current directional information, and moves when arriving the target location and finish (1418).

After arrival, according to the purpose of advancing, foreign matter is discharged from, battery is recharged, carry out automated cleaning or carry out ready mode.

According to robot cleaner system of the present invention and control method thereof, use is by cheap apparatus rather than the Doppler frequency shift that need observe such as the vision system of the expensive device of video camera, the relative position between robot cleaner and the station can be obtained, thereby the manufacturing cost of robot cleaner can be reduced.

In addition, according to robot cleaner system of the present invention and control method thereof, robot cleaner can be controlled in than the wideer zone of the situation of using RF signal or vision system, thereby can significantly enlarge the search coverage between robot cleaner and the station.

In addition, in robot cleaner system according to the present invention and control method thereof, when using RF signal or vision system, in order to solve problem owing to barrier error detector position and direction, used the wherein relatively little Doppler frequency shift of influence of barrier, thereby can realize the position between robot cleaner and the station and the accurate detection of direction.

Though shown and described several embodiments of the present invention; but those skilled in the art will recognize: under the situation that does not depart from principle of the present invention and spirit; can make change to these embodiment, and protection scope of the present invention is limited in claim and the equivalent thereof.

Claims (52)

1, a kind of robot cleaner system comprises:

Robot cleaner; With

Stand;

The signal of one of robot cleaner and station emission preset frequency wherein, and another receives described signal, so that: based on the observed Doppler frequency shift of the receiver side that is used for received signal, survey direction towards the emitting side that is used to transmit.

2, robot cleaner system according to claim 1, wherein said station comprises emitter, described emitter is used to launch the signal of preset frequency,

Described robot cleaner comprises movably receiving element, and described movably receiving element is mounted for receiving from the signal of the emitter emission at described station and is used for the Doppler frequency shift of the signal that observation post receives, and

Based on the Doppler frequency shift that receiving element is observed, survey the direction at described station.

3, robot cleaner system according to claim 2, wherein said receiving element comprises antenna, described antenna is used to receive the signal from the emission of described station.

4, robot cleaner system according to claim 3, wherein said receiving element mobile are moving of the rotational trajectory that rotates when the halted state along robot cleaner of the antenna of receiving element.

5, robot cleaner system according to claim 3, wherein said receiving element also comprises rotary body, described rotary body is set in robot cleaner and rotates, and wherein antenna is installed; And

The mobile of described receiving element is antenna edge rotation owing to the rotation of rotary body of receiving element Moving of the rotational trajectory of body.

6, robot cleaner system according to claim 3, wherein said receiving element mobile are antennas along robot cleaner, robot cleaner the moving through the travel track of predetermined displacement of advancing.

7, robot cleaner system according to claim 3, wherein said receiving element also comprises:

Frequency detector, described frequency detector are used to survey the frequency of the signal that is received by receiving element; With

Directional detector, described directional detector by the frequency relatively surveyed by frequency detector and from the frequency of the signal of described station emission survey described erect-position in direction, and generate directional information.

8, robot cleaner system according to claim 7, wherein when the frequency of surveying from frequency detector is not observed Doppler frequency shift, described directional detector will by the antenna indicated direction be defined as described erect-position in direction.

9, robot cleaner system according to claim 3, wherein, when since antenna move along track in the rotational trajectory of the rotational trajectory of robot cleaner and rotary body, when observing Doppler frequency shift, the positive direction of described robot cleaner and described erect-position in direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{\·}{x}}_1}{r{\stackrel{\·}{\mathrm{\θ}}}_1}\right)$

Wherein, r is a distance to antenna from the rotating shaft of rotary body and robot cleaner;

Be θ ₁Angular speed, and

Be when the antenna of advancing along rotational trajectory is positioned at the positive direction of robot cleaner, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

10, robot cleaner system according to claim 3, wherein, when since antenna move through along the travel track of the predetermined displacement of robot cleaner, when observing Doppler frequency shift, the positive direction of described robot cleaner and described erect-position in direction between angle θ ₂Represent by following equation:

${\mathrm{\θ}}_2={\cos }^{-1}\left(\frac{{\stackrel{\·}{x}}_2}{\left|V\right|}\right)$

Wherein, Be the directions X linear velocity of vectorial V of the displacement of advancing of indication robot cleaner, described directions X is parallel to from the direction of propagation of the signal of described station emission; And | V| is vectorial V size (being speed).

11, robot cleaner system according to claim 3, wherein, when the quantity of antenna is 2 secondary or more for a long time, described antenna is installed with predetermined space.

12, robot cleaner system according to claim 1, wherein said station comprises the mooring station, described mooring station is used for the robot cleaner charging and discharges foreign matter.

13, a kind of control method that comprises the robot cleaner system at robot cleaner and station said method comprising the steps of:

From the signal of one of described robot cleaner and described station emission preset frequency, wherein said signal is received by another; With

Based on by the observed Doppler frequency shift of the receiver side of received signal, survey the direction of the position of the emitting side that transmits.

14, the control method of robot cleaner system according to claim 13, wherein: described station is by the signal of emitter emission preset frequency;

Described robot cleaner receives from the signal of described station emission by receiving element;

Described receiving element determines whether to observe Doppler frequency shift; With

Based on the observation of Doppler frequency shift, survey described erect-position in direction.

15, the control method of robot cleaner system according to claim 14, wherein said receiving element comprises antenna, described antenna is used to receive the signal from the emission of described station.

16, the control method of robot cleaner system according to claim 15, wherein said receiving element mobile are moving of the rotational trajectory that rotates when the halted state along robot cleaner of the antenna of receiving element.

17, the control method of robot cleaner system according to claim 15, wherein said receiving element also comprises rotary body, described rotary body is set in robot cleaner rotation and antenna wherein is installed; And

Described receiving element mobile is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

18, the control method of robot cleaner system according to claim 15, wherein said receiving element mobile are antennas along robot cleaner, robot cleaner the moving through the travel track of predetermined displacement of advancing.

19, the control method of robot cleaner system according to claim 15, wherein when the frequency of surveying from frequency detector is not observed Doppler frequency shift, described directional detector will by the antenna indicated direction be defined as described erect-position in direction.

20, the control method of robot cleaner system according to claim 15, wherein when since antenna move along a track in the rotational trajectory of the rotational trajectory of robot cleaner and rotary body, when observing Doppler frequency shift, the positive direction of described robot cleaner and described erect-position in direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{\·}{x}}_1}{r{\stackrel{\·}{\mathrm{\θ}}}_1}\right)$

Wherein, r is a distance to antenna from the rotating shaft of rotary body and robot cleaner;

Be θ ₁Angular speed, and

Be when the antenna that moves along rotational trajectory is positioned at the positive direction of robot cleaner, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

21, the control method of robot cleaner system according to claim 15, wherein when moving through along the travel track of the predetermined displacement of robot cleaner owing to antenna, when observing Doppler frequency shift, the positive direction of described robot cleaner and described erect-position in direction between angle θ ₂Represent by following equation:

${\mathrm{\θ}}_2={\cos }^{-1}\left(\frac{{\stackrel{\·}{x}}_2}{\left|V\right|}\right)$

Wherein,

Be the directions X linear velocity of vectorial V of the displacement of advancing of indication robot cleaner, described directions X is parallel to from the direction of propagation of the signal of described station emission, and | V| is vectorial V size (being speed).

22, a kind of robot cleaner system comprises:

Robot cleaner, described robot cleaner is used to launch the signal of preset frequency; With

Stand, described station comprises removable receiving element, described removable receiving element is used to receive the signal from the robot cleaner emission, and be used for the Doppler frequency shift of observation post's received signal, and based on the observed Doppler frequency shift of receiving element, direction that the sniffing robot cleaner is positioned at and the distance of leaving with robot cleaner.

23, robot cleaner system according to claim 22, wherein said receiving element comprises antenna, described antenna is used to receive the signal from the robot cleaner emission.

24, robot cleaner system according to claim 23, wherein said receiving element also comprises rotary body, described rotary body is set in the station and rotates, and wherein antenna is installed; And

Described receiving element mobile is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

25, robot cleaner system according to claim 23, wherein said receiving element also comprises:

Frequency detector, described frequency detector are used to survey the frequency of the signal that is received by receiving element; With

Directional detector, described directional detector by the frequency relatively surveyed by frequency detector and from the frequency of the signal of described robot cleaner emission survey described erect-position in direction, and generate directional information.

26, robot cleaner system according to claim 25, wherein when the frequency of surveying from frequency detector is not observed Doppler frequency shift, described directional detector will be defined as the direction that robot cleaner is positioned at by the antenna indicated direction.

27, robot cleaner system according to claim 23, wherein when since antenna move along the rotational trajectory of rotary body, when observing Doppler frequency shift, antenna indicated direction and described robot cleaner direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{\·}{x}}_1}{r{\stackrel{\·}{\mathrm{\θ}}}_1}\right)$

Wherein, r is the distance from the rotating shaft of rotary body to antenna, Be θ ₁Angular speed, and

Be when the antenna of advancing along rotational trajectory is positioned at direction indication, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

28, robot cleaner system according to claim 23, wherein represent by following equation to the distance R of the emitter of robot cleaner from the central point of receiving element:

$R=\frac{r}{\cos ({\mathrm{\θ}}_3-{\mathrm{\θ}}_3^{\′})}$

Wherein, r is the distance from the central point of receiving element to antenna; θ ₃Be the predetermined reference direction of receiving element and robot cleaner direction between angle; And θ ₃' be reference direction and wherein antenna towards direction between angle.

29, robot cleaner system according to claim 23, wherein, when the quantity of antenna is 2 secondary or more for a long time, described antenna is installed with predetermined space.

30, robot cleaner system according to claim 22, wherein said station comprises the mooring station, described mooring station is used for the robot cleaner charging and discharges foreign matter.

31, a kind of control method of robot cleaner system may further comprise the steps:

Signal from robot cleaner emission preset frequency;

By receiving element, described station receives from the signal of robot cleaner emission;

Determine whether receiving element observes Doppler frequency shift; With

Based on Doppler frequency shift, direction that the sniffing robot cleaner is positioned at and the distance of leaving with robot cleaner.

32, the control method of robot cleaner system according to claim 31, wherein said receiving element comprises antenna, described antenna is used to receive the signal from the robot cleaner emission.

33, the control method of robot cleaner system according to claim 32, wherein said receiving element also comprises rotary body, described rotary body is set in the station and rotates, and wherein antenna is installed; And

Described receiving element mobile is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

34, the control method of robot cleaner system according to claim 31, wherein when the frequency of the signal that receives from receiving element is not observed Doppler frequency shift, described directional detector will be defined as the direction that described robot cleaner is positioned at by the antenna indicated direction.

35, the control method of robot cleaner system according to claim 32, wherein, when since antenna move along the rotational trajectory of rotary body, when observing Doppler frequency shift, antenna indicated direction and described robot cleaner direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{\·}{x}}_1}{r{\stackrel{\·}{\mathrm{\θ}}}_1}\right)$

Wherein, r is the distance from the rotating shaft of rotary body to antenna,

Be θ ₁Angular speed, and Be when the antenna that moves along rotational trajectory is positioned at direction indication, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

36, the control method of robot cleaner system according to claim 32, wherein represent by following equation to the distance R of the emitter of robot cleaner from the central point of receiving element:

$R=\frac{r}{\cos ({\mathrm{\θ}}_3-{\mathrm{\θ}}_3^{\′})}$

Wherein, r is the distance from the central point of receiving element to antenna; θ ₃Be the predetermined reference direction of receiving element and robot cleaner direction between angle; And θ ₃' be reference direction and wherein antenna towards direction between angle.

37, a kind of robot cleaner system comprises:

At least three emitters, described emitter is used to launch the signal of the predetermined intrinsic frequency that differs from one another: and

Stand, described station comprises removable receiving element, described removable receiving element is used to receive the signal from least three emitter emissions, and be used for the Doppler frequency shift of observation post's received signal, and be used for based on the Doppler frequency shift of observing by receiving element obtain described at least three emitters each directional information and obtain the current relative position at described station at least based on the directional information of described three emitters.

38, according to the described robot cleaner system of claim 37, wherein said receiving element comprises antenna, and described antenna is used to receive the signal from least three emitter emissions.

39, according to the described robot cleaner system of claim 38, wherein said receiving element also comprises rotary body, and described rotary body is set in robot cleaner and rotates, and wherein antenna is installed; And

The rotation of described receiving element is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

40, according to the described robot cleaner system of claim 38, wherein said receiving element also comprises:

Frequency detector, described frequency detector are used to survey the frequency of the signal that is received by receiving element; With

Directional detector, described directional detector is surveyed the direction that described at least three emitters are positioned at by the frequency that compares frequency of being surveyed by frequency detector and the signal of launching from described station, and generates directional information.

41, according to the described robot cleaner system of claim 40, wherein when when the frequency of being surveyed by frequency detector is not observed Doppler frequency shift, described directional detector will be defined as the direction that at least three emitters are positioned at by the antenna indicated direction.

42, according to the described robot cleaner system of claim 38, wherein, when since antenna move along a track in the rotational trajectory of the rotational trajectory of robot cleaner and rotary body, when observing Doppler frequency shift, the positive direction of robot cleaner and at least three emitters direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{\·}{x}}_1}{r{\stackrel{\·}{\mathrm{\θ}}}_1}\right)$

Wherein, r is a distance to antenna from the rotating shaft of rotary body and robot cleaner;

Be θ ₁Angular speed; And Be when the antenna of advancing along rotational trajectory is positioned at the positive direction of robot cleaner, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

43, according to the described robot cleaner system of claim 38, wherein said at least three emitters comprise first emitter, second emitter and the 3rd emitter; And

By estimating first angle that forms by first emitter, robot cleaner and second emitter, with second angle that forms by second emitter, robot cleaner and the 3rd emitter, and consider first angle and second angle, the current location of sniffing robot cleaner.

44, according to the described robot cleaner system of claim 38, wherein multiple antenna is installed with even interval.

45, according to the described robot cleaner system of claim 37, one of wherein said at least three emitters comprises the mooring station, and described mooring station is used for the robot cleaner charging and discharges foreign matter.

46, according to the described robot cleaner system of claim 37, wherein said at least three emitters are installed in predetermined place, fixed position.

47, a kind of control method of robot cleaner system may further comprise the steps:

Signal from least three predetermined intrinsic frequencies of emitter emission;

By receiving element, receive from the signal of at least three emitter emissions by robot cleaner;

Determine whether receiving element observes Doppler frequency shift; With

Based on the observation of Doppler frequency shift, survey wherein at least three directions that emitter is positioned at.

48, according to the control method of the described robot cleaner system of claim 47, wherein said receiving element comprises antenna, and described antenna is used to receive the signal from least three emitter emissions.

49, according to the control method of the described robot cleaner system of claim 48, wherein said receiving element also comprises rotary body, and described rotary body is set in robot cleaner and rotates, and wherein antenna is installed; And

The rotation of described receiving element is that the antenna of receiving element is because the rotation of rotary body and moving along the rotational trajectory of rotary body.

50, according to the control method of the described robot cleaner system of claim 48, wherein when when the frequency of being surveyed by frequency detector is not observed Doppler frequency shift, described directional detector will be defined as the direction that at least three emitters are positioned at by the antenna indicated direction.

51, according to the control method of the described robot cleaner system of claim 48, wherein, when since antenna move along a track in the rotational trajectory of the rotational trajectory of robot cleaner and rotary body, when observing Doppler frequency shift, the positive direction of robot cleaner and at least three emitters direction between angle θ ₁Represent by following equation:

${\mathrm{\θ}}_1={\sin }^{-1}\left(\frac{{\stackrel{\·}{x}}_1}{r{\stackrel{\·}{\mathrm{\θ}}}_1}\right)$

Wherein, r is a distance to antenna from the rotating shaft of rotary body and robot cleaner;

Be θ ₁Angular speed; And

Be when the antenna of advancing along rotational trajectory is positioned at the positive direction of robot cleaner, the linear velocity of antenna on the direction of the direction of propagation that is parallel to signal.

52, according to the control method of the described robot cleaner system of claim 48, wherein said at least three emitters comprise first emitter, second emitter and the 3rd emitter; And

By estimating first angle that forms by first emitter, robot cleaner and second emitter, with second angle that forms by second emitter, robot cleaner and the 3rd emitter, and consider first angle and second angle, the current location of sniffing robot cleaner.

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