CN102346480A - Movable electronic device - Google Patents
Movable electronic device Download PDFInfo
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- CN102346480A CN102346480A CN2010102418697A CN201010241869A CN102346480A CN 102346480 A CN102346480 A CN 102346480A CN 2010102418697 A CN2010102418697 A CN 2010102418697A CN 201010241869 A CN201010241869 A CN 201010241869A CN 102346480 A CN102346480 A CN 102346480A
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- control module
- magnetic field
- mobile unit
- electronic installation
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Abstract
The invention relates to a movable electronic device, which comprises a movable unit, a displacement sensor, a magnetic sensor and a control unit, wherein when the magnetic sensor is disturbed, the control unit drives the movable unit according to a detection result of the displacement sensor; and when the magnetic sensor is not disturbed, the control unit drives the movable unit according to a detection result of the magnetic sensor.
Description
Technical field
The present invention relates to a kind of electronic installation, particularly relate to a kind of movably electronic installation.
Background technology
Along with the progress of science and technology, the more diversification of function of sensor (sensor), size is also more and more little.The applicable aspect of sensor is quite extensive.If when being applied to sensor in the electronic installation, then can make electronic installation hommization more.
For example, if when being applied to hot end instrument in the electronic installation, then when temperature is higher than a preset value, just closing closing electronic device automatically, or send an alerting.Therefore, can avoid the damage of electronic installation.
Summary of the invention
The present invention provides a kind of movably electronic installation, comprises a mobile unit, a displacement sensing device, a magnetic sensor and a control module.The displacement sensing device detects the distance that mobile unit moved, in order to produce a displacement information.Magnetic field around the magnetic sensor testing environment is in order to produce a Magnetic Field.When the magnetic sensor was interfered, control module drove mobile unit according to displacement information.When the magnetic sensor was not interfered, control module drove mobile unit according to Magnetic Field.
For making the features and advantages of the present invention can be more obviously understandable, hereinafter the spy enumerates preferred embodiment, and is described with reference to the accompanying drawings as follows.
Description of drawings
Fig. 1 is that one of electronic installation of the present invention maybe embodiment.
Fig. 2 is that one of electronic installation of the present invention maybe walking path.
Fig. 3 is that one of manner of comparison of the present invention maybe embodiment.
Fig. 4 is another possibility embodiment of electronic installation of the present invention.
Fig. 5 is another possibility embodiment that judges whether the magnetic sensor is interfered of the present invention.
The reference numeral explanation
100,300: electronic installation;
110,310: mobile unit;
130,330: control module;
150,350: the displacement sensing device;
170,370: the magnetic sensor;
201～203: interfering material;
390: the distance sensing device.
Embodiment
Fig. 1 is that one of electronic installation of the present invention maybe embodiment.As shown in the figure, electronic installation 100 comprises mobile unit 110, control module 130, displacement sensing device (Displacement sensor) 150 and magnetic sensor (magnetic sensor) 170.
By the action of mobile unit 110, electronic installation 100 is moved toward any direction.The present invention does not limit the kind of mobile unit 110.In a possibility embodiment, mobile unit 110 has at least one roller (roller).In addition, electronic installation 100 can be learnt displacement and the direction of itself according to control module 130, displacement sensing device 150 and magnetic sensor 170.
In a possibility embodiment, when mobile unit 110 moved, displacement sensing device 150 and magnetic sensor 170 provided displacement information Inf respectively
DAnd Magnetic Field Inf
MIn the present embodiment, displacement sensing device 150 provides displacement information Inf according to the distance that mobile unit 110 is moved
D Magnetic sensor 170 provides Magnetic Field Inf according to the magnetic field of environment
M
The present invention does not limit the kind of displacement sensor 150 and magnetic sensor 170.In a possibility embodiment, displacement sensing device 150 is an odometer (odometer), and magnetic sensor 170 is an electronic compass (compass), but is not in order to restriction the present invention.
When magnetic sensor 170 receives the interference of environmental magnetic field, the displacement information Inf that control module 130 is produced according to displacement sensing device 150
D, drive mobile unit 110.When magnetic sensor 170 does not receive the interference of environmental magnetic field, the Magnetic Field Inf that control module 130 is produced according to magnetic sensor 170
M, drive mobile unit 110.
In a possibility embodiment, when magnetic sensor 170 does not receive the interference of environmental magnetic field, the Magnetic Field Inf that control module 130 is produced according to magnetic sensor 170
M, upgrade the displacement information Inf that displacement sensor 150 is produced
D
Fig. 2 is that one of electronic installation of the present invention maybe walking path.The walking path of symbol 200 expression electronic installations 100.As shown in the figure, because position Pose2 has interfering material 201 and 202, so the Magnetic Field Inf that magnetic sensor 170 is produced
MThe influence of material 201 and 202 can be interfered.Therefore, during Pose2, need the displacement information Inf that is produced with displacement sensing device 150 in the position
D, the direct of travel of control electronic installation 100.Likewise, because position Pose4 has interfering material 203, so in the position during Pose4, the displacement information Inf that need are produced with displacement sensing device 150
D, the direct of travel of control electronic installation 100.
In Fig. 2, because position Pos1, Pose3 and Pose5 do not have interfering material, therefore Pos1, Pose3 and Pose5 place in the position are the Magnetic Field Inf that is produced with magnetic sensor 170
M, the direct of travel of control electronic installation 100.
The present invention does not limit how to judge whether magnetic sensor 170 is interfered.In a possibility embodiment, control module 130 can be according to Magnetic Field Inf
M, learn one towards angle, again according to judging whether magnetic sensor 170 is interfered towards the angle.For example, when towards angle during greater than a predetermined angle, control module 130 is according to displacement information Inf
D, drive mobile unit 110.When towards angle during less than predetermined angle, control module 130 is according to Magnetic Field Inf
M, drive mobile unit 110.
In another possibility embodiment, magnetic sensor 170 detected results and an initial information can be made comparisons, wherein this initial information has a plurality of primary datas.The present invention does not limit the production method of this primary data.In a possibility embodiment, this primary data is preset in advance.In another possibility embodiment, this primary data is to be produced by magnetic sensor 170.In the present embodiment, control module 130 is according to Magnetic Field Inf
MAnd the relation between this primary data, decision is with displacement information Inf
DOr this Magnetic Field Inf
M, drive mobile unit 110.
For example, when magnetic sensor 170 detected results with this primary data any equate, represent that then magnetic sensor 170 possibly not receive the interference of environmental magnetic field.Therefore, the displacement information Inf that just produced of control module 130 according to displacement sensing device 150
D, drive mobile unit 110.On the contrary, when being not equal to any of this primary data, represent that then magnetic sensor 170 possibly receive the interference of environmental magnetic field as if magnetic sensor 170 detected results.Therefore, the Magnetic Field Inf that just produced of control module 130 according to magnetic sensor 170
M, drive mobile unit 110.
In order to improve accuracy, magnetic sensor 170 detected continuous a plurality of testing results and this primary data can be made comparisons.According to comparative result repeatedly, judge whether magnetic sensor 170 is interfered.The present invention does not limit manner of comparison.Fig. 3 is a possibility embodiment who judges whether magnetic sensor 170 is interfered of the present invention.
Please combine Fig. 1, at first, read the Magnetic Field Inf that magnetic sensor 170 is provided
MIn a primary importance data P
1, and judge primary importance data P
1-Whether equal any (step S210) in a plurality of primary datas.The present invention does not limit the producing method of this primary data.In a possibility embodiment, this primary data is preset in advance.In another possibility embodiment, this primary data is to be produced by magnetic sensor 170.To illustrate after a while how magnetic sensor 170 produces a plurality of primary datas.
If primary importance data P
1-When being not equal to any in this primary data, expression magnetic sensor 170 is interfered.Therefore, the displacement information Inf that produced according to displacement sensing device 150 of control module 130
D, drive mobile unit 110 (step S270).
On the contrary, if primary importance data P
1-When equaling any in this primary data, expression magnetic sensor 170 possibly not be interfered.Therefore, in the present embodiment, control module 130 reads the Magnetic Field Inf that magnetic sensor 170 is provided
MIn a second place data P
2, and judge second place data P
2-Whether equal any (step S230) in a plurality of primary datas, whether be not interfered in order to reaffirm magnetic sensor 170.
If second place data P
2-When being not equal to any of this initial information, expression magnetic sensor 170 is interfered.Therefore, the displacement information Inf that produced according to displacement sensing device 150 of control module 130
D, drive mobile unit 110 (step S270).
On the contrary, if second place data P
2-When equaling any of this initial information, control module 130 is judged primary importance data P
1And second place data P
2-Whether equate (step S250).If primary importance data P
1And second place data P
2-When unequal, expression magnetic sensor 170 is not interfered really.Therefore, the Magnetic Field Inf that produced according to magnetic sensor 170 of control module 130
MSecond place data P
2, drive mobile unit 110.
If primary importance data P
1With second place data P
2When equating, expression electronic installation 100 possibly not move as yet, thereby causes magnetic sensor 170 that identical position data is provided.Therefore, control module 110 reads and judges the Magnetic Field Inf that magnetic sensor 170 is provided
MIn one the 3rd position data P
3Whether equal this primary data any (step S230).
If the 3rd position data P
3When being not equal to any of this primary data, expression magnetic sensor 170 is interfered.Therefore, the displacement information Inf that produced according to displacement sensing device 150 of control module 130
D, drive mobile unit 110 (step S270).
In step S230, if the 3rd position data P
3When equaling any of this primary data, control module 130 is judged second place data P
2With the 3rd position data P
3Whether equate (step S250).If second place data P
2With the 3rd position data P
3When unequal, expression magnetic sensor 170 is not interfered.Therefore, control module 130 is according to the 3rd position data P
3, drive mobile unit 110 (step S290).
By the comparative approach that Fig. 3 showed, can confirm magnetic sensor 170 and whether be interfered.When magnetic sensor 170 is interfered, the displacement information Inf that is produced with displacement sensing device 150 then
D, drive mobile unit 110.Yet, when magnetic sensor 170 is not interfered, the Magnetic Field Inf that is produced with magnetic sensor 170
M, drive mobile unit 110.
Fig. 4 is another possibility embodiment of electronic installation of the present invention.Fig. 4 similar diagram 1, difference have been more than Fig. 4 distance sensing device 390.Distance sensing device 390 is in order to detecting barrier, and according to the distance between itself and the barrier, range information Inf is provided
P Control module 330 is according to range information Inf
P, control mobile unit 310.
Under an originate mode, control module 330 is according to according to range information Inf
P, control mobile unit 310 makes electronic installation 300 move to spacious place.Then, control module 330 drives mobile unit 310, makes electronic installation 300 original places revolve and turns around.At this moment, magnetic sensor 370 provides initial information Inf according to the magnetic field of environment
OInitial information Inf
OHave a plurality of primary data D
O1～D
OnPrimary data D
O1～D
OnThe magnetic field of expression diverse location.
In a possibility embodiment, control module 330 has a reservoir (not shown), in order to store initial information Inf
OA plurality of primary data D
O1～D
OnThen, under an operator scheme, electronic installation 300 begins to move.At this moment, displacement sensing device 350 and magnetic sensor 370 begin to detect, and wherein, the mobile status that displacement sensing device 350 detects mobile unit 310 produces displacement information Inf
D, and the magnetic field around magnetic sensor 370 testing environments, in order to produce a Magnetic Field Inf
M
In the present embodiment, control module 330 is with Magnetic Field Inf
MA plurality of position datas and primary data D
O1～D
OnCompare, and, learn whether magnetic sensor 370 is interfered according to comparative result.When magnetic sensor 370 is interfered, the displacement information Inf that produced with displacement sensing device 350 of control module 330 then
D, drive mobile unit 310.Yet, when magnetic sensor 370 is not interfered, the Magnetic Field Inf that control module 330 is produced with magnetic sensor 370
M, drive mobile unit 310.
Fig. 5 is another possibility embodiment that judges whether the magnetic sensor is interfered of the present invention.Fig. 5 similar diagram 3, difference be, Fig. 5 is many step S401 and S402.Step S401 and S402 are in order to produce a plurality of primary datas.In the present embodiment, a plurality of primary datas of Fig. 5 are to be produced by the magnetic sensor, and a plurality of primary datas of Fig. 3 are preset in advance.Because step S410～S490 of Fig. 5 is identical with step S210～S290 of Fig. 3, so repeat no more.
In the present embodiment, seek spacious place (step S401) earlier.The present invention does not limit the method for seeking spacious place.In a possibility embodiment, can utilize a distance sensing device, seek spacious place.The present invention does not limit the kind of distance sensing device.In certain embodiments, the distance sensing device can be, pinger (Sonar), laser transmitter (Laser), radar (Radar) or infrared transmitter (Infrared radiation).
After searching out spacious place, just can make electronic installation revolve turn around (step S402).In electronic installation rotation, the magnetic sensor is testing environment magnetic field constantly just, and the result after will detecting is as a plurality of primary datas.Because the interference at spacious place is minimum, so the testing result of magnetic sensor can be used as an initial information.
Under normal operation, electronic installation begins normal moving, and at this moment, the magnetic sensor also can begin testing environment magnetic field, and produces Magnetic Field.By comparing Magnetic Field and this primary data, can learn just whether the magnetic sensor is interfered.
Though the present invention discloses as above with preferred embodiment; Right its is not in order to limit 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 to be as the criterion with claim of the present invention.
Claims (11)
1. electronic installation movably comprises:
One mobile unit;
One displacement sensing device detects the distance that this mobile unit moves, in order to produce a displacement information;
Magnetic field around the one magnetic sensor, testing environment is in order to produce a Magnetic Field; And
One control module, when this magnetic sensor was interfered, this control module drove this mobile unit based on this displacement information, and when this magnetic sensor was not interfered, this control module drove this mobile unit based on this Magnetic Field.
2. movably electronic installation as claimed in claim 1, wherein this displacement sensing device is an odometer.
3. movably electronic installation as claimed in claim 1, wherein this magnetic sensor is an electronic compass.
4. movably electronic installation as claimed in claim 1, wherein this control module is replaced this displacement information according to this Magnetic Field.
5. movably electronic installation as claimed in claim 1; Wherein this control module is according to this Magnetic Field; Learn one towards angle; When this towards angle during greater than a predetermined angle; This control module drives this mobile unit according to this displacement information, when this towards angle during less than this predetermined angle; This control module drives this mobile unit according to this Magnetic Field.
6. movably electronic installation as claimed in claim 1; Wherein under an originate mode; This magnetic sensor is according to the magnetic field of environment; One initial information is provided; This initial information has a plurality of primary datas; This control module is according to the relation between this Magnetic Field and this initial information, and decision drives this mobile unit with this displacement information or this Magnetic Field.
7. movably electronic installation as claimed in claim 6, wherein when the primary importance data in this Magnetic Field were not equal to any in this primary data, this control module drove this mobile unit according to this displacement information.
8. movably electronic installation as claimed in claim 6; Wherein when these primary importance data equal any in this primary data; This control module judges whether the second place data in this Magnetic Field equal any of this initial information; When these second place data are not equal to any of this initial information; This control module drives this mobile unit according to this displacement information.
9. movably electronic installation as claimed in claim 8; Wherein when these second place data equal any of this initial information; This control module judges whether this first and second position data equates; When if this first and second position data is unequal; This control module drives this mobile unit according to these second place data.
10. movably electronic installation as claimed in claim 9; When wherein equating as if this first and second position data; This control module judges whether one the 3rd position data in this Magnetic Field equals any of this primary data; If when the 3rd position data is not equal to any of this primary data; This control module drives this mobile unit according to this displacement information.
11. movably electronic installation as claimed in claim 10; When wherein equaling any of this primary data as if the 3rd position data; This control module judges whether this second and third position data equates; When if this second and third position data is unequal; This control module drives this mobile unit according to the 3rd position data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102418697A CN102346480A (en) | 2010-08-02 | 2010-08-02 | Movable electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102418697A CN102346480A (en) | 2010-08-02 | 2010-08-02 | Movable electronic device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102346480A true CN102346480A (en) | 2012-02-08 |
Family
ID=45545233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102418697A Pending CN102346480A (en) | 2010-08-02 | 2010-08-02 | Movable electronic device |
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| Country | Link |
|---|---|
| CN (1) | CN102346480A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020030066A1 (en) * | 2018-08-08 | 2020-02-13 | 苏州宝时得电动工具有限公司 | Self-mobile device, automatic operating system and control method thereof |
| WO2021190514A1 (en) * | 2020-03-23 | 2021-09-30 | 苏州宝时得电动工具有限公司 | Automatic working system, self-moving device and control method therefor |
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| JPH04288605A (en) * | 1991-03-18 | 1992-10-13 | Toyota Motor Corp | Vehicle running position detector |
| CN1948910A (en) * | 2006-11-09 | 2007-04-18 | 复旦大学 | Combined positioning method and apparatus using GPS, gyroscope, speedometer |
| CN101049693A (en) * | 2006-04-04 | 2007-10-10 | 三星电子株式会社 | Control system, moving robot apparatus having the control system, and a control method thereof |
| US20090076727A1 (en) * | 2007-03-09 | 2009-03-19 | Lien Te Ti | Integrated positioning apparatus and implementation method thereof |
| CN101476891A (en) * | 2008-01-02 | 2009-07-08 | 丘玓 | Accurate navigation system and method for movable object |
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2010
- 2010-08-02 CN CN2010102418697A patent/CN102346480A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04288605A (en) * | 1991-03-18 | 1992-10-13 | Toyota Motor Corp | Vehicle running position detector |
| CN101049693A (en) * | 2006-04-04 | 2007-10-10 | 三星电子株式会社 | Control system, moving robot apparatus having the control system, and a control method thereof |
| CN1948910A (en) * | 2006-11-09 | 2007-04-18 | 复旦大学 | Combined positioning method and apparatus using GPS, gyroscope, speedometer |
| US20090076727A1 (en) * | 2007-03-09 | 2009-03-19 | Lien Te Ti | Integrated positioning apparatus and implementation method thereof |
| CN101476891A (en) * | 2008-01-02 | 2009-07-08 | 丘玓 | Accurate navigation system and method for movable object |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020030066A1 (en) * | 2018-08-08 | 2020-02-13 | 苏州宝时得电动工具有限公司 | Self-mobile device, automatic operating system and control method thereof |
| CN111226182A (en) * | 2018-08-08 | 2020-06-02 | 苏州宝时得电动工具有限公司 | Self-moving equipment, automatic working system and control method thereof |
| WO2021190514A1 (en) * | 2020-03-23 | 2021-09-30 | 苏州宝时得电动工具有限公司 | Automatic working system, self-moving device and control method therefor |
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Application publication date: 20120208 |