JP6967468B2 - Docking control method for self-propelled electronic devices and charging stand used for it - Google Patents

Description

The present invention relates to a method for controlling docking of a self-propelled electronic device to a charging stand and a charging stand used therein.

Self-propelled electronic devices such as self-propelled vacuum cleaners have a built-in rechargeable battery that can be used as a power source for driving motors, etc., and run autonomously to dock with the charging stand to charge the battery. What you do is common.
The charging stand is usually assumed to be placed near a wall (see, for example, Patent Documents 1 to 3).

For example, in Patent Document 1, in order to connect a robot vacuum cleaner provided with a camera to an external charging device, a charging position guide mark is formed on the side surface of the external charging device that can be imaged by the camera and is stored. The connection position is compared with the image to guide the connection position.
Further, in Patent Document 2, a self-driving vehicle provided with a camera-based detection system is guided to a docking station having first and second reference markers on the side surface at predetermined intervals on the side surface. Then, the image including the first and second reference markers provided by the detection system is received. Guidance is performed by comparing the distance from the bottom of the image frame to the reference point of the first reference marker and the distance from the bottom of the image frame to the reference point of the second reference marker.

In Patent Document 3, a mobile robot having a posture sensor and a controller is docked to a docking station having at least two posture-defining reference markers having a predetermined spatial relationship on the side surface. The controller analyzes the output signal from the attitude sensor to determine the attitude with respect to the docking station, finds the position of the docking station on the map of the floor on which the mobile robot moves, and plans the path of the docking trajectory.
Further, in Patent Document 4, a self-propelled vacuum cleaner having a distance sensor and a charging terminal in front is automatically transferred to a charging stand having a marker shape and a feeding terminal that can be detected by the distance sensor on the side surface. Return. Therefore, when the self-propelled vacuum cleaner and the charging body come into contact with each other while the marker shape is being detected, the charging terminal and the feeding terminal are brought into contact with each other.

Japanese Patent No. 3746995 Japanese Patent No. 6108328 Japanese Patent Publication No. 2015-535873 Japanese Unexamined Patent Publication No. 2009-238055

In recent years, self-propelled electronic devices are not limited to single-function devices specializing in cleaning, for example, those that send camera images to remote users via wireless networks, and electronic devices in the home that respond to user instructions. Networking and multi-functionality are progressing, such as sending instructions to.
Taking a self-propelled vacuum cleaner as an example, even if cleaning work that consumes a lot of power cannot be performed while charging, the camera built into the vacuum cleaner captures the inside of the room and the user can use it via the network. It is possible to send to a portable communication terminal (smartphone, etc.) that you have. It is also possible for the user to start the application on the communication terminal, send an instruction to the self-propelled vacuum cleaner via the network, and the self-propelled vacuum cleaner remotely control the indoor electronic device based on the instruction. Is. This is because image provision and remote control can be processed with less power consumption than cleaning work.

With such multi-functionality, self-propelled electronic devices can be utilized even during charging.
However, when the charging stand is placed near a wall or in the corner of a room, it is not always a suitable place to take a picture of the inside of the room while charging.
Further, the self-propelled electronic device is charged only when it is docked with the charging stand in a predetermined direction. It is not possible to turn the self-propelled electronic device while charging.
Therefore, it cannot be said that the charging stand is suitable for a function such as monitoring the entire room during charging.
The present invention has been made in consideration of the above circumstances, and is a docking control method to a charging stand capable of reaching the charging position from any direction, and a self-propelled electronic device can be swiveled while charging. It provides a convenient charging stand.

This invention
(1) A method of docking a self-propelled electronic device to a charging stand, wherein the charging stand has a top surface on which the self-propelled electronic device stops and charges, and the self-propelled electronic device. The self-propelled electronic device has an annular or circular marker arranged on the top surface to guide to a charging position, and the self-propelled electronic device detects the rechargeable battery and the marker when traveling on the top surface. It has a pair of left and right marker sensors and a main body control circuit that causes the self-propelled electronic device to travel to the charging position and stop based on the detection of the markers, and the main body control circuit has both left and right marker sensors. Provides a docking control method for charging the marker by adjusting the traveling direction so as to detect the marker at the same time, and then moving the marker straight into the marker and stopping the marker.

Moreover,
(2) A charging stand used in the above-mentioned docking control method, which supplies power to the self-propelled electronic device which is exposed on the upper surface, is annular and concentric with the marker, and can be stationary and swiveled at the charging position. A charging stand with side electrodes is provided.

In the docking control method according to the present invention, when the main body control circuit detects a marker by either the left or right marker sensor while traveling to the charging position, the traveling direction is set so that both the left and right marker sensors simultaneously detect the marker. After the adjustment, the self-propelled electronic device can reach the charging position from any direction because the marker is moved straight into the marker, stopped, and charged.
Further, the charging stand according to the present invention is provided with a power feeding side electrode that is exposed on the upper surface and is concentric with the marker and is concentric with the marker and can feed the self-propelled electronic device that can be stationary and swiveled at the charging position. Running electronic devices can turn while charging.

It is explanatory drawing which shows one aspect of the self-propelled electronic device and the charging stand which concerns on the docking control method of this invention. FIG. 3 is an explanatory view of the self-propelled electronic device and the charging stand shown in FIG. 1A as viewed from the side. FIG. 3 is a block diagram showing an electrical configuration of the self-propelled electronic device and the charging stand shown in FIGS. 1A and 1B. FIG. 1B is an enlarged explanatory view of the arrangement of the electrode portion of the charging stand shown in FIG. 1B in a plane along the vertical direction. It is explanatory drawing which shows the state of traveling to the charging position with reference to the marker detected by the self-propelled electronic device shown in FIG. 1A. FIG. 3 is an explanatory diagram showing a state in which the self-propelled electronic device shown in FIG. 1A is stopped at the charging position CP. It is a 1st flowchart which shows the flow of control which guides a self-propelled electronic device to a charging position in this embodiment. It is a second flowchart which shows the flow of control which guides a self-propelled electronic device to a charging position in this embodiment. It is a 3rd flowchart which shows the flow of control which guides a self-propelled electronic device to a charging position in this embodiment. It is explanatory drawing which shows the charging stand of the aspect different from FIG. 1A by this embodiment. FIG. 3 is a block diagram showing a configuration of a self-propelled electronic device and a charging stand in a mode different from that of FIG. 2 according to this embodiment.

Hereinafter, the present invention will be described in more detail with reference to the drawings. It should be noted that the following description is exemplary in all respects and should not be construed as limiting the invention.
(Embodiment 1)
<< Configuration of self-propelled electronic devices and charging stand >>
1A and 1B are explanatory views showing an aspect of a self-propelled electronic device and a charging stand according to the docking control method of the present invention. FIG. 2 is a block diagram showing an electrical configuration of the self-propelled electronic device and the charging stand shown in FIGS. 1A and 1B.
In this embodiment including FIGS. 1A and 1B, the self-propelled vacuum cleaner 11 is shown as a specific example of the self-propelled electronic device.

As shown in FIGS. 1A, 1B and 2, the self-propelled vacuum cleaner 11 autonomously travels using the left and right drive wheels 15 (left drive wheel 15L and right drive wheel 15R). The left drive wheel 15L and the right drive wheel 15R are rotationally driven in opposite directions to enable stationary turning. FIG. 1A shows the turning center RC in the case of stationary turning. The midpoint of the rotation shafts of the left and right drive wheels 15 is the turning center RC.
Further, the self-propelled vacuum cleaner 11 rotationally drives the left and right drive wheels 15 in the same direction, and advances in the direction indicated by the arrow A in FIGS. 1A and 1B. Alternatively, it retreats in the direction opposite to the arrow A.

A marker sensor 17 is arranged at the front of the bottom surface of the self-propelled vacuum cleaner 11. The marker sensor 17 includes a left marker sensor 17L and a right marker sensor 17R, and a reflective photo sensor is applied in this embodiment.
However, the aspects of the marker sensor 17 and the marker 43 are not limited to this. For example, a light emitting body such as an LED (not limited to visible light but also one that emits light in an infrared region, for example) is used for the marker 43, and in that case, a light receiving element that detects light from the marker 43 is used as the marker sensor 17. You may.
The marker 43 not only emits light, but also creates an optical signal, and the marker sensor 17 may detect the optical signal. By doing so, not only the marker 43 can be more reliably distinguished from the light (noise) from others, but also the communication between the power supply communication circuit 45 and the main body communication circuit 27 can be realized by using this light.

A positive electrode 19 on the main body side and a negative electrode 21 on the main body side are arranged at the rear of the bottom surface of the self-propelled vacuum cleaner 11. They are equipped with an elevating mechanism (not shown). When the self-propelled vacuum cleaner 11 reaches the vicinity of the charging position CP described later, the charge control circuit 29 controls the elevating mechanism to lower the main body side positive electrode 19 and the main body side negative electrode 21. This is because the positive electrode 19 on the main body side and the negative electrode 21 on the main body side come into contact with the positive electrode 51 on the feeding side and the negative electrode 53 on the feeding side of the charging stand 13, respectively, so that the battery 23 is charged. However, normally, the charge control circuit 29 raises the main body side positive electrode 19 and the main body side negative electrode 21 so as not to damage the floor surface or collide with an obstacle during traveling (see FIG. 1B). ).

Further, the self-propelled vacuum cleaner 11 includes a drive motor (left wheel drive motor 33L and right wheel drive motor 33R) for driving the left and right drive wheels, and a main body control circuit 25 for controlling the operation of the drive motor. The main body control circuit 25 may be any as long as it communicates with the power supply communication circuit 45, and the type of wired / wireless is not particularly limited to the communication method or the like. In addition, an electric blower that sucks dust, a suction port that sucks dust as a vacuum cleaner, a filter that allows airflow containing dust to pass through and separates dust, a dust cup that stores separated dust, and an exhaust that discharges airflow to the outside of the machine. Includes circuits and mechanisms such as outlets that are omitted from FIGS. 1A, 1B and 2.
On the other hand, the charging stand 13 according to this embodiment has a disk shape as shown in FIGS. 1A and 1B, and the self-propelled vacuum cleaner 11 can run on the flat upper surface 41.

On the upper surface 41 of the charging stand, an annular feeding side positive electrode 51, a feeding side negative electrode 53, and a marker 43 are arranged concentrically when viewed from above. The centers of them are indicated by CP.
In FIGS. 1A and 1B, the feeding side positive electrode 51, the marker 43, and the feeding side negative electrode 53 are arranged in order from the inside, but the order of arrangement is merely an example and is not limited to this. However, charging is performed at a position where the turning center RC of the self-propelled vacuum cleaner 11 overlaps with the charging position CP. Therefore, the feeding side positive electrode 51 and the main body side positive electrode 19 are in contact with each other at the position where the turning center RC overlaps the charging position CP, and the feeding side negative electrode 53 and the main body side negative electrode 21 are arranged so as to be in contact with each other. NS.
Further, at least one of the feeding side positive electrode 51 and the feeding side negative electrode 53 may also function as the marker 43.

A charging voltage is supplied from the commercial power supply to the power feeding side positive electrode 51 and the power feeding side negative electrode 53 via the AC adapter 57 and the power feeding control circuit 47. However, since the positive electrode 51 on the feeding side and the negative electrode 53 on the feeding side are exposed on the upper surface 41, there is a risk that a short circuit will occur due to a conductive falling object if a voltage constantly appears.
Therefore, the charging stand 13 includes a power supply control circuit 47 (see FIG. 2). The power supply control circuit 47 outputs the voltage to the positive electrode 51 on the power supply side and the negative electrode 53 on the power supply side when the self-propelled vacuum cleaner 11 approaches, and controls so that the voltage is not output in other cases.

In order for the power supply control circuit 47 to recognize the on / off timing of the output voltage, the charging stand 13 includes a power supply communication circuit 45 (see FIG. 2). When the self-propelled vacuum cleaner 11 approaches the charging stand 13, the power supply communication circuit 45 communicates with the main body communication circuit 27 (see FIG. 2) on the self-propelled vacuum cleaner 11 side to the power supply control circuit 47. Recognize the proximity of the vacuum cleaner 11. The power supply communication circuit 45 may be any as long as it communicates with the main body control circuit 25, and the type of wired / wireless communication, the communication method, and the like are not particularly limited.
On the side of the self-propelled vacuum cleaner 11, when the main body communication circuit 27 communicates with the power supply communication circuit 45, it recognizes that the main body control circuit 25 has approached the charging position CP. The charge control circuit 29 lowers the main body side positive electrode 19 and the main body side negative electrode 21. This is so that charging of the battery 23 is started when the positive electrode 19 on the main body side comes into contact with the positive electrode 51 on the feeding side and the negative electrode 21 on the main body side comes into contact with the negative electrode 53 on the feeding side.
Here, the main body control circuit 25 is a circuit composed of hardware such as a memory and an input / output interface circuit centering on a CPU. The CPU executes a control program stored in the memory to perform processing.

FIG. 3 is an enlarged explanatory view of the arrangement of the electrode portion of the charging stand shown in FIG. 1B in a plane along the vertical direction.
As shown in FIG. 3, the upper ends of the feeding side positive electrode 51 and the feeding side negative electrode 53 are located slightly lower than the upper surface 41. Therefore, even if a flat metal piece such as a clip falls at a position straddling the positive electrode 51 on the feeding side and the negative electrode 53 on the feeding side, the metal piece is placed on the convex portion of the marker 43, and both It is possible to avoid a situation in which a short circuit occurs due to contact with the electrodes of.

≪How to dock to the charging position≫
Subsequently, the control when the self-propelled vacuum cleaner 11 travels to the charging position CP will be described.
In this embodiment, the upper surface 41 of the charging stand 13 has an annular marker centered on the charging position CP, and the self-propelled vacuum cleaner 11 has left and right marker sensors 17 arranged at the front of the bottom surface thereof. The marker is detected and the route to the charging position CP is determined.
FIG. 4 is an explanatory diagram showing how the self-propelled vacuum cleaner 11 shown in FIG. 1A adjusts the traveling direction with reference to the detected marker 43 and travels to the charging position CP.
FIG. 5 is an explanatory diagram showing a state in which the self-propelled vacuum cleaner 11 is stopped at the charging position CP.

As shown in FIG. 4, the direction of the self-propelled vacuum cleaner 11 is adjusted so that the left marker sensor 17L and the right marker sensor 17R of the self-propelled vacuum cleaner 11 simultaneously detect the marker 43 centered on the charging position CP. .. After adjustment, when going straight in that direction, the turning center RC of the self-propelled vacuum cleaner 11 (that is, the midpoint of the straight line connecting the rotation axes of the left drive wheel 15L and the right drive wheel 15R) overlaps with the charging position CP on the straight path. There is a point.
The same applies regardless of which direction the self-propelled vacuum cleaner 11 approaches the charging stand 13. FIG. 4 shows, as an example, a case where the self-propelled vacuum cleaner 11 approaches the charging stand 13 from two directions. When the self-propelled vacuum cleaner 11 approaches the charging stand 13 from the lower right side toward the paper in FIG. 4, the self-propelled vacuum cleaner is cleaned by adjusting the direction so that the left and right marker sensors 17 simultaneously detect the outer periphery of the marker 43. The machine 11 points in the direction of arrow A1. When going straight in that direction, the turning center RC passes through a point where it overlaps with the charging position CP.

Even when approaching from the lower left side of FIG. 4, if the directions are adjusted so that the left and right marker sensors 17 simultaneously detect the outer circumference of the marker 43, the self-propelled vacuum cleaner 11 points in the direction of arrow A2. When going straight in that direction, the turning center RC passes through a point where it overlaps with the charging position CP.
Note that FIG. 4 shows a mode in which the left and right marker sensors 17 adjust the direction so as to simultaneously detect the outer circumference of the marker 43, but the present invention is not limited to this, and the inner circumference of the annular marker 43 is simultaneously detected. It may be an aspect of adjusting the direction. That is, it suffices as long as it detects the boundary portion of the marker.
There are several conceivable methods for stopping the self-propelled vacuum cleaner 11 at the point where the turning center RC overlaps with the charging position CP.
In one method, as shown in FIG. 5, both the left marker sensor 17L and the right marker sensor 17R detected the marker 43 on the opposite side via the marker 43 used as the reference for direction adjustment and the charging position CP described above. This is a method of stopping the self-propelled vacuum cleaner 11. When the turning center RC reaches the point where the charging position CP overlaps, the arrangement of the marker sensor 17 and the marker 43 is determined so that the left and right marker sensors 17 detect the marker 43 on the opposite side.

In FIG. 5, the point where both the left marker sensor 17L and the right marker sensor 17R detect the inner circumference of the marker 43 is the position where the turning center RC and the charging position CP overlap, but this is only an example. Other embodiments can be realized by appropriately selecting the arrangement of the left and right marker sensors 17 on the bottom surface of the self-propelled vacuum cleaner 11, the size of the diameter of the marker 43 of the charging stand 13, and the like. For example, the point where the outer circumference of the marker 43 is detected instead of the inner circumference may be a position where the turning center RC and the charging position CP overlap. Further, in that case, the marker does not necessarily have to be circular and may be circular.
Further, as another embodiment, the marker 43 used for the above-mentioned direction adjustment and another marker may be used to determine the position where the turning center RC and the charging position CP overlap.
Further, the left and right marker sensors may detect the marker 43 at the same time, then move straight for a certain distance and then stop.

Further, instead of using the marker 43, the main body side positive electrode 19 and the main body side negative electrode 21 come into contact with the feeding side positive electrode 51 and the feeding side negative electrode 53 of the charging stand 13, respectively, and the battery 23 is charged. This may be detected by the charge control circuit 29, and the self-propelled vacuum cleaner 11 may be stopped as a trigger.
As shown in FIG. 5, at the position where the turning center RC and the charging position CP overlap, the main body side positive electrode 19 and the main body side negative electrode 21 are the feeding side positive electrode 51 and the feeding side negative electrode 53 of the charging stand 13, respectively. This is because they are arranged so as to come into contact with each other.

≪Flowchart≫
Further, both the detection of the marker 43 and the detection of the start of charging may be combined.
6 to 8 are flowcharts showing a flow of control for guiding the self-propelled vacuum cleaner 11 to the charging position CP in this embodiment. Next to each process in the flowchart, an illustration of the self-propelled vacuum cleaner 11 running is shown from above. The docking control method according to this embodiment will be described with reference to the flowchart.
As shown in FIG. 6, the main body control circuit 25 of the self-propelled vacuum cleaner 11 travels on the floor surface (step S11) to perform cleaning work, and charges when the cleaning work is completed or the battery is exhausted. Start returning to the position CP.

The return to the charging position CP determines the approximate direction of the charging stand 13 based on the travel path map stored in the memory of the main body control circuit 25. Then, the self-propelled vacuum cleaner 11 is run to approach the charging stand 13. The main body control circuit 25 detects the current position on the travel path map based on an encoder (not shown) provided by the left and right drive wheels 15 or the left and right drive motors 33, respectively. Alternatively, the current position may be detected by using other means such as a gyro sensor or GPS.
Eventually, when the self-propelled vacuum cleaner 11 approaches the charging stand 13, either the left or right marker sensor 17 detects the marker 43 attached to the charging stand 13.

The main body control circuit 25 sequentially monitors the detection of the marker 43 by the marker sensor 17. In FIG. 6, first, it is determined whether or not the right marker sensor 17R approaches the marker 43 and detects the marker 43 (step S13). If the right marker sensor 17R detects the marker 43 (Yes in step S13), the routine proceeds to step S15.
When the right marker sensor 17R does not detect the marker 43 (No in step S13), the main body control circuit 25 subsequently determines whether or not the left marker sensor 17L has detected the marker 43 (step S25). If the left marker sensor 17L detects the marker 43 (Yes in step S25), the routine proceeds to step S27.
If the left marker sensor 17L does not detect the marker 43 (No in step S25), the routine returns to step S11 and sequentially monitors the detection of the marker 43 by either the left or right marker sensor 17 while traveling on the floor surface.

When the right marker sensor 17R detects the marker 43 in step S13 (Yes in step S13), the main body control circuit 25 retracts the self-propelled vacuum cleaner 11 while rotating it clockwise when viewed from above (step). S15). Continue retreating until the right marker sensor 17R no longer detects the marker 43 (No loop in step S17).
When the right marker sensor 17R no longer detects the marker 43 (Yes in step S17), the main body control circuit 25 stops the retreat of the self-propelled vacuum cleaner 11 and then advances it little by little (step S19).

The main body control circuit 25 continues to move forward until the right marker sensor 17R detects the marker 43 (No loop in step S21). When the right marker sensor 17R detects the marker 43 (Yes in step S21), the main body control circuit 25 further determines whether or not the left marker sensor 17L has detected the marker 43 (step S23).
If the left marker sensor 17L has not yet detected the marker 43 (No in step S23), the routine returns to step S15 and retracts the self-propelled vacuum cleaner 11 while further rotating it clockwise when viewed from above.

By executing the loop process via No in steps S15 to S23 as described above, the main body control circuit 25 is self-propelled cleaning in small steps near the position where the right marker sensor 17R detects the outer periphery of the marker 43. The retreat, change of direction, and advance of the machine 11 are repeated. Then, the direction of the self-propelled vacuum cleaner 11 is gradually changed clockwise.
When the direction of each of the left and right marker sensors 17 changes until the marker 43 is detected, the left marker sensor 17L detects the marker 43 in the determination in step S23.
This corresponds to the state in which the positional relationship between the marker 43 and the self-propelled vacuum cleaner 11 is shown in FIG.
When both the left and right marker sensors 17 are in the direction of detecting the marker 43 (Yes in step S23), the main body control circuit 25 causes the self-propelled vacuum cleaner 11 to go straight inside the marker 43 (step S41 in FIG. 7). ..

On the other hand, when the left marker sensor 17L detects the marker 43 in step S25 (Yes in step S25), the main body control circuit 25 retreats while rotating the self-propelled vacuum cleaner 11 counterclockwise when viewed from above. (Step S27). The retreat is continued until the left marker sensor 17L does not detect the marker 43 (No loop in step S29).
When the left marker sensor 17L does not detect the marker 43 (Yes in step S29), the main body control circuit 25 stops the retreat of the self-propelled vacuum cleaner 11 and then advances it little by little (step S31).

The main body control circuit 25 continues to move forward until the left marker sensor 17L detects the marker 43 (No loop in step S33). When the left marker sensor 17L detects the marker 43 (Yes in step S33), the main body control circuit 25 further determines whether or not the right marker sensor 17R has detected the marker 43 (step S35).
If the right marker sensor 17R has not yet detected the marker 43 (No in step S35), the routine returns to step S27 and retracts the self-propelled vacuum cleaner 11 while further rotating it counterclockwise when viewed from above.

By executing the loop process via No in steps S27 to S35 as described above, the main body control circuit 25 is self-propelled cleaning in small steps near the position where the left marker sensor 17L detects the outer periphery of the marker 43. The aircraft 11 repeats retreat, change of direction, and advance. Then, the direction of the self-propelled vacuum cleaner 11 is gradually changed counterclockwise.
When the direction of each of the left and right marker sensors 17 changes until the marker 43 is detected, the left marker sensor 17L detects the marker 43 in the determination in step S23.
This corresponds to the state in which the positional relationship between the marker 43 and the self-propelled vacuum cleaner 11 is shown in FIG.
When both the left and right marker sensors 17 are in the direction of detecting the marker 43 (Yes in step S23), the main body control circuit 25 causes the self-propelled vacuum cleaner 11 to go straight inside the marker 43 (step S41 in FIG. 7). ..

While traveling straight inside the marker 43, the main body control circuit 25 first determines whether or not the right marker sensor 17R approaches the inner circumference of the marker 43 on the opposite side via the charging position CP and detects the marker 43. (Step S43). If the right marker sensor 17R detects the marker 43 (Yes in step S43), the routine proceeds to step S45.
When the right marker sensor 17R does not detect the marker 43 (No in step S43), the main body control circuit 25 subsequently determines whether or not the left marker sensor 17L has detected the marker 43 (step S61). When the left marker sensor 17L detects the marker 43 (Yes in step S61), the routine proceeds to step S63.

If the left marker sensor 17L does not detect the marker 43 (No in step S61), the routine returns to step S41 and sequentially monitors the detection of the marker 43 by either the left or right marker sensor 17 while traveling on the floor surface.
As described above, in this embodiment, the main body control circuit 25 advances until the left and right marker sensors 17 detect the inner circumference of the marker 43 on the opposite side via the charging position CP, and then stops. At that stop position, the charging position CP and the turning center RC overlap (see FIG. 5).
In this embodiment, the main body control circuit 25 executes the following processing in order to further improve the accuracy of the stop position.

When the right marker sensor 17R detects the marker 43 in step S43 (Yes in step S43), the main body control circuit 25 retracts the self-propelled vacuum cleaner 11 while rotating it counterclockwise when viewed from above (Yes). Step S45). Continue retreating until the right marker sensor 17R no longer detects the marker 43 (No loop in step S47).
When the right marker sensor 17R no longer detects the marker 43 (Yes in step S47), the main body control circuit 25 stops the retreat of the self-propelled vacuum cleaner 11 and then advances it little by little (step S49).

The main body control circuit 25 continues to move forward until the right marker sensor 17R detects the marker 43 (No loop in step S51). When the right marker sensor 17R detects the marker 43 (Yes in step S51), the main body control circuit 25 further determines whether or not the left marker sensor 17L has detected the marker 43 (step S53).
If the left marker sensor 17L has not yet detected the marker 43 (No in step S53), the routine returns to step S45 and retracts the self-propelled vacuum cleaner 11 while further rotating it counterclockwise when viewed from above.

By executing the loop process via No in steps S45 to S53 as described above, the main body control circuit 25 is self-propelled in small steps near the position where the right marker sensor 17R detects the inner circumference of the marker 43. The vacuum cleaner 11 is repeatedly retracted, turned, and advanced. Then, the direction of the self-propelled vacuum cleaner 11 is finely adjusted so that the left and right marker sensors 17 detect the marker 43 at the same time.
When the direction of each of the left and right marker sensors 17 changes until the marker 43 is detected, the left marker sensor 17L detects the marker 43 in the determination of step S53.
This corresponds to the state in which the positional relationship between the marker 43 and the self-propelled vacuum cleaner 11 is shown in FIG.
When the direction of the main body control circuit 25 is finely adjusted so that both the left and right marker sensors 17 detect the marker 43 (Yes in step S53), the main body control circuit 25 stops the self-propelled vacuum cleaner 11 on the spot. (Step S55 in FIG. 8). Then, an instruction is sent to the charge control circuit 29 to lower the main body side positive electrode 19 and the main body side negative electrode 21.
After that, the routine proceeds to step S57.

When the left marker sensor 17L detects the marker 43 in step S61 (Yes in step S43), the main body control circuit 25 retracts the self-propelled vacuum cleaner 11 while rotating it clockwise when viewed from above. (Step S63). Continue retreating until the left marker sensor 17L does not detect the marker 43 (No loop in step S65).
When the left marker sensor 17L does not detect the marker 43 (Yes in step S65), the main body control circuit 25 stops the retreat of the self-propelled vacuum cleaner 11 and then advances it little by little (step S67).

The main body control circuit 25 continues to move forward until the left marker sensor 17L detects the marker 43 (No loop in step S69). When the left marker sensor 17L detects the marker 43 (Yes in step S69), the main body control circuit 25 further determines whether or not the right marker sensor 17R has detected the marker 43 (step S71).
If the right marker sensor 17R has not yet detected the marker 43 (No in step S71), the routine returns to step S63 and retracts the self-propelled vacuum cleaner 11 in a clockwise direction when viewed from above.

By executing the loop process via No in steps S63 to S71 as described above, the main body control circuit 25 is self-propelled in small steps near the position where the left marker sensor 17L detects the inner circumference of the marker 43. The vacuum cleaner 11 is repeatedly retracted, turned, and advanced. Then, the direction of the self-propelled vacuum cleaner 11 is finely adjusted so that the left and right marker sensors 17 detect the marker 43 at the same time.
When the direction of each of the left and right marker sensors 17 changes until the marker 43 is detected, the right marker sensor 17R detects the marker 43 in the determination of step S71.
This corresponds to the state in which the positional relationship between the marker 43 and the self-propelled vacuum cleaner 11 is shown in FIG.

When the direction of the main body control circuit 25 is finely adjusted so that both the left and right marker sensors 17 detect the marker 43 (Yes in step S71), the main body control circuit 25 stops the self-propelled vacuum cleaner 11 on the spot. (Step S55 in FIG. 8). Then, an instruction is sent to the charge control circuit 29 to lower the main body side positive electrode 19 and the main body side negative electrode 21.
In step S57, in the main body control circuit 25, the main body side positive electrode 19 and the main body side negative electrode 21 come into contact with the feeding side positive electrode 51 and the feeding side negative electrode 53, respectively, and the charging control circuit 29 starts charging the battery 23. Determine if it was detected.

If charging is started in the determination of step S57 (Yes in step S57), the main body control circuit 25 ends the docking control.
On the other hand, when charging is not started (No in step S57), the main body control circuit 25 slightly shifts the self-propelled vacuum cleaner 11 in a stationary manner or slightly moves it back and forth (step S59) to start charging. It is determined whether or not the charge control circuit 29 has detected it (step S60). This is effective as a method for improving poor contact when the contact between the electrode on the main body side and the electrode on the feeding side does not go well.
If charging has started (Yes in step S60), the docking control is terminated.
On the other hand, if charging is not started (No in step S60), the routine returns to step S59 and fine-tunes the stop position again.

Although not shown in FIG. 8, if the charging of the battery 23 is not started even after repeating the fine adjustment of the stop position a predetermined number of times (that is, the process of step S59), the main body control circuit 25 causes an error. May be informed to the user.
The above is an example of the flow of docking control.
If the detection accuracy of the marker 43 is sufficiently high, the fine adjustment processing in steps S45 to S53 of FIG. 7 and the corresponding fine adjustment processing in S63 to S71 of FIG. 7 may be omitted.
In addition to or instead, the fine adjustment process of steps S57 to S61 of FIG. 8 may be omitted.

(Embodiment 2)
In this embodiment, modifications of the charging base 13 shown in FIGS. 1A, 1B and 3 to 5 will be described.
FIG. 9 is an explanatory diagram showing the appearance of the charging stand 13 according to this embodiment. The charging stand 13 shown in FIG. 9 has the same marker 43 as the charging stand 13 shown in FIG. 4, but the diameter of the charging stand 13 is large. When the self-propelled vacuum cleaner 11 changes its direction around the outer circumference of the marker 43, the left and right drive wheels 15 have a size sufficient to travel on the upper surface of the charging stand 13.

According to this aspect, since the self-propelled vacuum cleaner 11 repeatedly moves backward and forward while being mounted on the charging stand 13, the charging stand 13 does not shift on the floor surface when changing the direction. .. Therefore, the self-propelled vacuum cleaner 11 can be guided to the charging position CP more accurately.
Further, the thickness of the charging base 13 has a shape of becoming thinner toward the outside from the marker 43. That is, the step on the outer peripheral portion of the charging stand 13 from the floor surface is smaller than that of the charging stand 13 shown in FIG. 1A.
Therefore, the impact when the drive wheel 15 of the self-propelled vacuum cleaner 11 rides on the charging stand 13 is less, and the possibility that the charging stand 13 is displaced on the floor surface due to the impact is less.

(Embodiment 3)
In the first embodiment, an embodiment in which the battery 23 is charged by contacting the power feeding side electrode and the main body side electrode has been described. On the other hand, in this embodiment, electric power for charging is supplied from the charging stand 13 to the self-propelled vacuum cleaner 11 in a non-contact manner.
FIG. 10 is a block diagram of this embodiment corresponding to FIG.

Instead of the main body side positive electrode 19 and the main body side negative electrode 21 shown in FIG. 2, the self-propelled vacuum cleaner 11 shown in FIG. 10 includes a main body side power receiving circuit 31. Further, instead of the positive electrode 51 on the feeding side and the negative electrode 53 on the feeding side shown in FIG. 2, the charging stand 13 shown in FIG. 10 includes a non-contact feeding circuit 55.
The main body side power receiving circuit 31 and the non-contact power feeding circuit 55 are circuits that supply power in a non-contact manner using, for example, electromagnetic induction. Specifically, for example, a wireless power supply method according to the Qi standard can be mentioned.

For wireless power supply using electromagnetic induction, including the Qi standard, the device on the power supply side (corresponding to the charging stand 13) and the device on the power receiving side (corresponding to the self-propelled vacuum cleaner 11) are each equipped with an induction coil. Power is supplied (corresponding to charging of the battery 23) at positions where the induction coils oppose each other.
In this embodiment, the annular induction coil (not shown) on the charging stand 13 side is preferably arranged so as to coincide with the charging position CP.
Further, the annular induction coil (not shown) on the self-propelled vacuum cleaner 11 side is preferably arranged near the bottom surface so as to coincide with the turning center RC.
Alternatively, the induction coil on the power supply base 13 side may be arranged at a predetermined distance from the charging position CP, and the induction coil on the self-propelled vacuum cleaner 11 side may be arranged at the same distance from the turning center RC. In that case, after docking so that the turning center RC of the self-propelled vacuum cleaner 11 and the charging position CP of the charging stand 13 coincide with each other, the self-propelled vacuum cleaner 11 is stationaryly swiveled. Then, there is a position where the induction coil on the power feeding side and the induction coil on the power receiving side face each other and the battery 23 is charged while turning around. The main body control circuit 25 detects charging to the battery 23 at the position, stops turning, and continues charging.

As mentioned above,
(I) The docking control method according to the present invention is a method of docking a self-propelled electronic device to a charging stand, wherein the charging stand has an upper surface on which the self-propelled electronic device is stopped to charge. The self-propelled electronic device has an annular or circular marker arranged on the upper surface in order to guide the self-propelled electronic device to a charging position, and the self-propelled electronic device runs on a rechargeable battery and the upper surface. It has a pair of left and right marker sensors for detecting the marker, and a main body control circuit for running the self-propelled electronic device to the charging position and stopping the self-propelled electronic device based on the detection of the marker. The circuit is characterized in that, after adjusting the traveling direction so that both the left and right marker sensors simultaneously detect the marker, the circuit goes straight into the marker, is stopped, and is charged.

In the present invention, the self-propelled electronic device is a device that autonomously travels and performs work, includes a battery that supplies energy for traveling, and docks with a charging stand when the traveling work is completed. To charge the battery. As a specific embodiment thereof, for example, a self-propelled vacuum cleaner (also referred to as a robot vacuum cleaner) can be mentioned. The self-propelled vacuum cleaner in the above-described embodiment corresponds to the self-propelled electronic device of the present invention.
Further, the charging stand charges the battery included in the self-propelled electronic device by docking with the self-propelled electronic device at a predetermined charging position. The charging stand according to the present invention has an upper surface on which a self-propelled electronic device can run. An annular marker is attached to the upper surface thereof.

Furthermore, the marker sensor identifies and detects the marker attached to the charging stand 13 from other objects or patterns on the floor surface. A specific embodiment thereof is, for example, a reflective photo sensor.
The marker is circular or circular, and when the left and right marker sensors simultaneously detect the outer circumference of the marker or the inner circumference of the annular marker at the same time, the center of the marker, that is, the charging position is located on the extension line in the anteroposterior direction. Arranged to exist.
Specifically, the left and right marker sensors are arranged at symmetrical positions with respect to the virtual center line extending in the front-rear direction through the turning center of the self-propelled electronic device.

Further, preferred embodiments of the present invention will be described.
(Ii) The charging stand further includes a power supply communication circuit that communicates with the self-propelled electronic device, and a power supply control circuit that starts and stops power supply to the self-propelled electronic device side. The type electronic device further includes a main body communication circuit that communicates with the power supply communication circuit, and the main body control circuit notifies that the self-propelled electronic device is close to or reaches the charging position. The power supply control circuit may start power supply to the self-propelled electronic device side when the notification is received via the power supply communication circuit.
By doing so, power is supplied only when the self-propelled electronic device is in a position close to the charging stand, so that the self-propelled electronic device moves to a position away from the charging stand or when it is not in the charging position. At that time, the power supply can be stopped to ensure safety.

(Iii) The self-propelled electronic device is capable of stationary turning, and the charging position may coincide with the turning center of the self-propelled electronic device.
In this way, since the self-propelled electronic device makes a stationary turn at the charging position, the self-propelled electronic device can be turned and turned even during charging.

(Iv) The charging stand is exposed on the upper surface and has a feeding side electrode concentric with the marker in an annular shape, and the self-propelled electronic device is on the main body side in contact with the feeding side electrode at the charging position. The main body control circuit has an electrode, and after moving straight into the marker, when it is detected that the main body side electrode and the power feeding side electrode come into contact with each other and charging of the battery has started, the self-propelled type The electronic device may be stopped to charge the battery.
By doing so, since the electrode stops at the position where the main body side electrode and the feeding side electrode come into contact with each other, it is possible to reliably stop at the charging position.

(V) After the main body control circuit advances straight into the marker, when the marker sensor detects a marker on the opposite side through the center of the marker, the self-propelled electronic device is stopped to charge the marker. You may go.
By doing so, the marker stops at the position where the outer circumference or the inner circumference of the marker on the opposite side of the marker from the position where the marker has entered the inside of the marker is detected, so that the marker can be reliably stopped at the charging position.

(Vi) The marker is configured by using a light emitting body, the marker sensor detects light from the marker, the marker emits an optical signal as the power feeding communication circuit, and the marker sensor is the main body communication circuit thereof. An optical signal may be detected.
By doing so, not only the marker 43 can be reliably identified from noise, but also communication between the power supply communication circuit and the main body communication circuit can be realized by using this light.

(Vii) Further, the present invention is a charging stand used in the above-mentioned docking control method, and is a self-propelled electron that is exposed on the upper surface, is annular and concentric with the marker, and can be stationary and swiveled at the charging position. A charging stand with a feeding side electrode that feeds the device may be provided.

(Viii) Alternatively, the present invention may be used in the docking control method described above to provide a charging stand having a plurality of annular electrodes concentrically arranged with different diameters as the feeding side electrodes.
In this way, the self-propelled electronic device can be turned around during charging by stationaryally turning the self-propelled electronic device at the center of the annular electrode.

(Ix) Further, the present invention is a charging stand used in the docking control method described above, wherein the self-propelled electronic device has a pair of left and right drive wheels, and the upper surface thereof is a self-propelled electronic device. Even if a flat charging stand is provided in which either the left or right drive wheel is located on the upper surface at a position where the marker sensor on either the left or right side detects the marker, and the driving wheel has a width for adjusting the traveling direction on the upper surface. good.
In this way, when the self-propelled electronic device adjusts the traveling direction in order to travel to the charging position, it is possible to prevent the charging table from being displaced from the floor surface by its own weight.

Preferred embodiments of the present invention include a combination of any of the plurality of embodiments described above.
In addition to the embodiments described above, there may be various variations of the present invention. These variations should not be construed as not belonging to the scope of the present invention. The invention should include claims and equivalent meaning and all modifications within said scope.

11: Self-propelled vacuum cleaner, 13: Charging stand, 15: Drive wheel, 15L: Left drive wheel, 15R: Right drive wheel, 17: Marker sensor, 17L: Left marker sensor, 17R: Right marker sensor, 19: Main unit Side positive electrode, 21: Main body side negative electrode, 23: Battery, 25: Main body control circuit, 27: Main body communication circuit, 29: Charge control circuit, 31: Main body side power receiving circuit, 33: Drive motor, 33L: Left wheel drive motor 33R: Right wheel drive motor 41: Top surface, 43: Marker, 45: Power supply communication circuit, 47: Power supply control circuit, 51: Power supply side positive electrode, 53: Power supply side negative electrode, 55: Non-contact power supply circuit, 57: AC adapter

Claims (9)

It is a method of docking a self-propelled electronic device to the charging stand.
The charging stand
On top of that, the upper surface where the self-propelled electronic device stops and charges,
It has an annular or circular marker placed on the top surface to guide the self-propelled electronic device to the charging position.
The self-propelled electronic device is
Rechargeable batteries and
A pair of left and right marker sensors that detect the marker when traveling on the upper surface,
It has a main body control circuit that causes the self-propelled electronic device to travel to the charging position and stop based on the detection of the marker.
The main body control circuit is a docking control method in which a traveling direction is adjusted so that the left and right marker sensors simultaneously detect the marker, and then the marker is moved straight into the marker, stopped, and charged. The charging stand includes a power supply communication circuit that communicates with the self-propelled electronic device.
It also has a power supply control circuit that starts and stops power supply to the self-propelled electronic device side.
The self-propelled electronic device further includes a main body communication circuit that communicates with the power supply communication circuit.
The main body control circuit transmits a notification that the self-propelled electronic device has approached or reached the charging position to the charging stand side via the main body communication circuit.
The docking control method according to claim 1, wherein the power supply control circuit starts power supply to the self-propelled electronic device side when the notification is received via the power supply communication circuit. The charging stand has a feeding side electrode that is exposed on the upper surface and is annular and concentric with the marker.
The self-propelled electronic device has a main body side electrode that contacts the power feeding side electrode at the charging position.
After moving straight into the marker, the main body control circuit stops the self-propelled electronic device when it detects that the main body side electrode and the power feeding side electrode come into contact with each other and charging of the battery has started. The docking control method according to claim 1 or 2, wherein the battery is charged. The claim that the main body control circuit advances straight into the marker, and then stops the self-propelled electronic device to charge the marker when the marker sensor detects a marker on the opposite side through the center of the marker. The docking control method according to 1 or 2. The self-propelled electronic device is capable of stationary turning and can be turned.
The docking control method according to any one of claims 1 to 4, wherein the main body control circuit is charged by stopping the self-propelled electronic device at a position where the turning center of the self-propelled electronic device overlaps with the center of the marker. The marker is configured using a light emitter, and the marker sensor detects light from the marker.
The docking control method according to claim 2, wherein the marker emits an optical signal as the power feeding communication circuit, and the marker sensor detects the optical signal as the main body communication circuit. A charging stand used in the docking control method according to claim 1 or 2.
A charging stand provided with a feeding side electrode that is exposed on the upper surface and is annular and concentric with the marker and is capable of stationary turning at the charging position to supply power to the self-propelled electronic device. A charging stand used in the docking control method of claim 3 and having a plurality of annular electrodes concentrically arranged with different diameters as the feeding side electrodes. A charging stand used in the docking control method according to any one of claims 1 to 6.
The self-propelled electronic device has a pair of left and right drive wheels.
The upper surface has a width that allows the left and right drive wheels to be on the upper surface at a position where the marker sensor on either the left or right side of the self-propelled electronic device detects a marker, and the traveling direction is adjusted on the upper surface. Flat charging stand.

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