CN101211186A - Method for mobile device returning to service station and mobile device service system - Google Patents
Method for mobile device returning to service station and mobile device service system Download PDFInfo
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- CN101211186A CN101211186A CNA2006101703616A CN200610170361A CN101211186A CN 101211186 A CN101211186 A CN 101211186A CN A2006101703616 A CNA2006101703616 A CN A2006101703616A CN 200610170361 A CN200610170361 A CN 200610170361A CN 101211186 A CN101211186 A CN 101211186A
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Abstract
The invention relates to a method of a mobile device returning back to a service station, and a mobile device service system using the method, which comprises at least one service station with charging function and a mobile device. A plurality of signal emitters capable of guiding a mobile device to return back to the service station are installed on the service station. At least one receiving unit is installed on the mobile device. The mobile device identifies the position of the service station by searching signals emitted from the service station, so as to arrive at the service station smoothly and perform charging, standing or other specific operations. With the method and the system, the mobile device can track a shortest distance in a manner of straight line movement, and enter the service station at any angle for charging.
Description
Technical field
What the present invention relates to is a kind of path finding method and system, refer in particular to a kind of signal transmitter array of utilizing the guiding movable device to be returned to the service station, come communication signal that the search services station sends distinguishing residing orientation, service station by at least one receiving element on the movable device, and arrive the service station smoothly and accept the service station and provide the movable device service system that a kind of movable device of service returns the method in service station and uses described method.
Background technology
Movable device (ROBOTIC APPARATUS), be meant a kind of in the preset range of perform region automatically running move, and need not the device of operator's operation, and carry out specific work.
Usually, movable device, for example: the mobile robot, being equipped with one can provide running required necessary power resources, and rechargeable secondary cell usually is used as this purpose.For the mobile robot can continuously be operated, mobile robot and an external charging station have formed a system.By the electric power that charging station provides, can be used as the additional energy source of electric power of the secondary cell on the movable device.Except being provided with of aforementioned charging station, movable device also must turn back to charging station before running down of battery or in the certain hour and charge.Yet, movable device is known and the position that correctly turns back to charging station is one of prerequisite critical function of intelligent mobile robot institute.
Coming with robot cleaner is example, and existing application probably can be divided into following several in the return path search technique of robot cleaner:
First kind is the technology that a kind of robot cleaner shown in Figure 1A returns charging, and it is to be disclosed in US publication US20050231156 number.In described technology, an infrared light beam 100 is launched in one short distance of charging station charging electrode dead ahead in service station 10, when robot cleaner 101 enters the state that must charge, robot cleaner 101 will begin to walk along wall, up to through the infrared light beam 100 in 10 charging electrode dead aheads, service station the time, robot cleaner 101 will be by light beam the guiding location, last with just finish the program of charging in whole time service station after charging electrode correctly contacts.Find via the operation of reality, when the residing environment of robot cleaner too complicated or when wall walk process enter into another room easily or during the zone, it is not good that robot cleaner is got back to the trustless and efficient that the success ratio of charging in the service station will become.
Second kind is the technology that a kind of robot cleaner shown in Figure 1B returns charging, and it is to be disclosed in US publication US20050156562 number.In described technology, too launch the charging of 111 times service stations of infrared light beam mode guided robot suction cleaner with service station 11 by transmitter 116, different with Figure 1A is the infrared light beam 112 that two different qualities will be launched in this kind robot cleaner 111 relative service stations 11,113, and these two kinds of light beams 112, have one in the middle of 113 and overlap regional 114, so robot cleaner 111 is judged the action of advancing by the signal of 115 sensings of infrared ray sensor, by the progressively close service station of the correction in the orientation of advancing, finish back the program of service station charging.But actual discovers, it is long-pending and little that the infrared ray that the corresponding service station of this robot cleaner is launched contains capping, robot cleaner is in the position of no infra-red signal easily in large space, robot cleaner is got back to the time that must spend one section search before charging in the service station, has a strong impact on back the fiduciary level of service station charging.
The third is U.S. Pat .Pat.No.6389329 number disclosed technology.In described technology, same returns the service station charging to launch infrared light beam mode guided robot suction cleaner, different with Figure 1A, Figure 1B is that the infrared light beam of three groups of different distances will be launched in the relative service station of this kind robot cleaner, infrared ray sensor detecting infra-red signal by two groups of symmetries of installing on the robot cleaner and revise the orientation of advancing progressively near charging station, finish back the program of charging in the service station.This robot cleaner can be got back to charging station with efficient linear fashion, and provide detection-sensitive distance far away; but the infrared ray that launch in the service station in the ring Base-on-environment contains the small angle range that the general area of lid also only is confined to the intermediate vertical position in service station, same, robot cleaner is in the position of no infra-red signal easily in big space, robot cleaner is got back to the time that must spend one section search before charging in the service station, have a strong impact on back the fiduciary level of service station charging, other two groups infrared ray sensing tuple has also reduced competitive power on the cost of product.
Comprehensively above-mentioned, so this needs a kind of movable device badly and returns the method in service station and use the movable device service system of described method to solve the problem that prior art produces.
Summary of the invention
The movable device service system of fundamental purpose of the present invention for providing movable device to return the method in service station and use described method, it is to utilize the orientation of strong signal of communication signal that detecting sent by a service station, movable device returns the service station according to described communication signal with linear fashion, reaches to save time and the purpose of efficient.
The movable device service system of another fundamental purpose of the present invention for providing movable device to return the method in service station and use described method, it is by the service unit of wide-angle is set in the service station, make movable device no matter at any angle when getting back to the service station, can receive the service that described service unit provides.
The movable device service system of secondary objective of the present invention for providing a kind of movable device to return the method in service station and use described method, it is by signal transmitter array is set in the service station, with reach improve the signal coverage rate make movable device can be at arbitrary location sensing to signal with as the foundation of returning, reduce movable device and search the time of signal, reach and improves back the accuracy that service station acceptance serves and the purpose of fiduciary level.
The movable device service system of another object of the present invention for providing a kind of movable device to return the method in service station and use described method, it is the assembly by directive property, scope with control movable device reception signal makes movable device efficiently to move to the service station with linear fashion.
To achieve the above object, the invention provides the method that a kind of movable device goes back to the service station, it is to include the following step: the communication signal that a movable device search is sent by a service station; Described movable device utilizes spinning movement to find the direction of described communication signal maximum; According to the direction of described communication signal maximum, described movable device is moved to described service station; And whether described service station detect described movable device and arrive at, if arrive at then described service station provides service to described movable device.
The present invention more provides a kind of movable device service system to achieve the above object, and it is to comprise: at least one service station; At least one signal transmitter array, it is to be separately positioned at least one side in described at least one service station, described signal transmitter array can rely on the emission communication signal to go out a communication context with construction; One movable device, it is to have a receiving element and an electrode, described receiving element can receive communication signal in described communication context, to move to described service station; And at least one charging electrode unit, it is to be separately positioned on described at least one service station, described at least one charging electrode unit can electrically connect with the electrode that enters into the movable device in described service station in any position, with to the service of charging of described movable device.
Description of drawings
Figure 1A and Figure 1B return the charging synoptic diagram for existing kind of robot cleaner;
Fig. 2 A is the method first preferred embodiment schematic flow sheet that movable device of the present invention goes back to the service station;
Fig. 2 B is that movable device of the present invention returns communication signal intensity distributions synoptic diagram in the method in service station;
Fig. 3 A is the method second preferred embodiment schematic flow sheet that movable device of the present invention goes back to the service station;
Fig. 3 B is that movable device of the present invention returns traveling path, service station synoptic diagram;
Fig. 4 is a movable device service system preferred embodiment synoptic diagram of the present invention;
Fig. 5 is the service station schematic perspective view in the movable device service system of the present invention;
Fig. 6 A and Fig. 6 B for the signal transmitter array in service station of the present invention with and the communication context synoptic diagram of institute's construction;
Fig. 7 A implements synoptic diagram for the signal transmitter array set-up mode in service station of the present invention;
Fig. 7 B to Fig. 7 E is the preferred embodiment synoptic diagram in service station of the present invention;
Fig. 8 provides charging service synoptic diagram for movable device of the present invention receives the service station in any angle;
Fig. 9 A to Fig. 9 C is another preferred embodiment synoptic diagram of the charging electrode cell position configuration in service station of the present invention;
Figure 10 is the charging electrode unit and charging confirmation unit preferred embodiment synoptic diagram in service station of the present invention;
Figure 11 is a movable device schematic perspective view of the present invention;
Figure 12 A and Figure 12 B are the receiving element of movable device of the present invention and point to unit preferred embodiment schematic perspective view;
Figure 13 A and Figure 13 B are the receiving element configuration schematic diagram of movable device of the present invention.
Description of reference numerals: 10,11-service station; 101,111-robot cleaner; 100,112,113-infrared light beam; 114-overlaps regional; The 115-infrared ray sensor; The 116-transmitter; The 2-movable device returns the method in service station; 20～23-step; The 3-movable device returns the method in service station; 301～313-step; 4-movable device service system; 40,40a, 40b, 40c, 40d, 40e, 40f-service station; The 400-cambered surface; 401,401f, 401g, 401h-charging electrode unit; 402-signal transmitter array; 4021～4025-signal transmitter; The 403-substrate; The 404-control module; The 405-recess; The 406-displacement mechanism; The 4060-moving part; The 4061-pedestal; The 4062-elastic body; The 408-displacement transducer; The 4080-shell fragment; The 4081-switch; The 409a-cambered surface; The 409b-plane; The 41-movable device; 410,410a, 410b, 410c-electrode; The 411-receiving element; 412-points to the unit; 4120-points to seat; The 4121-slit; 413-points to the unit; The 4130-pedestal; The 4131-through hole; The 414-housing; The 4140-perforate; The 50-service station; The 51-robot cleaner; 80,81,82,83-position; 950～954-signal covering scope; The 90-perform region; The 901-communication context; The 91-center line; 92-rotatablely moves; θ-angle.
Embodiment
For making your juror further cognitive and understanding be arranged to feature of the present invention, purpose and function, hereinafter the spy describes the relevant thin portion structure of device of the present invention and the theory reason of design, so that the juror can understand characteristics of the present invention, detailed description is presented below:
See also shown in Fig. 2 A, described figure is the method first preferred embodiment schematic flow sheet that movable device of the present invention goes back to the service station.Described method is to include the following step: a communication signal that a movable device search is sent with step 20 by a service station at first.Movable device is searched between the mode of searching signal can or advanced for the mode of original place rotation, or utilizes the combination of aforementioned dual mode to carry out the signal search.
Subsequently, carry out step 21, when receiving described communication signal, described movable device utilizes spinning movement to find the direction of described communication signal maximum.See also shown in Fig. 2 B, described figure is that movable device of the present invention returns communication signal intensity distributions synoptic diagram in the method in service station.The signal strength that movable device is sensed in the process of rotation distributes shown in the curve among the figure, when detecting maximum communication signal, then carry out step 22, movable device moves to described service station with rectilinear motion according to the direction of described communication signal maximum.
Movable device also includes the step of carrying out mobile affirmation program in the process that move in described service station, described step includes the intensity of confirming described communication signal, confirms whether to have the distance in barrier and affirmation and described service station.If the irrational words of described communication signal intensity, described movable device then carries out the orientation correction.The mode of orientation correction is that described movable device is swung in an angular range.If touch barrier, then avoid the action of described barrier.And movable device confirm with the mode of the distance in described service station for judge the distance with described service station according to the intensity of described communication signal.If with the distance in service station less than setting value then carry out the straight line retarded motion.
Carry out step 23 at last, whether described service station is detected described movable device and is arrived at, if arrive at then described service station provides service to described movable device.In the present embodiment, whether the mode that whether arrives at of described service station detecting movable device contacts with described movable device for the service unit in the described service station of detecting.Except judging in the mode of contact, also can non-contacting mode, for example: (Radio Frequency) communication of electromagnetic induction or radio frequency or audio frequency sensing judge that whether movable device is near described service unit.Described service station is a charging station, and described service unit is a charging electrode unit.
Aforesaid movable device can be any movable physical construction, for example: and devices such as robot, automatic guided vehicle or robot cleaner, but not subject to the limits.And described service station can be charging station, and gas-filling station or other can provide the service station of integrating aforementioned service, but not subject to the limits.Next will illustrate that utilizing aforesaid method to be applied in the robot suction cleaner returns the station charging.
See also shown in Fig. 3 A, described figure is the method second preferred embodiment schematic flow sheet that movable device of the present invention goes back to the service station.Shown in step 300, when the battery of robot cleaner was in low state of charge, robot cleaner can carry out the action of step 301, searches the communication signal that is sent by the service station in the mode of original place rotation.In the process of searching, can carry out step 302 and judge whether to search communication signal.If it's not true, robot cleaner can carry out step 303 and carry out the mobile search pattern, also be robot cleaner can running transform the position utilize and search communication signal when advancing.If when searching communication signal, then carry out step 304, robot cleaner is rotated in the original place, seeks the position of communication signal maximum, and the communication signal intensity that detects in the process of original place rotation is shown in Fig. 2 b.
Detect after the position of communication signal maximum, robot cleaner can carry out step 305 and advance towards the service station with rectilinear motion.Please consult simultaneously shown in Fig. 3 b, described figure is that movable device of the present invention returns traveling path, service station synoptic diagram.When robot cleaner 51 when electric weight is not enough during in position 80, search out the direction of the communication signal maximum of being sent by service station 50 by aforesaid step 300 to step 305, advance towards the service station with linear fashion then.In this process, robot cleaner 51 can carry out moving the affirmation program with step 306.Described affirmation program includes the intensity of confirming described communication signal, confirms whether to have the distance in barrier and affirmation and described service station.By aforesaid mobile affirmation program, described robot cleaner 51 can guarantee that straightaway direction is the position of communication signal maximum.
In the process of confirming, shown in Fig. 3 B, when robot cleaner moves to position 81 and finds barrier is arranged, can carry out step 307, enter and keep away the barrier pattern, with avoiding obstacles.Returning step 301 afterwards 50 moves towards the service station with linear fashion to 306.When moving to position 82,, carry out the orientation correction if when finding that the communication signal Strength Changes is irrational (may be the phenomenon that direction skew that the driving wheel by robot cleaner causes is produced), then can carry out step 308 between advancing.The mode of orientation correction is that described robot cleaner 51 carries out the swing adjustment of an angular range, and the described in the present embodiment angular range of described angular range is ± 10 degree, but not subject to the limits.Return step 304 to 306 after correction finishes, advance towards the service station with linear fashion.In the process of advancing, robot cleaner can be judged distance with the service station according to intensity, for example in Fig. 3 B, when robot cleaner 51 moves to position 83, when finding that distance with service station 50 is less than 0.5 meter, then can carry out step 309, the rectilinear motion that slows down.And the big I of deceleration door distance is decided according to the actual requirements, does not exceed with 0.5 meter in the present embodiment.
Then carry out step 310 and confirm whether the electrode of robot cleaner touches the step of the charging electrode unit in service station.If it's not true, then carry out step 311 and reorientate, carry out aforesaid step 301 more again to 306.If touch, then carry out step 312, the service station begins by the charging electrode unit robot cleaner to be charged.Carry out step 313 then, after robot cleaner confirms that electric power receives, stop to move and begin to receive the charging service.
See also shown in Figure 4ly, be movable device service system preferred embodiment synoptic diagram of the present invention.Described a kind of movable device service system 4, it is to comprise: an at least one service station 40 and a movable device 41, described service station 40 can provide charging, air feed or other service when described movable device 41 arrives.As shown in Figure 5, described figure is the service station schematic perspective view in the movable device service system of the present invention.In the present embodiment, described service station 40 is a charging station.Described service station 40 has at least one signal transmitter array 402, at least one charging electrode unit 401 and a control module 404.Described signal transmitter array 402, it is arranged at least one side on the service station 40, and described signal transmitter array 402 can rely on the emission communication signal go out a communication context with construction.In the present embodiment, the communication signal launched of signal transmitter array 402 is an infra-red signal.
See also shown in Fig. 6 A and shown in Fig. 6 B, described figure be service station of the present invention signal transmitter array with and the communication context synoptic diagram of institute's construction.Described signal transmitter array 402 has a plurality of transmitters 4021～4025, and described transmitter can be infrared transmitter.The quantity of transmitter has five in the present embodiment, but not as limit.The transmitter 4021～4025 of present embodiment has a signal covering scope 950～954 respectively, utilizes these a plurality of transmitters can form the communication context in a big zone.Make movable device can be easy to receive the communication signal that is sent by service station 40.Shown in Fig. 6 B, in the scope with perform region 90 (8 meters x8 meters), with the signal transmitter array that 5 transmitters works are formed, it is 120 that array is formed the infrared ray angle, and its infrared ray area coverage can reach 85% communication context 901.
Described signal transmitter array can be arranged on cambered surface, plane or the aforesaid composition.Utilize Fig. 7 A to do explanation.In service station 40, signal transmitter array is arranged on the cambered surface 409a.Service station 40a is made of cambered surface 409a and plane 409b, in the embodiment in this service station, a plurality of signal transmitter arrays then can be able to be arranged on cambered surface 409a and the plane 409b.In this perform region 90, service station 40b is arranged on the corner in addition, and service station 40b's is three-dimensional graphic shown in Fig. 7 B, and signal transmitter array 402b then is arranged on the 409b of plane.
Service station 40c shown in Fig. 7 C then is that the plane 409b with Fig. 7 B changes into and is cambered surface 409a, and its signal transmitter array 402c then is arranged on the 409a of plane.In addition, and for example shown in Fig. 7 D and seven E, service station 40d, the 40e among the figure is the polygon of being made up of plane 409b, and signal transmitter array 402d, 402e then are arranged on the 409a of plane.The ornaments in service station can be decided on environmental aspect according to actual user, furnish outside put on the wall limit in service station 40 as Fig. 7 A, also can be arranged on the position, corner in addition as service station 40b, put the area coverage that when the corner, can improve ultrared signal, can certainly be in the middle of the perform region as service station 40a ornaments.And the external form in service station also can as the arc 409a among Fig. 7 A, plane 409b with and the combination constituted.
Return shown in Figure 5ly, control module 404 is arranged on the substrate 403, and control module is a pivot among the whole service station 40, and the charging station technology that service station 40 provides the associated component of charging can consider prior art in light of actual conditions, does not do at this and gives unnecessary details.Described charging electrode unit 401 is arranged on the cambered surface 400 in described service station, and described charging electrode unit 401 extends to the other end of cambered surface from an end of cambered surface 400, to present the distribution of wide-angle.Make no matter movable device is come in by that angle, can reach described charging electrode unit 401 and contact.See also shown in Figure 8ly, to be movable device of the present invention receive the service station in any angle to described figure that charging service synoptic diagram is provided.Can find in the drawings,, make no matter all can contact to movable device 41 its electrode 410 positions that straight line enters into described service station 40 with described charging electrode unit 401 from either party because the wide-angle of described charging electrode unit 401 distributes.The pattern of the wide-angle charging electrode unit 401 on the service station 40 can cooperate the electrode design of corresponding movable device 41 and different arrangements is arranged; usually can be arranged in and signal transmitter array the same side, can contact charging electrode unit 401 direct and on the service station 40 during in order to the charging of 41 times stations of movable device.
In addition, and can there be multiple variation the position of the installation of described charging electrode unit 401, shown in Fig. 9 A, described service station 40f has more a recess 405, its opening is the great opening angle that is 180 degree (but not as limit), makes movable device 41 to enter into described recess in any position.Charging electrode unit 401f can be positioned at the bottom surface of the recess 405 of service station 40f and arrange in a horizontal manner, and the electrode 410a of movable device 41 then is arranged on the bottom of movable device 41 at this moment.In addition, shown in Fig. 9 B, the position of recess 405 open top face of described charging electrode unit 401g on can build-in services station 40f, this moment, the electrode 410b of movable device 41 then was arranged on the top of movable device 41.In addition, also can be shown in Fig. 9 C, charging electrode unit 401h is arranged on the end face up and down of recess 405 opening parts of service station 40f and is corresponding mutually up and down arrangement, and this moment, the electrode 410c of movable device 41 then was arranged on the both sides up and down of movable device 41.Aforementioned only is the positional alignment embodiment of electrode, does not exceed with the position of icon of the present invention.Certainly, along with the position change of charging electrode unit, the electrode position on the movable device also can be corresponding change to cooperatively interact.
In order to allow control module can judge whether movable device touches the charging electrode unit, as shown in figure 10, the both sides of described charging electrode unit 401 (only showing a side among the figure) are respectively arranged with a charging confirmation unit, it is to electrically connect with described control module, described charging confirmation unit can produce a sensing signal and give described control module, makes described control module control described charging electrode unit 401 and send.In the embodiment of Figure 10, described charging confirmation unit is to confirm that in the sensing mode of contact the position of described charging electrode unit 401 is to judge whether movable device contacts with described charging electrode unit 401.Described charging confirmation unit also includes: a displacement mechanism 406 and a displacement transducer 408.Described displacement mechanism 406, it is to be connected with described charging electrode unit 401, described displacement mechanism can provide described charging electrode unit to return back to the required restoring force in origin-location.Described displacement transducer 408, it is to electrically connect with described control module (not shown), the position that described displacement transducer 408 can the described charging electrode of sensing unit 401 and then transmit the sensing signal and give described control module.Described displacement transducer 408 can be selected the sense component groups of multiple pattern, as light blocking open, contact-making switch etc. or the foundation confirmed as charging by the impedance variation of detecting charging electrode unit on the service station.
Described displacement mechanism 406 has more a pedestal 4061, an elastic body 4062 and a moving part 4060.Described elastic body 4062, it is to be set on the described pedestal 4061.Described moving part 4060, it is to be connected with described charging electrode unit 401, described moving part 4060 leans with an end face and described elastic body 4062.When described charging electrode unit 401 is run at the electrode place of movable device, the shell fragment 4080 on the described displacement transducer can be located to run in described charging electrode unit 401, make described shell fragment 4080 act on the switch 4081, and then produce the sensing signal to described control module.At this time, control module can rely on described sensing signal to learn that movable device is in place, and therefore the charging service can be provided.Described in addition moving part 4060 is because be connected with charging electrode unit 401, therefore when charging electrode unit 401 moves, also can drive described moving part 4060 and move, and moving part 4060 can compress described elastic body 4062 to accumulate elastic restoring force when mobile.When described movable device left, described elastic restoring force can promote moving part 4060 and outwards move, and then allows described charging electrode unit 401 get back to the location.
Except aforesaid contact sensing mode, described charging confirmation unit also can be a non-contact sensor, with the described movable device of sensing whether near described charging electrode unit.Described non-contact sensor, be may be selected to be an induction assembly such as magnetic reed switch, radio-frequency communication device or audio control apparatus one of them, judge that whether movable device is near described charging electrode unit.For example, when using magnetic reed switch to carry out sensing, magnetic reed switch can be set on the service station, and one magnetisable material is set at movable device, when movable device near when the service station, magnetic reed switch can produce the sensing signal by the induction of magnetic force and give control module, and control module control charging electrode unit is sent.If when using the radio-frequency communication device to carry out sensing, radio frequency receiver can be set on the service station, radiofrequency launcher is set on movable device, when movable device when the service station, radio frequency receiver can receive the radio-frequency (RF) signal of being sent by movable device.If when being audio control apparatus, also be the operator scheme of similar aforesaid radio-frequency communication device, do not do at this and give unnecessary details.The purpose of aforementioned so-called charging confirmation unit is sent electric opportunity in order to confirm, therefore can have the mode of contactless or contact to reach, and relevant prior art is too numerous to enumerate, does not therefore exceed with aforesaid embodiment.
See also shown in Figure 11ly, described figure is a movable device schematic perspective view of the present invention.Described movable device 41, it is to have a receiving element 411 and an electrode 410, described receiving element 411, it is arranged in the housing 414 of described movable device 41, receive communication signal by the perforate 4140 on the housing 414, to move to described service station, in the present embodiment, described receiving element 411 is an infrared receiver.The allocation position of described movable device does not exceed with present embodiment.Described electrode 410 is arranged on the leading edge of movable device for the position that cooperates aforesaid charging electrode unit.One side of described receiving element 411 is provided with one and points to unit 412, and its purpose is to dwindle the communication signal scope that described receiving element 411 can receive, and then makes described movable device 2 more accurate to the straight line moving direction in service station.See also shown in Figure 12 A and Figure 12 B, described figure is the receiving element of movable device of the present invention and points to unit preferred embodiment schematic perspective view.In Figure 12 A, described sensing unit 412 has more: a pedestal 4120 and a slit 4121.Described pedestal 4120 is arranged on the front end of described receiving element 411.Described slit 4121, it is to be opened on the described pedestal 4120, described slit 4121 is corresponding with described receiving element 411, and the tolerable communication signal by and receive by described receiving element 411.The width of described slit 4121 is decided by demand.Figure 12 B is for pointing to another embodiment of unit, and described sensing unit 413 has more: a pedestal 4130 and a through hole 4131.Described pedestal 4130, it is arranged on the front end of described receiving element 411.Described through hole 4131, it is to be opened on the described pedestal 4130, the aperture position of described through hole 4131 is corresponding with described receiving element 411.
See also shown in Figure 13 A and Figure 13 B, described figure is the receiving element configuration schematic diagram of movable device of the present invention.The configuration of described receiving element 411 of the present invention can have multiple embodiment.In a preferred embodiment, as shown in FIG. 13A, described receiving element 411, usually be installed on the symmetrical center line 91 of movable device 41 or to move forward and backward the center of direction online, to point to pointing direction (the open centre line direction of slit or through hole) the centering adjustment line 91 of unit 412 then installs, when movable device 41 must return the station charging, the also heat homing signal of search services station emission that rotatablely moves by the original place, through the control module of movable device 41 inside judge with accurately aim at the service station direction after, movable device 41 gets final product linear fashion and moves towards the service station.Except the configuration of Figure 13 A, also can use configuration as Figure 13 B, described receiving element 411 is configured in any position on movable device 41 housings, as long as the prior angle theta that writes down described receiving element 411 and movable device center line 91 or move forward and backward direction, after the direction that detects maximum communication signal, get final product the angle that revisal departs from by rotational motion 92, described movable device 41 is moved towards the service station straight line.
Only the above person only is preferred embodiment of the present invention, when can not with the restriction scope of the invention.Promptly the equalization of doing according to claim of the present invention generally changes and modifies, and will not lose main idea of the present invention place, does not also break away from the spirit and scope of the present invention, and the former capital should be considered as further enforcement situation of the present invention.For example: do explanation though the present invention charges with suction cleaner, in fact utilize method of the present invention can be applied in the various different occasions, movable device is got back to the application that service is accepted in the service station, therefore is not charged as restriction with the power station that recharges that the present invention was lifted.
Comprehensively above-mentioned, movable device provided by the invention returns the method in service station and uses in the movable device service system of described method, and described method can make movable device get back to the service station efficiently and accept service; And described system can provide the high communications zone of coverage rate and get back to the service station at any angle regardless of movable device, the advantage that can serve movable device, and can be applied in different occasions, therefore can satisfy the demand of industry, and then improve the competitive power of described industry and drive arround the development of industry, really met the required important document that possesses of patent of invention method defined application invention, so be the application of putting forward patent of invention in accordance with the law.
Claims (20)
1. method that movable device goes back to the service station, it is characterized in that: it includes the following step:
The communication signal that one movable device search is sent by a service station;
When receiving described communication signal, described movable device utilizes spinning movement to find the direction of described communication signal maximum;
According to the direction of described communication signal maximum, described movable device is moved to described service station; And
One of them comes the described movable device of sensing whether to arrive at described service station with contact or non-contacting mode in selection, if arrive at then described service station provides service to described movable device.
2. movable device as claimed in claim 1 returns the method in service station, it is characterized in that: the mode that described movable device is searched described communication signal be described movable device in moving, dynamically search described communication signal, the rotation of described movable device original place with the composition of searching described communication signal and aforementioned manner one of them.
3. movable device as claimed in claim 1 returns the method in service station, it is characterized in that: described service station is a charging station, and described charging station also has a charging electrode unit.
4. movable device as claimed in claim 1 returns the method in service station, it is characterized in that: movable device also includes the step of carrying out mobile affirmation program in the process that move in described service station, it is to include the following step:
Confirm the intensity of described communication signal; And
If described communication signal intensity is unreasonable, described movable device then carries out the orientation correction.
5. movable device as claimed in claim 4 returns the method in service station, it is characterized in that: the mode of described orientation correction is that described movable device is swung in an angular range.
6. movable device as claimed in claim 1 returns the method in service station, it is characterized in that: movable device also includes the step of carrying out mobile affirmation program in the process that move in described service station, and described mobile affirmation program also includes the following step:
Confirm whether to touch barrier; And
If touch barrier, then avoid the action of described barrier.
7. movable device as claimed in claim 1 returns the method in service station, it is characterized in that: movable device also includes the step of carrying out mobile affirmation program in the process that move in described service station, and described mobile affirmation program also includes the following step:
Confirm distance with described service station; And
If with the distance in service station less than setting value, then carry out the straight line retarded motion.
8. movable device as claimed in claim 7 returns the method in service station, it is characterized in that: confirm with the mode of the distance in described service station for judge the distance with described service station according to the intensity of described communication signal.
9. movable device service system, it is characterized in that: it comprises:
At least one service station;
At least one signal transmitter array, it is to be separately positioned at least one side in described at least one service station, described side be a plane, a cambered surface and aforesaid composition one of them, described signal transmitter array, it is made of a plurality of transmitter, and described signal transmitter array relies on the emission communication signal to go out a communication context with construction;
One movable device, each movable device have a receiving element and an electrode, and described receiving element can receive communication signal in described communication context, to move to described service station; And
At least one charging electrode unit, it is to be separately positioned on described at least one service station, where position in office, described at least one charging electrode unit electrically connects with the electrode of the movable device that enters into described service station, with to the service of charging of described movable device.
10. movable device service system as claimed in claim 9 is characterized in that: described transmitter is an infrared transmitter.
11. movable device service system as claimed in claim 9 is characterized in that: described service station also comprises:
One control module; And
At least one charging confirmation unit, it is to electrically connect with described control module, described charging confirmation unit produces a sensing signal and gives described control module, makes described control module control described charging electrode unit and send.
12. movable device service system as claimed in claim 11, it is characterized in that: described charging confirmation unit confirms the position of described charging electrode unit is to judge whether described movable device contacts with described charging electrode unit, and described charging confirmation unit also includes:
One displacement mechanism, it is to be connected with described charging electrode unit, described displacement mechanism provides described charging electrode unit to reply the required restoring force in position; And
One displacement transducer, it is to electrically connect with described control module, the position of the described charging electrode of described displacement transducer sensing unit and then transmission sensing signal are given described control module.
13. movable device service system as claimed in claim 12 is characterized in that: described displacement mechanism also has:
One pedestal;
One elastic body, it is to be set on the described pedestal; And
One moving part, it is to be connected with described charging electrode unit, described moving part leans with an end face and described elastic body.
14. movable device service system as claimed in claim 11, it is characterized in that: described charging confirmation unit is a non-contact sensor, with the described movable device of sensing whether near described charging electrode unit, described non-contact sensor, be a magnetic reed switch, radio-frequency communication device and audio control apparatus one of them, judge that movable device is whether near described charging electrode unit.
15. movable device service system as claimed in claim 9 is characterized in that: also have a cambered surface on the side in described service station, described charging electrode unit is that the curvature along described cambered surface is arranged on the described cambered surface.
16. movable device service system as claimed in claim 9 is characterized in that: described electrode is arranged on the housing end face edge of described movable device and is positioned at the symmetrical center line of described movable device.
17. movable device service system as claimed in claim 9, it is characterized in that: described service station also has a recess, provide ccontaining described movable device to contain an one of electrode, described charging electrode unit be along the opening of described recess select to be arranged on described recess the bottom surface, be arranged on the end face of described recess and be arranged on the end face of described recess and the bottom surface on one of them.
18. movable device service system as claimed in claim 9 is characterized in that: the front side of described receiving element also is provided with one and points to the unit, and to limit the scope that described receiving element receives communication signal, described sensing unit also has:
One pedestal, it is arranged on the front end of described receiving element; And
One through hole, it is to be opened on the described pedestal, the aperture position of described through hole is corresponding with described receiving element.
19. movable device service system as claimed in claim 9 is characterized in that: the front side of described receiving element also is provided with one and points to the unit, and to limit the scope that described receiving element receives communication signal, described sensing unit also has:
One pedestal, it is arranged on the front end of described receiving element; And
One slit, it is to be opened on the described pedestal, described slit is corresponding with described receiving element.
20. movable device service system as claimed in claim 9 is characterized in that: described receiving element is arranged on the symmetrical center line of described movable device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2006101703616A CN101211186B (en) | 2006-12-29 | 2006-12-29 | Method for mobile device returning to service station and mobile device service system |
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| CN2006101703616A CN101211186B (en) | 2006-12-29 | 2006-12-29 | Method for mobile device returning to service station and mobile device service system |
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| CN101211186A true CN101211186A (en) | 2008-07-02 |
| CN101211186B CN101211186B (en) | 2010-12-08 |
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| CN1751650A (en) * | 2005-09-22 | 2006-03-29 | 浙江大学 | Charging device for automatic vacuum cleaner, and connecting method therefor |
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