TW201504780A - Recharge guiding method for self-propelled mobile device - Google Patents
Recharge guiding method for self-propelled mobile device Download PDFInfo
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本發明係有關於一種自走式移動設備，尤指在自走式移動設備電池電力耗盡前，自動偵測來自充電站之訊號並受訊號導引而返回充電站之自走式移動設備回充電導引方法。 The invention relates to a self-propelled mobile device, in particular to a self-propelled mobile device that automatically detects a signal from a charging station and is guided by a signal and returns to the charging station before the battery power of the self-propelled mobile device is exhausted. Charging guidance method.
按，隨著科技的發展與進步，清潔機器人、保全機器人…等自走式移動設備陸續的出現在我們日常生活中並被廣泛的使用，上述自走式移動設備皆係仰賴電池電力，在移動一段時間後需執行充電作業，為了達到全自動化之作業，目前市面上之自走式移動設備多配有自動返回充電站充電之功能。 According to the development and advancement of technology, self-propelled mobile devices such as cleaning robots and security robots have appeared in our daily lives and are widely used. The above self-propelled mobile devices rely on battery power and are moving. After a period of time, the charging operation needs to be performed. In order to achieve fully automated operation, the self-propelled mobile devices currently on the market are equipped with an automatic return charging station charging function.
公開號碼第201303538號「自走式移動裝置的返回充電方法及其系統」專利案為申請人所提出，該案係使充電站發射中間遠距離信號、中間近距離信號、左遠距離信號、左近距離信號、右遠距離信號、右近距離信號等六種信號，並使分置於自走式移動裝置前端兩側之左信號接收單元與右信號接收單元偵測上述六種信號執行行走或旋轉之動作，如當左信號接收單元接收到左近距離訊號時，表示自走式移動裝置係位於充電站的左邊，此時因自走式移動裝置與充電站距離過於接近，不容易導引自走式移動裝置回到充電站，因此，在此情形下，自走式移動裝置將右轉約90度並直走一距離，使左信號接收單元接收到中間遠距離信號再轉動自走式移動裝置使右信號接收單元也接收到中間遠距離 信號，此時表示自走式移動裝置係位於充電站正中間位置，故自走式移動裝置執行直走以回到充電站。 Patent No. 201303538 "Return charging method and system for self-propelled mobile device" patent case proposed by the applicant, the case enables the charging station to emit intermediate long-distance signals, intermediate close-range signals, left-distance signals, and near-near Six kinds of signals, such as a distance signal, a right long distance signal, and a right close distance signal, and the left signal receiving unit and the right signal receiving unit respectively disposed on both sides of the front end of the self-propelled mobile device detect the above six signals to perform walking or rotating. The action, such as when the left signal receiving unit receives the left close distance signal, indicates that the self-propelled mobile device is located on the left side of the charging station. At this time, since the self-propelled mobile device is too close to the charging station, it is not easy to guide the self-propelled type. The mobile device returns to the charging station. Therefore, in this case, the self-propelled mobile device will turn right by about 90 degrees and go straight for a distance, so that the left signal receiving unit receives the intermediate long distance signal and then rotates the self-propelled mobile device. The right signal receiving unit also receives the intermediate long distance The signal, at this point, indicates that the self-propelled mobile device is in the middle of the charging station, so the self-propelled mobile device performs a straight walk to return to the charging station.
該公開號碼第201303538號專利案之先前技術，其在自走式移動裝置接收到左近距離訊號或右近距離訊號時，自走式移動裝置向左或右旋轉約90度並直走直到左信號接收單元或右信號接收單元接收到中間遠距離信號時，自走式移動裝置再向左或右旋轉，直到左信號接收單元與右信號接收單元同時接收到中間遠距離信號時，往前直走回到充電站；但由於左近距離訊號與右近距離訊號與充電站極為接近，加上自走式移動裝置本身之長度與寬度，自走式移動裝置在執行90度轉向後直行所形成之作業空間仍不容易導引自走式移動裝置回到充電站，且自走式移動裝置在執行90度轉向後直行，最後大部份係以銳角角度進入中間遠距離信號，此時設於自走式移動裝置前端兩側之左信號接收單元與右信號接收單元因中間遠距離信號受自走式移動裝置兩側之阻擋，使其不易接收到中間遠距離信號，導致自走式移動裝置離開中間遠距離信號範圍而又開啟重新尋找信號步驟。 In the prior art of the publication No. 201303538, when the self-propelled mobile device receives the left close distance signal or the right close distance signal, the self-propelled mobile device rotates left or right by about 90 degrees and goes straight until the left signal is received. When the unit or the right signal receiving unit receives the intermediate long-distance signal, the self-propelled mobile device rotates to the left or the right again until the left signal receiving unit and the right signal receiving unit simultaneously receive the intermediate long-distance signal, and then go straight back. To the charging station; but because the left close distance signal and the right close distance signal are very close to the charging station, plus the length and width of the self-propelled mobile device itself, the working space formed by the self-propelled mobile device after performing the 90 degree steering is still It is not easy to guide the self-propelled mobile device back to the charging station, and the self-propelled mobile device goes straight after performing the 90-degree steering, and finally most of the signals enter the intermediate long-distance signal at an acute angle, and are set at the self-propelled movement. The left signal receiving unit and the right signal receiving unit on both sides of the front end of the device are blocked by the two sides of the self-propelled mobile device due to the intermediate long distance signal, which makes it difficult Intermediate received remote signal, resulting in a self-propelled mobile device away from the intermediate distance range signal for signals yet again turned step.
爰是，本發明之目的，在於提供一種使自走式移動設備容易接收到充電站導引訊號並沿訊號回到充電站之自走式移動設備回充導引方法。 Therefore, an object of the present invention is to provide a self-propelled mobile device refill guiding method that allows a self-propelled mobile device to easily receive a charging station pilot signal and return the signal to the charging station.
依據本發明目的自走式移動設備回充導引方法，包括：提供一充電站，其發射一第一導引訊號、一第二導引訊號與一第三導引訊號；提供一自走式移動設備，其設有一第一感應單元、第二感應單元與一第三感應單元；該自走式移動設備接收到該第 二導引訊號或該第三導引訊號時，自走式移動設備會朝充電站反方向移動一預設距離，再旋轉一預設角度朝該第一導引訊號方向移動；當該第二感應單元或該第三感應單元接收到第一導引訊號時，自走式移動設備進行旋轉使第一感應單元接收到充電站之第一導引訊號，並沿第一導引訊號朝充電站方向移動。 According to the present invention, a self-propelled mobile device refilling guide method includes: providing a charging station that transmits a first pilot signal, a second pilot signal, and a third pilot signal; providing a self-propelled a mobile device, which is provided with a first sensing unit, a second sensing unit and a third sensing unit; the self-propelled mobile device receives the first When the second guiding signal or the third guiding signal is used, the self-propelled mobile device moves a predetermined distance toward the charging station in the opposite direction, and then rotates a predetermined angle to move toward the first guiding signal; when the second When the sensing unit or the third sensing unit receives the first guiding signal, the self-propelled mobile device rotates to cause the first sensing unit to receive the first guiding signal of the charging station, and the first guiding signal is directed to the charging station. Move in direction.
依據本發明目的另一自走式移動設備回充導引方法，包括：一後退步驟，在自走式移動設備接收到第二導引訊號或第三導引訊號時，其後退遠離第二導引訊號或第三導引訊號；一尋訊號步驟，後退遠離第二導引訊號或第三導引訊號之自走式移動設備向第二感應單元或第三感應單元方向轉動，轉動後朝第一導引訊號方向移動；一訊號導引步驟，自走式移動設備之第二感應單元或第三感應單元接收到第一導引訊號，自走式移動設備轉動使第一感應單元接收到第一導引訊號，並沿第一導引訊號朝充電站方向移動。 According to another aspect of the present invention, a self-propelled mobile device refilling guiding method includes: a step of retreating, when the self-propelled mobile device receives the second guiding signal or the third guiding signal, the backing is away from the second guiding a signal or a third pilot signal; a seek step, the self-propelled mobile device moving away from the second pilot signal or the third pilot signal is rotated toward the second sensing unit or the third sensing unit, and then rotated a guiding signal direction moving; a signal guiding step, the second sensing unit or the third sensing unit of the self-propelled mobile device receives the first guiding signal, and the self-propelled mobile device rotates to enable the first sensing unit to receive the first A pilot signal moves along the first pilot signal toward the charging station.
本發明實施例之自走式移動設備回充導引方法，在自走式移動設備進入返回充電狀態後，即開始尋找第一導引訊號以沿第一導引訊號返回充電站，在自走式移動設備未接收到第一導引訊號而先接收到第二導引訊號或第三導引訊號時，表示自走式移動設備位處充電站兩側且接近充電站，故一方面為了使自走式移動設備尋找到第一導引訊號，另一方面防止自走式移動設備碰撞充電站(在返回充電狀態下所有感應單元僅有訊號接收功能，無發射偵測障礙物訊號功能)，故使自走式移動設備後退遠離第二導引訊號或第三導引訊號朝充電站反方向移動一預設距離，並旋轉一預設角度朝第一導引訊號方向移動，提升自走式移動設備受 導引而回到充電站之作業空間，且朝第一導引訊號方向移動之路徑為先直線移動再弧線移動，確保自走式移動設備係以約略垂直角度進入第一導引訊號，使設於自走式移動設備兩側之第二感應單元或第三感應單元易於接收第一導引訊號，並旋轉使第一感應單元接收到第一導引訊號進而沿第一導引訊號返回充電站。 In the self-propelled mobile device refilling and guiding method, after the self-propelled mobile device enters the return charging state, the first guiding signal is searched to return to the charging station along the first guiding signal, and the self-propelled When the mobile device does not receive the first pilot signal and first receives the second pilot signal or the third pilot signal, it indicates that the self-propelled mobile device is located at both sides of the charging station and is close to the charging station, so on the one hand The self-propelled mobile device finds the first pilot signal, and on the other hand prevents the self-propelled mobile device from colliding with the charging station (in the return charging state, all the sensing units only have the signal receiving function, and no transmitting and detecting the obstacle signal function), Therefore, the self-propelled mobile device moves back away from the second guiding signal or the third guiding signal to a reverse distance in the opposite direction of the charging station, and rotates a predetermined angle to move in the direction of the first guiding signal, and enhances the self-propelled type. Mobile device Guided back to the working space of the charging station, and the path moving toward the first guiding signal is a linear movement and then an arc moving, ensuring that the self-propelled mobile device enters the first guiding signal at an approximately vertical angle, so that The second sensing unit or the third sensing unit on both sides of the self-propelled mobile device is apt to receive the first guiding signal, and rotates to cause the first sensing unit to receive the first guiding signal and return to the charging station along the first guiding signal. .
1‧‧‧自走式移動設備 1‧‧‧Self-moving mobile devices
11‧‧‧第一感應單元 11‧‧‧First sensing unit
111‧‧‧第一感應器 111‧‧‧First sensor
112‧‧‧第二感應器 112‧‧‧Second sensor
113‧‧‧第三感應器 113‧‧‧ third sensor
114‧‧‧第四感應器 114‧‧‧fourth sensor
115‧‧‧第五感應器 115‧‧‧ fifth sensor
116‧‧‧第六感應器 116‧‧‧ sixth sensor
117‧‧‧第七感應器 117‧‧‧ seventh sensor
12‧‧‧第二感應單元 12‧‧‧Second sensing unit
121‧‧‧第八感應器 121‧‧‧ eighth sensor
122‧‧‧第九感應器 122‧‧‧ninth sensor
13‧‧‧第三感應單元 13‧‧‧ third induction unit
131‧‧‧第十感應器 131‧‧‧10th sensor
132‧‧‧第十一感應器 132‧‧‧11th sensor
2‧‧‧充電站 2‧‧‧Charging station
21‧‧‧第一訊號發射單元 21‧‧‧First Signal Transmitting Unit
211‧‧‧第一訊號發射器 211‧‧‧First Signal Transmitter
212‧‧‧第一導引訊號 212‧‧‧First pilot signal
22‧‧‧第二訊號發射單元 22‧‧‧second signal transmitting unit
221‧‧‧第二訊號發射器 221‧‧‧second signal transmitter
222‧‧‧第二導光件 222‧‧‧Second light guide
223‧‧‧第二導引訊號 223‧‧‧Second guidance signal
23‧‧‧第三訊號發射單元 23‧‧‧Third signal launching unit
231‧‧‧第三訊號發射器 231‧‧‧ Third Signal Transmitter
232‧‧‧第三導光件 232‧‧‧3rd light guide
233‧‧‧第三導引訊號 233‧‧‧ Third Guiding Signal
24‧‧‧透光件 24‧‧‧Transparent parts
d1‧‧‧第一預設距離 D1‧‧‧first preset distance
d2‧‧‧第二預設距離 D2‧‧‧Second preset distance
R1‧‧‧直線路徑 R1‧‧‧ straight path
R2‧‧‧弧線路徑 R2‧‧‧ arc path
θ‧‧‧預設角度 θ‧‧‧Preset angle
第一圖係本發明實施例之自走式移動設備內部感應器配置示意圖。 The first figure is a schematic diagram of the internal sensor configuration of the self-propelled mobile device according to the embodiment of the present invention.
第二圖係本發明實施例之充電站內部訊號發射單元配置示意圖。 The second figure is a schematic diagram of the configuration of the internal signal transmitting unit of the charging station according to the embodiment of the present invention.
第三圖係本發明實施例之充電站發射導引訊號示意圖。 The third figure is a schematic diagram of a charging station transmitting a pilot signal according to an embodiment of the present invention.
第四圖係本發明實施例之自走式移動設備接收到第三導引訊號而受導引移動之示意圖。 The fourth figure is a schematic diagram of the self-propelled mobile device receiving the third pilot signal according to the embodiment of the present invention.
第五圖係本發明實施例之自走式移動設備接收到第二導引訊號而受導引移動之示意圖。 The fifth figure is a schematic diagram of the self-propelled mobile device in the embodiment of the present invention receiving the second pilot signal and being guided to move.
請參閱第一圖與第二圖所示，本發明實施例之回充導引方法可採用以下設備來達成，包括：一自走式移動設備1，其可為清潔機器人或保全機器人等，但不以此為限，該自走式移動設備1設有一第一感應單元11與一第二感應單元12及一第三感應單元13；該第一感應單元11係由第一感應器111、第二感應器112、第三感應器113、第四感應器114、第五感應器115、第六感應器116、第七感應器117所組成；該第二感應單元12設於第一感應單元11一側，其係由第八感應器121與第九感應器122所組成；該第三感應單元13設於第一感應單元 11另一側且相對於第二感應單元12，其係由第十感應器131與第十一感應器132所組成；其中，第一感應器111、第三感應器113、第四感應器114、第六感應器116、第七感應器117、第八感應器121、第十感應器131具有訊號的發射與接收功能，在自走式移動設備1未進入返回充電狀態時，作為偵測周遭障礙物之感應器；而第二感應器112、第五感應器115、第九感應器122、第十一感應器132僅具有訊號之接收功能，在自走式移動設備1未進入返回充電狀態時，作為輔助接收障礙物訊號之感應器，在進入返回充電狀態後，則作為偵測來自充電站2之訊號使用；一充電站2，其設有一第一訊號發射單元21與一第二訊號發射單元22及一第三訊號發射單元23，在充電站2前側設有一透光件24，第一訊號發射單元21、第二訊號發射單元22、第三訊號發射單元23所發射之導引訊號皆經由透光件24射出；該第一訊號發射單元21設於充電站2前側中央處，其設有多顆第一訊號發射器211；該第二訊號發射單元22與第三訊號發射單元23設於充電站2前側兩端，其分別設有一第二訊號發射器221與一第二導光件222及一第三訊號發射器231與一第三導光件232。 Referring to the first and second figures, the refilling guiding method of the embodiment of the present invention may be implemented by the following devices, including: a self-propelled mobile device 1, which may be a cleaning robot or a security robot, etc., but The self-propelled mobile device 1 is provided with a first sensing unit 11 and a second sensing unit 12 and a third sensing unit 13; the first sensing unit 11 is composed of a first sensor 111, The second sensor 112, the third sensor 113, the fourth sensor 114, the fifth sensor 115, the sixth sensor 116, and the seventh sensor 117 are formed; the second sensing unit 12 is disposed on the first sensing unit 11 One side is composed of an eighth sensor 121 and a ninth sensor 122; the third sensing unit 13 is disposed on the first sensing unit 11 is the other side and is opposite to the second sensing unit 12, which is composed of the tenth sensor 131 and the eleventh sensor 132; wherein, the first sensor 111, the third sensor 113, and the fourth sensor 114 The sixth sensor 116, the seventh sensor 117, the eighth sensor 121, and the tenth sensor 131 have a function of transmitting and receiving signals, and when the self-propelled mobile device 1 does not enter the return charging state, it is used as a detecting area. The sensor of the obstacle; the second sensor 112, the fifth sensor 115, the ninth sensor 122, and the eleventh sensor 132 only have a signal receiving function, and the self-propelled mobile device 1 does not enter the return charging state. As a sensor for receiving the obstacle signal, after entering the return charging state, it is used as a signal for detecting the charging station 2; a charging station 2 is provided with a first signal transmitting unit 21 and a second signal. The transmitting unit 22 and the third signal transmitting unit 23 are provided with a light transmitting member 24 on the front side of the charging station 2, and the guiding signals transmitted by the first signal transmitting unit 21, the second signal transmitting unit 22 and the third signal transmitting unit 23 are provided. Through the light transmissive member 24 The first signal transmitting unit 21 is disposed at the center of the front side of the charging station 2, and is provided with a plurality of first signal transmitters 211; the second signal transmitting unit 22 and the third signal transmitting unit 23 are disposed at the front side of the charging station 2 A second signal emitter 221 and a second light guide 222 and a third signal emitter 231 and a third light guide 232 are respectively disposed at the two ends.
請參閱第二圖與第三圖所示，該第一訊號發射單元21朝充電站2前方發射一第一導引訊號212；該第二訊號發射單元22藉由第二導光件222朝充電站2前方發射一第二導引訊號223；該第三訊號發射單元23藉由第三導光件232朝充電站2前方發射一第三導引訊號233；其中，由於第一導引訊號212係由多顆第一訊號發射器211所產生，且第二導引訊號223與第三導引訊號233受第二導光件222與第三導光件232之折射，故第一導引訊號212 發射距離長於第二導引訊號223與第三導引訊號233，且第二導引訊號223與第三導引訊號233之訊號擴散角度大於第一導引訊號212；第一導引訊號212與第二導引訊號223及第三導引訊號233彼此無相互重疊區域。 Referring to the second and third figures, the first signal transmitting unit 21 transmits a first guiding signal 212 toward the front of the charging station 2; the second signal transmitting unit 22 is charged by the second light guiding member 222. A second pilot signal 223 is transmitted in front of the station 2; the third signal transmitting unit 23 transmits a third pilot signal 233 toward the front of the charging station 2 via the third light guiding member 232; wherein, due to the first guiding signal 212 The second guiding signal 223 and the third guiding signal 233 are refracted by the second light guiding member 222 and the third light guiding member 232, so the first guiding signal is generated by the plurality of first signal transmitters 211. 212 The transmission distance is longer than the second guiding signal 223 and the third guiding signal 233, and the signal diffusion angle of the second guiding signal 223 and the third guiding signal 233 is greater than the first guiding signal 212; the first guiding signal 212 is The second guiding signal 223 and the third guiding signal 233 do not overlap each other.
本發明實施例在實施上，請參閱第一圖與第四圖所示，當自走式移動設備1進入返回充電狀態，自走式移動設備1在未接收到第一導引訊號212而先接收到第二導引訊號223時，表示自走式移動設備1與充電站2之距離過近，為了取得更大的作業空間與防止自走式移動設備1碰撞充電站2(在返回充電狀態下所有感應單元僅有訊號接收功能，無發射偵測障礙物訊號功能)，自走式移動設備1會後退遠離第二導引訊號223朝充電站2反方向移動一第一預設距離d1，再向第三感應單元13方向旋轉一預設角度θ，並朝第一導引訊號212方向往前行進一第二預設距離d2之直線路徑R1後再行進弧線路徑R2，使自走式移動設備1以約略垂直角度進入第一導引訊號212；當第二感應單元12之第九感應器122接收到第一導引訊號212時，自走式移動設備1向第二感應單元12方向旋轉，直到第一感應單元11之第一感應器111接收到第一導引訊號212之最大值，表示當時自走式移動設備1係正面對充電座2，故藉由第一感應單元11之第一感應器111沿第一導引訊號212朝充電站2方向移動。 In the implementation of the embodiment of the present invention, please refer to the first figure and the fourth figure. When the self-propelled mobile device 1 enters the return charging state, the self-propelled mobile device 1 does not receive the first pilot signal 212. When the second guiding signal 223 is received, it indicates that the distance between the self-propelled mobile device 1 and the charging station 2 is too close, in order to obtain a larger working space and prevent the self-propelled mobile device 1 from colliding with the charging station 2 (in the return charging state) All the sensing units have only the signal receiving function, and the no-detection obstacle signal function), the self-propelled mobile device 1 will retreat away from the second guiding signal 223 and move in the opposite direction of the charging station 2 by a first preset distance d1. Then, the third sensing unit 13 is rotated by a predetermined angle θ, and the linear path R1 of the second predetermined distance d2 is forwardly moved toward the first guiding signal 212, and then the arc path R2 is advanced to move the self-propelled movement. The device 1 enters the first guiding signal 212 at an approximately vertical angle; when the ninth sensor 122 of the second sensing unit 12 receives the first guiding signal 212, the self-propelled mobile device 1 rotates toward the second sensing unit 12 Until the first sensing unit 11 The first sensor 111 receives the maximum value of the first guiding signal 212, indicating that the self-propelled mobile device 1 is facing the charging stand 2 at the time, so that the first sensor 111 of the first sensing unit 11 is along the first guiding The signal number 212 moves toward the charging station 2.
請參閱第一圖與第五圖所示，自走式移動設備1在接收到第三導引訊號233後，會後退遠離第三導引訊號233朝充電站2反方向移動一第一預設距離d1，再向第二感應單元12方向旋轉一預設角度θ，並朝第一導引訊號212方向往前行進一第二預 設距離d2之直線路徑R1後再行進弧線路徑R2，使自走式移動設備1以約略垂直角度進入第一導引訊號212；當第三感應單元13之第十一感應器132接收到第一導引訊號212時，自走式移動設備1向第三感應單元13方向旋轉，直到第一感應單元11之第一感應器111接收到第一導引訊號212之最大值，遂沿第一導引訊號212朝充電站2方向移動；其中，該預設距離d1以5cm至30cm尤佳，該預設距離d2以15cm至40cm尤佳，該預設角度θ以90度至110度尤佳；歸納上述自走式移動設備1回充導引方法，包括：一後退步驟，在自走式移動設備1接收到第二導引訊號223或第三導引訊號233時，其後退遠離第二導引訊號223或第三導引訊號233；一尋訊號步驟，後退遠離第二導引訊號223或第三導引訊號233之自走式移動設備1向第二感應單元12或第三感應單元13方向轉動，轉動後朝第一導引訊號212方向移動；一訊號導引步驟，自走式移動設備1之第二感應單元12或第三感應單元13接收到第一導引訊號212，自走式移動設備1轉動使第一感應單元11接收到第一導引訊號212，並沿第一導引訊號212朝充電站2方向移動。 Referring to the first and fifth figures, after receiving the third pilot signal 233, the self-propelled mobile device 1 moves back away from the third pilot signal 233 toward the charging station 2 in a reverse direction. The distance d1 is further rotated by a predetermined angle θ in the direction of the second sensing unit 12, and forwards a second pre-direction toward the first guiding signal 212. The linear path R1 of the distance d2 is followed by the arc path R2, so that the self-propelled mobile device 1 enters the first guiding signal 212 at an approximately vertical angle; when the eleventh sensor 132 of the third sensing unit 13 receives the first When the signal 212 is guided, the self-propelled mobile device 1 rotates in the direction of the third sensing unit 13 until the first sensor 111 of the first sensing unit 11 receives the maximum value of the first guiding signal 212. The reference signal 212 moves toward the charging station 2; wherein the preset distance d1 is preferably 5 cm to 30 cm, and the preset distance d2 is preferably 15 cm to 40 cm, and the preset angle θ is preferably 90 to 110 degrees; The self-propelled mobile device 1 refilling and guiding method comprises: a retreating step, when the self-propelled mobile device 1 receives the second guiding signal 223 or the third guiding signal 233, it retreats away from the second guiding The locating signal 223 or the third directional signal 233; a finder step, the self-propelled mobile device 1 moving away from the second guiding signal 223 or the third guiding signal 233 to the second sensing unit 12 or the third sensing unit 13 Rotating in the direction, rotating and moving toward the first guiding signal 212; The first sensing unit 12 or the third sensing unit 13 of the self-propelled mobile device 1 receives the first guiding signal 212, and the self-propelled mobile device 1 rotates to enable the first sensing unit 11 to receive the first guiding. The signal 212 is moved along the first guiding signal 212 toward the charging station 2.
本發明實施例之自走式移動設備1回充導引方法，在自走式移動設備1進入返回充電狀態時，即開始尋找第一導引訊號212以沿第一導引訊號212返回充電站2，在自走式移動設備1未接收到第一導引訊號212而先接收到第二導引訊號223或第三導引訊號233時，表示自走式移動設備1位處充電站2兩側且接 近充電站2，故一方面為了使自走式移動設備1尋找到第一導引訊號212，另一方面防止自走式移動設備1碰撞充電站2，故使自走式移動設備1後退遠離第二導引訊號223或第三導引訊號233朝充電站2反方向移動一第一預設距離d1，並旋轉一預設角度θ朝第一導引訊號212方向移動，提升自走式移動設備1受導引而回到充電站2之作業空間，且朝第一導引訊號212方向移動之路徑為先行進直線路徑R1一第二預設距離d2再行進弧線路徑R2，確保自走式移動設備1係以約略垂直角度進入第一導引訊號212，使設於自走式移動設備1兩側之第二感應單元12或第三感應單元13易於接收第一導引訊號212，並旋轉使第一感應單元11接收到第一導引訊號212進而沿第一導引訊號212返回充電站2。 In the self-propelled mobile device 1 of the embodiment of the present invention, when the self-propelled mobile device 1 enters the return charging state, the first guiding signal 212 is searched for to return to the charging station along the first guiding signal 212. 2. When the self-propelled mobile device 1 does not receive the first pilot signal 212 and first receives the second pilot signal 223 or the third pilot signal 233, it indicates that the self-propelled mobile device is at the charging station 2 Side and side The charging station 2 is close to the charging station 2, so that on the one hand, the self-propelled mobile device 1 is prevented from finding the first guiding signal 212, and on the other hand, the self-propelled mobile device 1 is prevented from colliding with the charging station 2. The second guiding signal 223 or the third guiding signal 233 is moved in the opposite direction of the charging station 2 by a first preset distance d1, and is rotated by a predetermined angle θ toward the first guiding signal 212 to enhance the self-propelled movement. The device 1 is guided back to the working space of the charging station 2, and the path moving toward the first guiding signal 212 is a first traveling straight path R1, a second predetermined distance d2, and then an arc path R2, ensuring self-propelled mode. The mobile device 1 enters the first guiding signal 212 at an approximately vertical angle, so that the second sensing unit 12 or the third sensing unit 13 disposed on both sides of the self-propelled mobile device 1 can easily receive the first guiding signal 212 and rotate The first sensing unit 11 receives the first guiding signal 212 and returns to the charging station 2 along the first guiding signal 212.
惟以上所述者，僅為本發明之較佳實施例而已，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。 The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.
1‧‧‧自走式移動設備 1‧‧‧Self-moving mobile devices
2‧‧‧充電站 2‧‧‧Charging station
212‧‧‧第一導引訊號 212‧‧‧First pilot signal
223‧‧‧第二導引訊號 223‧‧‧Second guidance signal
233‧‧‧第三導引訊號 233‧‧‧ Third Guiding Signal
d1‧‧‧第一預設距離 D1‧‧‧first preset distance
d2‧‧‧第二預設距離 D2‧‧‧Second preset distance
R1‧‧‧直線路徑 R1‧‧‧ straight path
R2‧‧‧弧線路徑 R2‧‧‧ arc path
θ‧‧‧預設角度 θ‧‧‧Preset angle
Claims (9)
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| TW102125644A TWI484309B (en) | 2013-07-18 | 2013-07-18 | Self - propelled mobile device recharge guidance method |
| JP2014085951A JP2015022754A (en) | 2013-07-18 | 2014-04-18 | Self-propelled movable facility turn-back charging guide method |
| CN201410177899.4A CN104298241A (en) | 2013-07-18 | 2014-04-29 | Recharging guide method for self-propelled mobile equipment |
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| TWI600991B (en) * | 2016-05-27 | 2017-10-01 | 華碩電腦股份有限公司 | Automatic walking device and control method thereof |
| US10274964B2 (en) | 2016-05-27 | 2019-04-30 | Asustek Computer Inc. | Autonomous mobile robot and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI484309B (en) | 2015-05-11 |
| CN104298241A (en) | 2015-01-21 |
| JP2015022754A (en) | 2015-02-02 |
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