This invention relates to a method and system for controlling
driving a mobile device with respect to a stationary one
Apparatus, in particular an accumulator-operated dust-collecting robot
with respect to an accumulator charging station by means of the stationary one
Device emitted control signals from the mobile device
are received and from which control signals for a movement
derived from the mobile device.
A robot positioning system is already known ( EP 1 435 555 A2
), in which a robot and a fixed station are provided, which via a first transmitting unit, which emits a sound wave, in particular an ultrasonic wave for detecting a position of the robot, and a second transmitting unit, the one by an infrared signal or by a high-frequency signal formed synchronizing signal emits when the sound wave. The robot includes a first receiving unit having at least two sound sensors, and a second receiving unit for receiving the synchronizing signal, and a distance calculating unit that detects a distance between the first transmitting unit and the first receiving unit using a difference between the timing at which the synchronizing signal is received , and the time at which the sound wave is received, calculated. In addition, the robot includes an incident angle calculating unit that calculates an incident angle of the sound wave at the robot using a difference between the receiving timings of the sound wave in the at least two sound sensors included in the first receiving unit. However, this requires a very accurately working angle of incidence calculation unit with which the calculation of the aforementioned angle of incidence of the sound wave in the two sound sensors is to be calculated. In addition, in this known robotic positioning system, the control function assigned to the base station, as this sends the mentioned sound signal and the mentioned infrared signal independently, so without the involvement of the robot.
Connection with the known robot positioning system just considered
Moreover, an alternative system is known in which the
Robot has a first transmitter, a second receiver and
a distance calculating device and wherein the fixed station
a first receiver and a second transmitter.
By means of the first transmitter of the robot a radio signal is sent out,
which are received by the first receiver of the base station
becomes. The base station concerned then sends from its second
Transmits a radio signal from the first receiver of the
Robot is received. By means of the distance calculation unit
is then the distance of the robot from the respective base station
from the transmitted and received radio signals.
This procedure also requires a considerable amount of circuitry
in terms of the mentioned distance calculation unit,
to get reliable values for the distance between
to achieve the mentioned robot and said base station.
However, such an expense is often undesirable
Also already known is a robot system with a robot and a fixed or base station serving in particular for soil care ( US 5,652,593
), wherein the base station outputs a location determination signal to the robot for determining the distance between the respective base station and the robot. For this purpose, the robot emits a trigger signal, in particular in the form of an infrared light signal or another electromagnetic signal, to the base station in order to cause it, on the receipt of this signal, to emit a sound signal, in particular in the ultrasonic frequency range. On the basis of the time difference between the emission of the particular formed by an infrared light signal trigger signal and the receipt of the acoustic signal in the robot, the distance between the base station and the robot can be calculated and optionally use to determine the route of the robot in question to the base station. However, at least one additional parameter is required for this definition, namely the knowledge of the position of the relevant robot with respect to the named base station. This additional information is obtained in the considered known robot system from a grid path, which must be additionally determined. However, this is again associated with additional effort, but it should be avoided as a rule.
Invention is therefore based on the problem to show a way
as in a method and a system of the aforementioned
Art in a simpler way than the previously known prior art
the mobile device relative to the stationary device and
in particular, an accumulator-operated dust collecting robot with respect
can be controlled on a battery charging station so that
the relevant mobile device with high accuracy
a designated location of the stationary device
The above object is achieved in a method of the type mentioned above according to the invention in that as signals from the stationary device two signals are transmitted with partially overlapping beams in such a specified direction, in that an overlapping area of the respective lobes points in a desired direction, and in that the travel of the mobile device is controlled in such a way that it is controlled along the overlapping area of the radiation lobes of the two signals to the stationary device on the basis of the reception of the two said signals.
Invention brings with it the advantage that driving the wheeled
Device with respect to the stationary device
controlled to a specified location with relatively high accuracy
can be by the reception of the two signals mentioned in the
mentioned overlap region of the radiation lobes
these signals take place. In this case, the overlap area in question
the radiation lobes of the two signals are made relatively narrow,
allowing a precise control of driving the mobile
Device with respect to the stationary device
is possible. It also becomes more advantageous
Way the circumstance exploited that the overlap area
the radiation lobes of the two signals to the these signals emitting
Signal transmitters are getting narrower, making a very accurate
Control of driving the mobile device at close range
of the stationary device is enabled.
In the case of a mobile device forming accumulator-operated
Dust Collecting Robot will use its method in relation to the stationary one
Device performing accumulator charging station in particular
when returning the relevant dust collection robot
to the relevant battery charging station so controlled that the
concerned dust collection robot at this accumulator charging station
can dock to his / her accumulator (s) from this charging station
to be charged.
be as a lead signal from the stationary device
delivered two control signals of different frequencies. This brings
the advantage of having a relatively simple distinctness
the two control signals is possible.
be as guiding signals from the stationary device
different coded control signals issued. This results
also the advantage of a straightforward distinction of the two
Control signals when they are received in the mobile device.
Guidance signals are expediently received by the stationary device
either two ultrasonic signals or two radio signals delivered.
The associated control effort has been beneficial
Way proved to be particularly favorable.
above stated, the problem underlying the invention is for
other solved in a system of the type mentioned, characterized
that in the stationary device, a Leitsignal-transmitting device
is contained by the two guide signals with partially overlapping
Radiation lobes can be emitted in such a defined direction
are that an overlap area of the two radiation lobes
pointing in a desired direction, and that in the mobile
Device a Leitsignal- receiving and -Auswerteeinrichtung
contained by their receipt and evaluation of the two mentioned
Guidance signals the movement of the mobile device along
the overlapping area of the radiation lobes of the two
Control signals to the stationary device out controllable
There is the advantage of a particularly low cost in terms
the realization of the system according to the invention
for controlling the method of a mobile device with respect
on a stationary device and in particular on
a movement of an accumulator-powered dust collection robot in
With respect to an accumulator charging station provided at a fixed location,
in which the dust collecting robot concerned its accumulator or
can recharge his batteries after being connected to them
Charging station is approached so that its charging contacts with appropriate
Charging contacts of the charging station come into contact. The person in question
Leitsignal-transmitting device may preferably two juxtaposed or stacked
Leitsignalsender include whose radiation lobes in the mentioned
Partially overlap. This is in a particularly simple way
the provision of the two guide signals with partially overlapping
Radiation lobes enabled.
is the Leitsignal-transmitting device by a two control signals
different frequencies and / or encodings emitting Leitsignal-transmitting device
educated. This has the advantage that each with a
made relatively easy to build Leitsignal-transmitting device
is the Leitsignal-transmitting device by a two ultrasonic signals or
two radio signals as control signals donating Leitsignal-transmitting device
educated. This results in the advantage of each particular
easy to implement Leitsignal-transmitting device.
Hand of a drawing, the invention is based on an embodiment
explained in more detail.
1 shows a schematic diagram of a radiation pattern, according to the two guide signals are radiated according to the invention of a Leitsignal-transmitting device.
2 shows in a schematic representation ment the essential parts of a mobile device and a stationary device in a system according to an embodiment of the present invention.
In the in 1 schematically shown radiation pattern are two belonging to a Leitsignal-transmitting device Leitsignalsender S1 and S2 as superimposed indicated. This Leitsignalsender S1 and S2 can deliver as a guide signals, for example, ultrasonic signals or radio signals, with different frequencies and / or with different coding. This different coding may, for example, be a different phase encoding, a modulation with different code words, etc. With different coding of the relevant control signals, these can occur with the same frequency.
The guide signals emitted by the two guide signal transmitters S1 and S2 each form a radiation lobe SK1 or SK2. These radiation lobes SK1 and SK2 of the guide signals radiated by the guide signal transmitters SK1 and SK2, which are represented by different hatchings, are laid so that they partly overlap. In the overlapping region OL thus formed-in which the hatching lines of both radiation beams SK1 and SK2 are present-the guide signals radiated by the two guide signal transmitters S1, S2 can thus be received simultaneously on the receiving side. Such a reception takes place as on the basis of 2 will be explained below in a mobile device of the system according to the present invention.
In 2 In a schematic representation, a stationary device BS and a mobile device RO of the system according to the present invention are shown. To the stationary device BS belong according to 2 related to 1 already mentioned Leitsignalsender S1 and S2, which are shown here individually. According to the mobile device RO according to 2 include two spaced apart Leitsignalempfänger E1 and E2, each of which allow the control signals of both Leitsignalsender S1 and S2 to receive. On the output side, the two Leitsignalempfänger E1, E2 are connected to the input side of an evaluation AE, which allows ejecting the output signals of the Leitsignalempfänger E1, E2 according to predetermined criteria, as will be seen below in more detail.
According to 2 the aforementioned evaluation device AE is connected on the output side to a first drive motor AM1 and to a second drive motor AM2 of the mobile device RO. A first drive wheel RA1 of the mobile device RO can be driven by the first drive motor AM1, and a second drive wheel RA2 of the relevant mobile device RO can be driven by the second drive motor AM2.
the previously considered mobile device RO is
in the case of a robotic dust collection system, for example, one
accumulator-operated dust collection robot, and in the mentioned
stationary device BS is, for example
to an accumulator charging station - also as a base station
referred to - the relevant dust collection robot system.
After previously building the in 2 The system shown in the description of the scope of the present invention has now been described, and the method of operation according to the present invention will now be described. It is first assumed that both Leitsignalempfänger E1 and E2 receive only a signal of the signal lobe SK1 or SK2. Depending on which transmit signal lobe SK1 or SK2 is received by the Leitsignalempfänger E1, E2 causes the evaluation AE due to a stored information in their positions on the respective transmit lobes SK1, SK2 relative to each other such a control of the two drive motors AM1 and AM2 and thus the Drive wheels RA1 and RA2, that the mobile device RO moves towards the other beam SK2 and SK1, respectively.
If the mobile device RO has been moved or moved so that its two Leitsignalempfänger E1 and E2 receive the control signals of both beams SK1 and SK2 - so the relevant Leitsignalempfänger E1 and E2 these control signals in the in 1 overlapping area OL received - the respective mobile device RO is then proceeded towards the Leitsignalsendern S1 and S2 out. This travel movement always takes place with evaluation of the control signals emitted by these two guide signal transmitters S1 and S2 in the mentioned overlapping region OL. By making this overlapping area OL narrower in the vicinity of the guide signal transmitters S1 and S2 than at a distance thereof, the traveling motion of the mobile device RO with respect to the stationary device BS can be controlled very precisely. As mentioned above, even in the case where the mobile device RO is formed by an accumulator-operated dust collecting robot, and such that the stationary device BS is constituted by a battery charging base station BS, such precise control is required. to which the relevant dust collection robot has to approach to charge its battery (s). In the course of this approach is namely a very precise control of the dust collection robot with its charging contacts the charging contacts of the battery charging station required so that the desired charging process can easily take place.
Finally, it should be noted that in deviation from the on hand of 2 explained ratios in the mobile device RO and each Leitsignalempfänger E1 and E2 can be designed so that it is capable of receiving only the control signals of an associated or associated Leitsignalsenders S1 and S2 respectively. Incidentally, in principle, it is also possible to use only a single control signal receiver which allows the control signals emitted by both guide signal transmitters S1 and S2 to be received simultaneously, which are then evaluated in the evaluation device AE.
- drive motor
Device, base station
- overlap area
- drive wheel
Device, dust collection robot
QUOTES INCLUDE IN THE DESCRIPTION
The documents listed by the applicant have been automated
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recorded by the reader. The list is not part of the German
Patent or utility model application. The DPMA takes over
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Cited patent literature
- - EP 1435555 A2 
- US 5652593