DE102007036231A1 - Method for controlling mobility of mobile device to stationary device, particularly for battery driven dust collecting robot to battery-charging station, involves emitting two guide signals with partially overlapping radiation lobes - Google Patents

Method for controlling mobility of mobile device to stationary device, particularly for battery driven dust collecting robot to battery-charging station, involves emitting two guide signals with partially overlapping radiation lobes

Info

Publication number
DE102007036231A1
DE102007036231A1 DE102007036231A DE102007036231A DE102007036231A1 DE 102007036231 A1 DE102007036231 A1 DE 102007036231A1 DE 102007036231 A DE102007036231 A DE 102007036231A DE 102007036231 A DE102007036231 A DE 102007036231A DE 102007036231 A1 DE102007036231 A1 DE 102007036231A1
Authority
DE
Germany
Prior art keywords
signals
device
mobile device
bs
stationary device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE102007036231A
Other languages
German (de)
Inventor
Jens Maase
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BSH Bosch und Siemens Hausgaraete GmbH
Original Assignee
BSH Bosch und Siemens Hausgaraete GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BSH Bosch und Siemens Hausgaraete GmbH filed Critical BSH Bosch und Siemens Hausgaraete GmbH
Priority to DE102007036231A priority Critical patent/DE102007036231A1/en
Publication of DE102007036231A1 publication Critical patent/DE102007036231A1/en
Application status is Ceased legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894Details related to signal transmission in suction cleaners
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873Docking units or charging stations
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884Details of arrangements of batteries or their installation
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02Docking stations; Docking operations
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02Docking stations; Docking operations
    • A47L2201/022Recharging of batteries

Abstract

In order to control the movement of a mobile device (RO) to a stationary device (BS), in particular an accumulator-operated dust collection robot (RO) to a battery charging station (BS), the stationary device (BS) two guide signals with partially overlapping radiation lobes ( SK1, SK2) in such a specified direction that an overlapping area (OL) of the respective lobes (SK1, SK2) points in a desired direction, and the travel of the mobile device (RO) is controlled based on the reception of the two said guide signals in that its travel takes place along the overlapping area (OL) of the radiation lobes (SK1, SK2) of the two guidance signals to the stationary device (BS).

Description

  • The 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.
  • in the 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 considered.
  • 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.
  • Of the 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 approachable.
  • 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.
  • The 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.
  • Conveniently, 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.
  • Preferably 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.
  • When 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.
  • The 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 is.
  • hereby 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.
  • Preferably 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 can be.
  • Conveniently, 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.
  • At 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.
  • at 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.
  • AE
    evaluation
    AM1, ON 2
    drive motor
    BS
    stationary Device, base station
    E1, E2
    Leitsignalempfänger
    OIL
    overlap area
    RA1. RA2
    drive wheel
    RO
    mobile Device, dust collection robot
    S1, S2
    Leitsignalsender
    SK1, SK2
    lobes
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
  • Cited patent literature
    • - EP 1435555 A2 [0002]
    • US 5652593 [0004]

Claims (10)

  1. A method for controlling the driving of a mobile device to a stationary device, in particular an accumulator-powered dust collection robot to an accumulator charging station by means of signals emitted by the stationary device, which are received by the mobile device and from which control signals are derived for movement control of the mobile device, characterized in that as guide signals from the stationary device (BS) two guide signals with partially overlapping radiation lobes (SK1, SK2) are delivered in such a specified direction that an overlap region (OL) of the respective radiation lobes (SK1, SK2) in a desired Direction, and that the travel of the mobile device (RO) is controlled in such a way on the basis of the reception of the two said guide signals that it extends along the overlapping region (OL) of the radiation lobes (SK1, SK2) of the two guide signals to the stationary device (BS). is controlled.
  2. Method according to claim 1, characterized in that that as guiding signals from the stationary device (BS) two control signals of different frequencies are delivered.
  3. Method according to claim 1 or 2, characterized that as guiding signals from the stationary device (BS) different coded control signals are issued.
  4. Method according to one of claims 1 to 3, characterized in that as guide signals from the stationary Device (BS) two ultrasonic signals are delivered.
  5. Method according to one of claims 1 to 3, characterized in that as guide signals from the stationary Device (BS) two radio signals are delivered.
  6. System for controlling the driving of a mobile device to a stationary device, in particular one Accumulator-powered dust collection robot to a battery charging station by means of dispensed from the stationary device Routing signals received by the mobile device and from which control signals for ei ne movement control of derived from a mobile device, characterized in that in the stationary device (BS) a Leitsignal-transmitting device (S1, S2), of which two guide signals are partially overlapping Radiation lobes (SK1, SK2) in such a specified direction can be dispensed that an overlapping region (OL) of the radiation lobes (SK1, SK2) of the two control signals in a desired direction and that in the mobile device (RO) a Leitsignalempfangs- and -Euswerteinrichtung (E1, E2, AE) is included by the reception and evaluation of the two said control signals the movement of the mobile device (RO) along the overlap area (OL) of the radiation lobes (SK1, SK2) of the two control signals to the stationary device (BS) allowed to control.
  7. System according to claim 6, characterized in that the Leitsignal-transmitting device (S1, S2) by a two control signals different frequency-emitting pilot signal transmitting device (S1, S2) is formed.
  8. System according to claim 6 or 7, characterized in that the guide signal transmitting device (S1, S2) is coded by a two Leitsignale emitting Leitsignal-transmitting device (S1, S2) is formed.
  9. System according to one of claims 6 to 8, characterized in that the pilot signal transmitting device (S1, S2) by a two ultrasonic signals as control signals Leitsignal-transmitting device (S1, S2) is formed.
  10. System according to one of claims 6 to 8, characterized characterized in that the pilot signal transmitting means (S1, S2) by a pilot signal transmitter device (S1, S2) is formed.
DE102007036231A 2007-08-02 2007-08-02 Method for controlling mobility of mobile device to stationary device, particularly for battery driven dust collecting robot to battery-charging station, involves emitting two guide signals with partially overlapping radiation lobes Ceased DE102007036231A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102007036231A DE102007036231A1 (en) 2007-08-02 2007-08-02 Method for controlling mobility of mobile device to stationary device, particularly for battery driven dust collecting robot to battery-charging station, involves emitting two guide signals with partially overlapping radiation lobes

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007036231A DE102007036231A1 (en) 2007-08-02 2007-08-02 Method for controlling mobility of mobile device to stationary device, particularly for battery driven dust collecting robot to battery-charging station, involves emitting two guide signals with partially overlapping radiation lobes

Publications (1)

Publication Number Publication Date
DE102007036231A1 true DE102007036231A1 (en) 2009-02-05

Family

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Family Applications (1)

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DE102007036231A Ceased DE102007036231A1 (en) 2007-08-02 2007-08-02 Method for controlling mobility of mobile device to stationary device, particularly for battery driven dust collecting robot to battery-charging station, involves emitting two guide signals with partially overlapping radiation lobes

Country Status (1)

Country Link
DE (1) DE102007036231A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5652593A (en) 1994-09-29 1997-07-29 Von Schrader Company Method and apparatus for guiding a machine
EP1435555A2 (en) 2002-12-30 2004-07-07 Samsung Electronics Co., Ltd. Robot localization system
WO2005081074A1 (en) * 2004-01-21 2005-09-01 Irobot Corporation Method of docking an autonomous robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5652593A (en) 1994-09-29 1997-07-29 Von Schrader Company Method and apparatus for guiding a machine
EP1435555A2 (en) 2002-12-30 2004-07-07 Samsung Electronics Co., Ltd. Robot localization system
WO2005081074A1 (en) * 2004-01-21 2005-09-01 Irobot Corporation Method of docking an autonomous robot

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Owner name: BSH HAUSGERAETE GMBH, DE

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