CN102087529A - Movable device and control method thereof - Google Patents
Movable device and control method thereof Download PDFInfo
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- CN102087529A CN102087529A CN2009102531767A CN200910253176A CN102087529A CN 102087529 A CN102087529 A CN 102087529A CN 2009102531767 A CN2009102531767 A CN 2009102531767A CN 200910253176 A CN200910253176 A CN 200910253176A CN 102087529 A CN102087529 A CN 102087529A
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Abstract
The invention relates to a movable device and a control method thereof. A first receiving device receives rays from a base station to acquire the direction pointing to the base station from an initial position of the movable device and the direction is used as a target direction; a driving device drives the movable device to move towards the target direction from the initial position; when the movable device meets a first barrier in the target direction within a target area, a second receiving device acquires distance between the movable device and the base station according to the rays and the distance is used as intermediate distance; if a judging device judges that the intermediate distance is not equal to preset distance, the driving device drives the movable device to bypass the first barrier and move towards the target direction; and if the judging device judges that the intermediate distance is equal to the preset distance, the driving device judges that the first barrier is the base station and the driving device stops near the first barrier.
Description
Technical field
The present invention relates to a kind of mobile device, particularly relate to mobile device that can return the base station and the control method of returning the base station thereof.
Background technology
In recent years, the robot device is widely used in the human habitat, and the robot device for example sweeps the floor.Present sweeps the floor robot when finishing the task of sweeping the floor or power shortage, need turn back to bus stop and berth or charge.
At present, under a kind of pattern of returning bus stop, when the robot of sweeping the floor will move or return bus stop, the robot of sweeping the floor removed to seek coded signal that bus stop sent with the identification bus stop with distance metope certain distance and along the wall walking.When the machine people detection of sweeping the floor arrives this coded signal, then change bus stop over to berth or to charge with AD HOC.During robot does not detect bus stop and sent if sweep the floor coded signal, the robot of sweeping the floor this moment can remove to seek coded signal around a circle usually aimlessly or along wall again, till detecting coded signal and successfully returning bus stop.
The pattern that another kind returns bus stop is, the robot of sweeping the floor can arrive along ray that bus stop sent earlier near the bus stop, the distance and the position of object arround detecting by range-measurement infrared or ultrasonic again.Yet range-measurement infrared or ultrasonic can only provide object distance and the position that is detected, but can't confirm whether this object is bus stop, and therefore need detect the coded signal that is sent by bus stop again discerns bus stop.Could return smoothly by duplicate detection object and identification bus stop.
The above-mentioned existing bus stop method of returning, the robot of sweeping the floor need spend the more time to go to seek and the identification bus stop, learns that the position of bus stop and direction are back to bus stop.
Therefore, expectation provide a kind of mobile device and control method thereof, phase can make mobile device faster return the base station.
Summary of the invention
The invention provides a kind of control method, be applicable to a mobile device, may further comprise the steps: receive ray from the base station; The direction that obtains according to ray to point to the base station by the reference position at mobile device place is with as target direction; Mobile device is moved towards target direction by reference position; The objective definition zone wherein, when mobile device is positioned at the target area, can obtain distance between mobile device and the base station according to ray; Be positioned on the target direction and during first barrier when mobile device runs into, obtain between mobile device and the base station distance with as intermediate distance according to ray in the target area; Judge whether intermediate distance equals predeterminable range; If intermediate distance is not equal to predeterminable range, makes mobile device walk around first barrier and continue the head for target direction and move; And, judge that then first barrier is the base station and makes mobile device rest against first barrier if intermediate distance equals predeterminable range.
The present invention also provides a kind of mobile device, comprises first receiving device, second receiving trap, drive unit and judgment means.First receiving device receives the ray from the base station.The direction that first receiving device obtains according to ray to point to the base station by the reference position at mobile device place is with as target direction.Drive unit drives mobile device and is moved towards target direction by reference position.Second receiving trap receives ray.Be positioned on the target direction and during first barrier in the target area when mobile device runs into, second receiving trap obtains distance between mobile device and the base station with as intermediate distance according to ray.Judgment means judges whether intermediate distance equals a predeterminable range.Be not equal to predeterminable range if judgment means is judged intermediate distance, drive unit driving mobile device is walked around first barrier and is continued the head for target direction and moves.Equal predeterminable range if judgment means is judged intermediate distance, drive unit judges that first barrier is the base station and the driving mobile device rests against first barrier.
Description of drawings
Figure 1A and Figure 1B represent the mobile device according to the embodiment of the invention;
Fig. 2 is explanation obtains target direction when mobile device is positioned at the target area a operation chart;
Fig. 3 is the operation chart that explanation obtains target range;
Fig. 4 is the operation chart that obtains target direction when illustrating outside mobile device is positioned at the target area;
Fig. 5 is the synoptic diagram that the explanation mobile device runs into the barrier in the target area;
Fig. 6 is the synoptic diagram that the explanation mobile device runs into the barrier outside the target area; And
Fig. 7 A and Fig. 7 B represent the control method according to the embodiment of the invention.
The reference numeral explanation
1～mobile device;
2～base station;
10A, 10B～first receiving device;
11～the second receiving traps;
12～drive unit;
13～judgment means;
14～supervising device;
20～light source;
OA～target area;
OB1, OB2～barrier.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, a preferred embodiment cited below particularly, and be described with reference to the accompanying drawings as follows.
Figure 1A represents the mobile device according to the embodiment of the invention.Consult Figure 1A, mobile device 1 can be the movable machine people, the robot of for example sweeping the floor, and it can arbitrarily move or move according to pre-determined route, and can be in finishing the work or returning base station 2 during power shortage and berth or charge.Consult Figure 1A and Figure 1B, mobile device 1 comprises at least one first receiving device 10, second receiving trap 11, drive unit 12 and a judgment means 13.In the embodiment of Figure 1A and Figure 1B, be to be that example illustrates with two first receiving device 10A and 10B.First receiving device 10A and 10B and second receiving trap 11 all receive the ray from the light source 20 of base station 2.This light source can be launched infrared ray, and realizes with infrared light emitting diode.Though first receiving device 10A and 10B and second receiving trap 11 all receive the ray from light source 20, but, make acquisition of the first receiving device and second receiving trap and the ray of analyzing have different characteristics and composition because the first receiving device and second receiving trap have different camera lenses.
First receiving device 10A and 10B acquisition are stated from the ray and are used for discerning the coded signal of base station 20 identity.When any in the rotation of mobile device 1 original place makes first receiving device 10A and 10B received from the ray of light source 20, this first receiving device was then discerned the status of base station 20 according to this coded signal.Consulting Fig. 2, in this embodiment, is that the ray that receives from light source 20 with first receiving device 10A is that example illustrates.At this moment, the first receiving device 10A that identifies base station 20 identity can obtain to be pointed to by the reference position at mobile device 10 current places the target direction of base station 20.12 driving mobile devices 1 of drive unit by reference position towards target direction D
IRMove.
Second receiving trap 11 also receives the ray from light source 20.Consult Figure 1B, second receiving trap 11 has forms 110, and it stores a plurality of distance values, the corresponding voltage value of each distance values.Consult Fig. 3, in the time of in mobile device 1 enters into target area OA, the ray that the rotation of mobile device 1 original place receives from light source 20 second receiving trap 11, at this moment, second receiving trap 11 can obtain one according to this ray and detect voltage value, comes forms 110 are tabled look-up according to this detection voltage value this moment to obtain distance D between mobile device 1 and the base station 20
ISIn the embodiments of figure 3, distance D
ISBe meant the minor increment of second receiving trap 11 with the light source 20 of mobile device 1.
In embodiments of the present invention, " mobile device 1 enter into target area OA in " is to be that example illustrates with mobile device 1 whole entering in the OA of target area.In other embodiments, " mobile device 1 enters in the OA of target area " can represent that the center of mobile device 1 enters in the OA of target area, or second receiver 11 of mobile device 1 enters to target area OA.
In the embodiments of figure 3, second receiving trap 11 just can obtain distance between mobile device 1 and the base station 20 according to the ray from light source 20 at target area OA, yet first receiving device 10A and 10B are not subject to target area OA.First receiving device 10A and 10B also can obtain to be pointed to by the position at mobile device 10 current places the direction of base station 20 according to the coded signal that is stated from ray outside the OA of target area.In the embodiment of Fig. 2, be that it is that example illustrates that first receiving device 10A obtains reference position with when the OA of mobile device 1 target approach zone.Yet, in other embodiments, as shown in Figure 4, outside mobile device 1 is positioned at target area OA when (being that reference position is positioned at outside the OA of target area), first receiving device 10A or 10B still can obtain to be pointed to by the position at mobile device 10 current places the direction of base station 20 according to the coded signal that is stated from ray, with as target direction.Up to mobile device 1 before this target direction and then when entering to target area OA, second receiving trap 11 just obtains distance between mobile device 1 and the base station 20 according to the ray from light source 20.
Consult Fig. 3 and Fig. 5, suppose that mobile device 1 moves towards target direction and moves in the OA of target area and when running into the barrier OB1 that is positioned on the target direction, second receiving trap 11 obtains one according to the ray from light source 20 and detects voltage value, and second receiving trap 11 came forms 110 are tabled look-up according to this detection voltage value again and can obtain distance (being called intermediate distance) between mobile device 1 and the base station 2 this moment.Then, judgment means 13 judges whether this intermediate distance equals a predeterminable range, and wherein, this predeterminable range has fixed value.When judgment means 13 was judged this intermediate distance and is not equal to this predeterminable range, drive unit 12 drove mobile devices 1 cut-through thing OB1 and continues the head for target direction and moves, till running into base station 2.When device 13 was judged this intermediate distance and equaled predeterminable range, 12 disturbance in judgement things of drive unit OB1 was base station 2 and drives mobile device 1 and rests against barrier OB1.
In the above-described embodiments, predeterminable range is the distance that is defined as when mobile device 1 runs into base station 2 between the two.For instance, when the surface of mobile device 1 touches base station 2 surperficial, or move to quite near the position of base station 2 but the surface of mobile device 1 when not touching base station 2 when mobile device 1, the minor increment that second receiving trap 11 of mobile device 1 and the light source of base station 2 are 20 is as predeterminable range.
In other embodiments, second receiving trap 11 to the table look-up distance of gained of forms 110, can be the distance between the mass centre of the mass centre of mobile device 1 and base station 2 according to this detection voltage value.In the case, when the surface of mobile device 1 touches base station 2 surperficial, or move to quite near the position of base station 2 but the surface of mobile device 1 when not touching base station 2 when mobile device 1, the distance between the mass centre of the mass centre of mobile device 1 and base station 2 is then as predeterminable range.
Suppose that mobile device 1 is to be positioned at target area OA outer (be reference position is positioned at target area OA outer) and to obtain target direction by first receiving device 10A or 10B.Consult Fig. 4 and Fig. 6, mobile device 1 move towards target direction during, mobile device 1 runs into and is positioned on the target direction and the barrier OB2 of OA outside the target area.This moment, mobile device 1 direct cut-through thing OB2 and lasting head for target direction moved.
Consult Figure 1B, mobile device also comprises supervising device 14.Supervising device 14 is used for monitoring mobile device 1, and whether the head for target direction moves.When moved an offset direction, 12 driving mobile devices 1 of drive unit go back to target direction by the offset direction and the head for target direction continues to move if supervising device 14 monitors that mobile device 1 departs from objectives direction.
In the embodiment of Figure 1A and Figure 1B, the camera lens of second receiving trap 11 is the omnidirectional type camera lens, and therefore, as long as mobile device 1 enters into the zone that ray covered from light source 20, second receiving trap 11 just can receive this ray.
Fig. 7 A represents the control method according to the embodiment of the invention, is applicable to the mobile device 1 of Figure 1A.Illustrate below with reference to Figure 1A and Figure 1B.At first, receive ray (step S70) by first receiving device 10A or 10B (following is that example illustrates with first receiving device 10A) from the light source 20 of base station 2.First receiving device 10A obtains to be pointed to by the reference position at mobile device 1 place the target direction (step S71) of base station 2 according to ray.Drive unit 12 drives mobile device 1 and moves (step S72) by reference position towards target direction.Define a target area (step S73).When mobile device is positioned at the target area, can obtain distance between mobile device 1 and the base station 2 according to ray.Be positioned on the target direction and during the barrier in the target area when mobile device 1 runs into, second receiving trap 11 obtains distance between mobile device 1 and the barrier with as intermediate distance (step S74) according to the ray from light source 20.13 of judgment means judge whether this intermediate distance equals a predeterminable range (step S75).Be not equal to predeterminable range if judgment means 13 is judged this intermediate distance, drive unit 12 makes mobile device 1 walk around this barrier and continues the head for target direction and moves (step S76).Equal predeterminable range if judgment means 13 is judged this intermediate distance, then drive unit judges that this barrier is base station 2 and makes mobile device 1 rest against this barrier (step S77).
In the method flow of Fig. 7 A, the step S73 in objective definition zone can in before the step S70, carry out between the step S70 to S71 or between the step S71 to S72, not after step S72, to exceed.In addition, in the control method of Fig. 7, the reference position of mobile device 1 can be positioned at outside the target area or within.
If the reference position of mobile device 1 is positioned at outside the target area.Consult Fig. 7 B, when mobile device 1 ran into a barrier that is positioned on the target direction and outside the target area, 12 driving mobile devices of drive unit were walked around this barrier and are continued the head for target direction and move (step S78).
According to above-mentioned mobile device 1 and control method thereof, mobile device 1 can obtain the direction and the position of base station 2 more quickly under the situation of no figure money.When the power supply of mobile device 1 is not enough, can returns base station 2 in real time and not have.
Though the present invention discloses as above with preferred embodiment; so it is not in order to limit scope of the present invention; those skilled in the art can do some changes and retouching under the premise without departing from the spirit and scope of the present invention, so protection scope of the present invention is as the criterion with claim of the present invention.
Claims (14)
1. a control method is applicable to a mobile device, comprising:
Reception is from a ray of a base station;
The direction that obtains according to this ray to point to this base station by an initial position at this mobile device place is with as a target direction;
This mobile device is moved towards this target direction by this reference position;
Define a target area, wherein, when this mobile device is positioned at this target area, can obtain distance between this mobile device and this base station according to this ray;
Be positioned on this target direction and during one first barrier when this mobile device runs into, obtain between this mobile device and this base station distance with as an intermediate distance according to this ray in this target area;
Judge whether this intermediate distance equals a predeterminable range;
If this intermediate distance is not equal to this predeterminable range, makes this mobile device walk around this first barrier and continue and move towards this target direction; And
If this intermediate distance equals this predeterminable range, judge that then this first barrier is this base station and makes this mobile device rest against this first barrier.
2. control method as claimed in claim 1, wherein, this reference position is positioned at outside this target area.
3. control method as claimed in claim 2 also comprises:
When this mobile device runs into one second barrier that is positioned on this target direction and outside this target area, make this mobile device walk around this second barrier and continue and move towards this target direction.
4. control method as claimed in claim 1, wherein, this reference position is positioned at this target area.
5. control method as claimed in claim 1, wherein, in this step that obtains this target direction, this target direction is to obtain according to a coded signal that is stated from this ray, and this coded signal is the customer identification about this base station.
6. control method as claimed in claim 1 also comprises:
Whether monitor this mobile device moves towards this target direction; And
, this mobile device is gone back to by this offset direction and move when move an offset direction if this mobile device departs from this target direction towards this target direction.
7. control method as claimed in claim 1, wherein, this predeterminable range is to define according to the distance between this mobile device when this mobile device runs into this base station and this base station.
8. mobile device comprises:
One first receiving device, in order to receive the ray from a base station, wherein, the direction that this first receiving device obtains according to this ray to point to this base station by an initial position at this mobile device place is with as a target direction;
One drive unit is moved towards this target direction by this reference position in order to drive this mobile device;
One second receiving trap, in order to receive this ray, wherein, be positioned on this target direction and during one first barrier in a target area when this mobile device runs into, this second receiving trap obtains distance between this mobile device and this base station with as an intermediate distance according to this ray; And
Whether one judgment means equals a predeterminable range in order to judge this intermediate distance;
Wherein, be not equal to this predeterminable range if this judgment means is judged this intermediate distance, this drive unit drives this mobile device and walks around this first barrier and continue and move towards this target direction; And
Wherein, equal this predeterminable range if this judgment means is judged this intermediate distance, this drive unit is judged that this first barrier is this base station and drives this mobile device and is rested against this first barrier.
9. mobile device as claimed in claim 8, wherein, this reference position is positioned at outside this target area.
10. mobile device as claimed in claim 9, wherein, when this mobile device ran into one second barrier that is positioned on this target direction and outside this target area, this drive unit drove this mobile device and walks around this second barrier and continue and move towards this target direction.
11. mobile device as claimed in claim 8, wherein, this reference position is positioned at this target area.
12. mobile device as claimed in claim 8, wherein, this first receiving device is to obtain this target direction according to a coded signal that is stated from this ray, and this coded signal is the customer identification about this base station.
13. mobile device as claimed in claim 8 also comprises:
Whether one supervising device moves towards this target direction in order to monitor this mobile device;
Wherein, when moved an offset direction, this drive unit drove this mobile device and is gone back to by this offset direction and move towards this target direction if this supervising device monitors that this mobile device departs from this target direction.
14. mobile device as claimed in claim 8, wherein, this predeterminable range is to define according to the distance between this mobile device when this mobile device runs into this base station and this base station.
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| CN200910253176.7A CN102087529B (en) | 2009-12-04 | 2009-12-04 | Movable device and control method thereof |
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| CN200910253176.7A CN102087529B (en) | 2009-12-04 | 2009-12-04 | Movable device and control method thereof |
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| CN103284662A (en) * | 2012-03-02 | 2013-09-11 | 恩斯迈电子(深圳)有限公司 | Cleaning system and control method thereof |
| CN103507067A (en) * | 2012-06-15 | 2014-01-15 | 华硕电脑股份有限公司 | Robot device and method for guiding robot to return base station |
| CN104765379A (en) * | 2014-11-11 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Method for robot to look for recharge base in enclosed work area and robot system |
| CN105917284A (en) * | 2014-02-25 | 2016-08-31 | 阿尔弗雷德·凯驰两合公司 | Method for docking a floor treatment device to a base station, and floor treatment system |
| CN106537273A (en) * | 2014-07-29 | 2017-03-22 | 库卡罗伯特有限公司 | Driverless transport vehicle and method for operating a driverless transport vehicle |
| CN111000498A (en) * | 2019-12-23 | 2020-04-14 | 深圳市无限动力发展有限公司 | Sweeping robot, and method, device and storage medium for setting sweeping area of sweeping robot |
| CN112083728A (en) * | 2020-09-09 | 2020-12-15 | 上海擎朗智能科技有限公司 | Parking method, device, equipment and storage medium for driving equipment |
| CN112256011A (en) * | 2019-07-05 | 2021-01-22 | 苏州宝时得电动工具有限公司 | Regression guiding method, regression guiding device, mobile robot, and storage medium |
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| KR100749016B1 (en) * | 1999-10-19 | 2007-08-14 | 아메리칸 캘카어 인코포레이티드 | Technique for effective navigation based on user preferences |
| KR101323597B1 (en) * | 2005-09-02 | 2013-11-01 | 니토 로보틱스 인코퍼레이티드 | Multi-function robotic device |
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| CN103284662A (en) * | 2012-03-02 | 2013-09-11 | 恩斯迈电子(深圳)有限公司 | Cleaning system and control method thereof |
| CN103284662B (en) * | 2012-03-02 | 2016-09-21 | 恩斯迈电子(深圳)有限公司 | Cleaning system and control method thereof |
| CN103507067A (en) * | 2012-06-15 | 2014-01-15 | 华硕电脑股份有限公司 | Robot device and method for guiding robot to return base station |
| CN103507067B (en) * | 2012-06-15 | 2016-01-20 | 华硕电脑股份有限公司 | Robot device and guiding robot return the method for base station |
| CN105917284B (en) * | 2014-02-25 | 2019-06-04 | 阿尔弗雷德·卡赫欧洲两合公司 | The method and Ground Processing System docked for ground processing equipment with base station |
| CN105917284A (en) * | 2014-02-25 | 2016-08-31 | 阿尔弗雷德·凯驰两合公司 | Method for docking a floor treatment device to a base station, and floor treatment system |
| CN106537273A (en) * | 2014-07-29 | 2017-03-22 | 库卡罗伯特有限公司 | Driverless transport vehicle and method for operating a driverless transport vehicle |
| CN104765379A (en) * | 2014-11-11 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Method for robot to look for recharge base in enclosed work area and robot system |
| CN112256011A (en) * | 2019-07-05 | 2021-01-22 | 苏州宝时得电动工具有限公司 | Regression guiding method, regression guiding device, mobile robot, and storage medium |
| CN112256011B (en) * | 2019-07-05 | 2022-05-17 | 苏州宝时得电动工具有限公司 | Regression guiding method, regression guiding device, mobile robot, and storage medium |
| CN111000498A (en) * | 2019-12-23 | 2020-04-14 | 深圳市无限动力发展有限公司 | Sweeping robot, and method, device and storage medium for setting sweeping area of sweeping robot |
| CN111000498B (en) * | 2019-12-23 | 2021-10-08 | 深圳市无限动力发展有限公司 | Sweeping robot, and method, device and storage medium for setting sweeping area of sweeping robot |
| CN112083728A (en) * | 2020-09-09 | 2020-12-15 | 上海擎朗智能科技有限公司 | Parking method, device, equipment and storage medium for driving equipment |
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| CN102087529B (en) | 2015-03-25 |
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