TW201303538A - Method of returning to charging station for charging for self-propelled mobile device and the system thereof - Google Patents

Abstract

The invention relates to a method of returning to a charging station for charging for a self-propelled mobile device and the system thereof. Primarily, a middle long-distance signal transmission unit, a left long-distance signal transmission unit, a right long-distance signal transmission unit, a left short-distance signal transmission unit and a right short-distance signal transmission unit are built in the charging station, combining with a left signal receiving unit and a right signal receiving unit built in the self-propelled mobile device to process repeat search and receiving. Accordingly, the returning route can be revised such that the self-propelled mobile device can correctly return to the charging station for charging.

Description

Self-propelled mobile device return charging method and system thereof

The present invention relates to a self-propelled mobile device return charging method and system thereof, and more particularly to a self-propelled mobile device capable of automatically searching for the orientation of a charging station and correcting a route back to the charging station when power is insufficient. The method and system for smoothly returning to the charging station for charging.

According to the advancement and development of technology, the technology of electrical or equipment automation is becoming more sophisticated and widely used, such as self-propelled mobile devices (cleaning robots, cleaning robots, cleaning floor robots...).

As far as the self-propelled mobile devices described above are concerned, the utility model has the advantages of greatly saving manpower by completely automating the cleaning of the home floor, and thus becomes a gospel for the busy modern people. However, the early self-propelled mobile devices supplied their operating power with rechargeable batteries, and when the rechargeable battery was exhausted, it had to be charged by the user before it was exhausted, so that the delay in cleaning the time was also greatly reduced.

Later, in view of this situation, a manufacturer developed a self-propelled mobile device that automatically returns to the charging station for automatic charging when it detects that it is at a low potential. In the moving path mode in which the self-propelled mobile device automatically returns to the charging station for automatic charging, it belongs to the charging station by means of continuous collision or contact type. However, in this collision type return charging movement path mode, it is easy to damage the machine due to long-term collision, and the service life is shortened, and this way also causes the distance to the charging station to become longer, and it is easy to be in the return journey. The power is exhausted and it is no longer possible to return to the charging station to charge itself. Therefore, how to shorten the path of the self-propelled mobile device to return to the charging station to truly achieve the self-propelled mobile device can return to the charging station by itself is a subject of improvement in this case.

The main object of the present invention is to provide a self-propelled mobile device return charging method and system thereof, which can provide the self-propelled mobile device to automatically search for the orientation of the charging station and correct the route back to the charging station, Go back to the charging station and charge it.

The above main objects and effects of the present invention are achieved by the following specific technical means:

A self-propelled mobile device return charging method mainly uses a repeated search and determines that the signal received by the left and right signal receiving units built in the self-propelled mobile device is an intermediate long distance signal transmitted by the charging station or Left and right long distance signals or left and right close distance signals to correct the route of the self-propelled mobile device returning to the charging station, so that the self-propelled mobile device can select the shortest distance and return to the charging station with the correct return path for charging. .

The invention relates to a return charging system of a self-propelled mobile device, which mainly comprises an intermediate long-distance signal transmitting unit and left and right long-distance signal transmitting units and left and right short-distance signal transmitting units in the charging station, The middle and left and right long-distance signals and the left and right close-range signals are respectively transmitted, and the left and right signal receiving units built in the self-propelled mobile device are respectively used for searching and receiving the signals repeatedly, and by judging whether it is left or right The signal receiving unit receives the signal, and the signal is a long distance signal belonging to the middle or left or right, or a left or right close distance signal, to correct the route of the self-propelled mobile device returning to the charging station, so that the self-propelled mobile device The shortest distance can be selected and returned to the charging station with the correct return path for charging.

For a more complete and clear disclosure of the technical content, the purpose of the invention and the effects thereof achieved by the present invention, it is explained in detail below, and please refer to the drawings and drawings:

Please refer to the first figure, which is a block diagram of the return charging system of the self-propelled mobile device of the present invention. The return charging system of the self-propelled mobile device includes:

The remote long-distance signal transmitting unit (11), the left-distance long-distance signal transmitting unit (12), the right-distance remote-distance signal transmitting unit (13), and the left-right short-distance signal transmitting unit (14) are disposed between the charging station (1). And a right-distance signal transmitting unit (15), the intermediate long-distance signal transmitting unit (11) and the left-distance signal transmitting unit (12) and the right-distance signal transmitting unit (13) can respectively transmit intermediate long-distance signals (Sml) And the left and right long distance signals (S11), (Srl), and the left close distance signal transmitting unit (14) and the right close distance signal transmitting unit (15) respectively transmit left and right close distance signals (Sls), (Srs);

a left signal receiving unit (21) and a right signal receiving unit (22), a central processing unit (23), a rotating unit (24), and a walking unit (25) disposed in the self-propelled mobile device (2) And a power storage unit (26); the central processing unit (23) detects the power remaining in the power storage unit (26) at any time to perform charging to the charging station (1) when the power is insufficient; the left and right The signal receiving units (21), (22) are receiving the intermediate long distance signal transmitting unit (11), the left and right long distance signal transmitting units (12), (13) the left and right close distance signal transmitting units (14), (15) The intermediate long distance signal (Sml) and the left and right long distance signals (S11), (Srl) and the left and right close distance signals (Sls), (Srs) are sent to the central processing unit. (23) processing to drive the self-propelled mobile device (2) according to which signal is received by the signal receiving unit Means (24) and / or the traveling unit (25) actuated.

Please refer to the second figure, which is a flow chart of the operation of the return charging method of the self-propelled mobile device of the present invention. First, when the self-propelled mobile device (2) detects that the power stored in the power storage unit (26) is insufficient, the self-propelled mobile device (2) starts to automatically return to the charging station (1) for charging. program. When the program is executed, the left signal receiving unit (21) and the right signal receiving unit (22) of the self-propelled mobile device (2) start searching for the intermediate long-distance signal transmitting unit (11) of the charging station (1). , the long-distance signal transmitting unit (12), the right-distance signal transmitting unit (13), the left-right distance signal transmitting unit (14), and the right-distance signal transmitting unit (15) emit an intermediate long-distance signal (Sml), Left and right long distance signals (S11), (Srl), left and right close distance signals (Sls), (Srs), and send the searched received signals to the central processing unit (23) for processing, and determine the current The self-propelled moving device (2) must be straight forward or left turn forward or right turn forward or rotate in place, thereby driving the walking unit (25) and the rotating unit (24) to perform the above actions, sequentially repeating until the self The walk-through mobile device (2) returns to the charging station (1).

In the following, the self-propelled mobile device (2) is further described in different modes to automatically return to the charging station (1) in the state of insufficient power, and please refer to the first figure and the second figure (a) together. (b).

<Mode 1>

Referring to the third figure, when the left signal receiving unit (21) and the right signal receiving unit (22) of the self-propelled mobile device (2) do not receive any transmission by the intermediate long distance signal transmitting unit (11), the left long distance signal The intermediate long distance signal (Sml), the left and right distances emitted by the unit (12), the right long distance signal transmitting unit (13), the left close distance signal transmitting unit (14) and the right close distance signal transmitting unit (15) When the signal (S11), (Srl), left and right close-range signals (Sls), (Srs) indicate that the self-propelled mobile device (2) is too far away from the charging station (1), the self-propelled movement at this time The central processing unit (23) of the device (2) notifies the rotating unit (24) to make one rotation, and causes the walking unit (25) to perform a random straight forward motion until the left signal of the self-propelled mobile device (2) The receiving unit (21) or the right signal receiving unit (22) receives the signal. Wherein, the distance for performing the straight forward is preferably set to 2 meters.

<Mode 2>

When the left signal receiving unit (21) or the right signal receiving unit (22) of the self-propelled mobile device (2) receives the left or right close distance signal (Sls) or (Srs), or the left signal receiving unit (21) When the intermediate long distance signal (Sml) is received simultaneously with the right signal receiving unit (22), it indicates that the self-propelled mobile device (2) is relatively close to the charging station (1). among them:

<Mode 2>

When the left signal receiving unit (21) and the right signal receiving unit (22) of the self-propelled mobile device (2) simultaneously receive the intermediate long distance signal (Sml), it indicates that the self-propelled mobile device (2) is located in the charging. The middle position of station (1), so the self-propelled mobile device (2) performs a straight walk to return to the charging station (1).

<Mode 2 of 2>

Referring to the fourth figure, when only the left signal receiving unit (21) receives the intermediate long distance signal (Sml), the self-propelled mobile device (2) performs a left turn, so that the right signal receiving unit (22) searches for the intermediate long distance. Signal (Sml), when the right signal receiving unit (22) receives the intermediate long distance signal (Sml), the self-propelled mobile device (2) performs a right turn, and then causes the left signal receiving unit (21) to find the middle distance. The distance signal (Sml) is sequentially repeated until the left and right signal receiving units (21), (22) simultaneously receive the intermediate long distance signal (Sml), and the self-propelled mobile device (2) performs a straight walk. The station completes the procedure of returning to the charging station (1); that is, whether the left signal receiving unit (21) or the right signal receiving unit (22) receives the intermediate long distance signal (Sml), the self-propelled mobile device (2) A left turn or a right turn will be performed to cause another signal receiving unit to seek to receive the intermediate long distance signal (Sml).

<Mode 2 of 3>

Referring to FIG. 5, when the left signal receiving unit (21) receives the left near distance signal (Sls), it indicates that the self-propelled mobile device (2) is located on the left side of the charging station (1), at which time the self-propelled The angle of the mobile device (2) and the charging station (1) is too large and too close, and it is not easy to guide the self-propelled mobile device (2) back to the charging station (1), therefore, in this case The self-propelled mobile device (2) turns right 90 degrees and goes straight for a distance, and then performs a signal search procedure of mode three or mode four. Among them, the "distance" described in the above-mentioned "straight distance" is 2 meters.

<Mode 2 of 4>

As shown in the sixth figure, when the right signal receiving unit (22) receives the right close distance signal (Srs), it indicates that the self-propelled mobile device (2) is located on the right side of the charging station (1), and the above < The second mode is the same. At this time, because the angle of the self-propelled mobile device (2) and the charging station (1) is too large and the distance is too close, it is not easy to guide the self-propelled mobile device (2) back. The charging station (1), therefore, the self-propelled mobile device (2) will turn left 90 degrees and go straight away from the charging station (1), and then perform mode 3 or mode 4 signal searching procedure. Among them, the "distance" described in the above-mentioned "straight distance" is 2 meters.

<Mode 3>

When the left signal receiving unit (21) or the right signal receiving unit (22) of the self-propelled mobile device (2) does not receive any short-range signal, or the left signal receiving unit (21) and the right signal receiving unit (22) When the intermediate long distance signal (Sml) is not received at the same time, it indicates that the self-propelled mobile device (2) is not in a close state with the charging station (1). among them:

<Mode 3 ㄧ>

Referring to the seventh figure, when the left signal receiving unit (21) of the self-propelled mobile device (2) receives the left long distance signal (S11), the self-propelled mobile device (2) performs a left turn, if the left When the signal receiving unit (21) does not receive the left long distance signal (S11), the self-propelled mobile device (2) performs a right turn until the left signal receiving unit (21) receives the intermediate long distance signal (Sml). Then, the process of the above mode 2 or mode 4 is executed.

<Mode 3 of 2>

Referring to the eighth figure, when the right signal receiving unit (22) of the self-propelled mobile device (2) receives the right long distance signal (Srl), the self-propelled mobile device (2) performs a right turn, if the right When the signal receiving unit (22) does not receive the right long distance signal (Srl), the self-propelled mobile device (2) performs a left turn until the right signal receiving unit (22) receives the intermediate long distance signal (Sml). Then, the process of the above mode 2 or mode 4 is executed.

<Mode 4>

Referring to the ninth figure, when only the left signal receiving unit (21) receives the intermediate long distance signal (Sml), the self-propelled mobile device (2) performs a left turn, so that the right signal receiving unit (22) searches for the intermediate long distance. Signal (Sml), when the right signal receiving unit (22) receives the intermediate long distance signal (Sml), the self-propelled mobile device (2) performs a right turn, and then causes the left signal receiving unit (21) to find the middle distance. The distance signal (Sml) is sequentially repeated until the left and right signal receiving units (21) and (22) simultaneously receive the intermediate long distance signal (Sml), and then enters the <Mode 2> signal finding program.

The self-propelled mobile device (2) of the present invention receives a signal by judging whether the left or right signal receiving unit (21) or (22), and the signal belongs to the intermediate long distance signal (Sml), or is left or right. The long-distance signal (S11) or (Srl), or the left or right close-range signal (Sls) or (Srs), to correct the route of the self-propelled mobile device (2) returning to the charging station (1), so that the self-propelled The mobile device (2) can select the shortest distance and return to the charging station (1) with the correct return path for the charger.

The above is only a part of the embodiments of the present invention, and is not intended to limit the present invention. It is intended to be included in the scope of the present invention.

In summary, the embodiments of the present invention can achieve the expected use efficiency, and the specific technical means disclosed therein have not been seen in similar products, nor have they been disclosed before the application, and have completely complied with the patent law. The regulations and requirements, the application for invention patents in accordance with the law, and the application for review, and the grant of patents, are truly sensible.

(1). . . charging station

(11). . . Intermediate long distance signal transmitting unit

(12). . . Left long distance signal transmitting unit

(13). . . Right long distance signal transmitting unit

(14). . . Left close signal transmitting unit

(15). . . Right-distance signal transmitting unit

(2). . . Self-propelled mobile device

(twenty one). . . Left signal receiving unit

(twenty two). . . Right signal receiving unit

(twenty three). . . Central processing unit

(twenty four). . . Rotating unit

(25). . . Walking unit

(26). . . Power storage unit

(Sml). . . Intermediate long distance signal

(Sll). . . Left long distance signal

(Srl). . . Right far distance signal

(Sls). . . Left near distance signal

(Srs). . . Right near distance signal

First: Schematic diagram of the block structure of the return charging system of the self-propelled mobile device of the present invention. FIG. 2(a) is a schematic flow chart of the return charging method of the self-propelled mobile device of the present invention (1)
Figure 2 (b) is a schematic flow chart of the return charging method of the self-propelled mobile device of the present invention (2)
FIG. 3 is a schematic diagram of the return charging procedure of the self-propelled mobile device performing mode 1 of the present invention. FIG. 4 is a schematic diagram of the return charging procedure of the self-propelled mobile device performing mode 2 of the present invention. FIG. FIG. 2 is a schematic diagram of a return charging procedure of the second embodiment of the walk-through mobile device. FIG. 3 is a schematic diagram of a return charging procedure of the second embodiment of the self-propelled mobile device of the present invention. FIG. 7 is a self-propelled mobile device execution mode of the present invention. FIG. 8 is a schematic diagram of the return charging procedure of the self-propelled mobile device of the present invention. FIG. 9 is a schematic diagram of the return charging procedure of the self-propelled mobile device performing mode 4 of the present invention.

(1). . . charging station

(11). . . Intermediate long distance signal transmitting unit

(12). . . Left long distance signal transmitting unit

(13). . . Right long distance signal transmitting unit

(14). . . Left close signal transmitting unit

(15). . . Right-distance signal transmitting unit

(2). . . Self-propelled mobile device

(twenty one). . . Left signal receiving unit

(twenty two). . . Right signal receiving unit

(twenty three). . . Central processing unit

(twenty four). . . Rotating unit

(25). . . Walking unit

(26). . . Power storage unit

Claims (2)

A return charging method for a self-propelled mobile device, the step of which includes:

a) detecting that the power of the self-propelled mobile device is insufficient;
b) search for intermediate long-distance signals, left and right long-distance signals, left and right close-range signals;

c) the self-propelled mobile device performs a walking or rotating action;
d) continuously searching for the intermediate long-distance signal, left and right long-distance signals until the self-propelled mobile device simultaneously receives the intermediate long-distance signal;
e) The self-propelled mobile device performs a straight walk to reach the charging station. A return charging system for a self-propelled mobile device includes:
a remote long-distance signal transmitting unit, a left-distance remote-distance signal transmitting unit, a right-distance remote-distance signal transmitting unit, a left-right-distance signal transmitting unit and a right-right-distance signal transmitting unit, which are disposed in the middle of a charging station, and the intermediate long-distance signal transmitting The unit emits an intermediate long-distance signal, and the left and right long-distance signal transmitting units respectively transmit left and right long-distance signals, and the left and right short-distance signal transmitting units respectively transmit left and right short-distance signals;
a left signal receiving unit, a right signal receiving unit, a central processing unit, a rotating unit, a walking unit, and a power storage unit disposed in the self-propelled mobile device; the central processing unit is connected to the power storage unit, the left, a right signal receiving unit, the rotating unit and the walking unit; whether the signal received or received by the left and right signal receiving units belongs to an intermediate long distance signal or left and right long distance signals or left and right short distance signals, After the central processing unit performs processing, the traveling unit is driven, and the rotating unit performs walking and rotating operations to correct the route of the self-propelled mobile device to return to the charging station.