TWI447548B - Method of returning to charging station for charging for self-propelled mobile device and the system thereof - Google Patents

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. Electricity has been consumed Do not return to the charging station to charge yourself. 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 main purpose and effect of the present invention are achieved by the following specific technical means: a return charging method of a self-propelled mobile device, mainly by using repeated search and judging the left and right signals built in the self-propelled mobile device The signal received by the receiving unit is an intermediate long-distance signal or left and right long-distance signals or left and right close-range signals transmitted by the charging station to correct the route of the self-propelled mobile device to return to the charging station, so that the self-propelled mobile The device can select the shortest distance and return to the charging station with the correct return path for the charger.

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 Can choose The shortest distance and return to the charging station with the correct return path for the charger.

(1)‧‧‧Charging station

(11) ‧‧‧Intermediate long-distance signal transmitting unit

(12)‧‧‧ Left-distance signal transmitting unit

(13)‧‧‧right distance signal transmitting unit

(14) ‧‧‧Left close signal transmitting unit

(15)‧‧‧right-distance signal transmitting unit

(2) ‧‧‧ Self-propelled mobile devices

(21)‧‧‧Left signal receiving unit

(22)‧‧‧Right signal receiving unit

(23) ‧‧‧Central Processing Unit

(24)‧‧‧Rotating unit

(25)‧‧‧Walking unit

(26)‧‧‧Power storage unit

(Sml) ‧‧‧Intermediate long distance signal

(Sll) ‧ ‧ left long distance signal

(Srl) ‧ ‧ right distance signal

(Sls) ‧ ‧ left close distance signal

(Srs)‧‧‧right distance signal

First: Schematic diagram of the block structure of the return charging system of the self-propelled mobile device of the present invention

Figure 2 (a) is a flow chart showing 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)

Third: Schematic diagram of the return charging procedure of the self-propelled mobile device execution mode 1 of the present invention

Fourth: Schematic diagram of the return charging procedure of one of the execution modes of the self-propelled mobile device of the present invention

Figure 5 is a schematic diagram of the return charging procedure of the second mode of the self-propelled mobile device of the present invention

Figure 6 is a schematic diagram of the return charging procedure of the second mode of the self-propelled mobile device of the present invention

Figure 7 is a schematic diagram of the return charging procedure of one of the execution modes of the self-propelled mobile device of the present invention.

Figure 8 is a schematic diagram of the return charging procedure of the third mode of the self-propelled mobile device of the present invention

Ninth diagram: Schematic diagram of the return charging procedure of the self-propelled mobile device execution mode 4 of the present invention

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 illustrated figure and figure number: please refer to the first The figure is a block diagram of a return charging system of the self-propelled mobile device of the present invention. The return charging system of the self-propelled mobile device comprises: a remote signal transmitting unit (11) disposed in one of the charging stations (1), a left-distance signal transmitting unit (12), and a right-distance signal transmitting unit. (13) a left-right proximity signal transmitting unit (14) and a right-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 The unit (13) can respectively transmit the intermediate long distance signal (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-range signals (Sls), (Srs); a left signal receiving unit (21) and a right signal receiving unit (22), a central processing unit (23), and a self-propelled mobile device (2); a rotating unit (24), a traveling unit (25), 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 return when the power is insufficient Charging station (1) charging action; the left and right signal receiving units (21), (22) are in the middle of receiving From the signal transmitting unit (11), the left and right long-distance signal transmitting units (12), (13) the left and right close-range signal transmitting units (14), (15), the intermediate long-distance signal (Sml) and the left, Right distance signal (Sll), (Srl) and left and right close distance After the signals (Sls) and (Srs), the signals are sent to the central processing unit (23) for processing to drive the self-propelled mobile device (2) according to which signal is received by the signal receiving unit. The unit (24) or/and the walking unit (25) actuate.

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 of the self-propelled mobile device (2) (2) 1) The right signal receiving unit (22) does not receive any intermediate long-distance signal transmitting unit (11), left-distance signal transmitting unit (12), right-distance signal transmitting unit (13), and left-right-distance signal transmitting unit. (14) The middle long distance signal (Sml) emitted by the right close distance signal transmitting unit (15), the left and right long distance signals (S11), (Srl), the left and right close distance signals (Sls), (Srs When the self-propelled mobile device (2) is too far away from the charging station (1), the central processing unit (23) of the self-propelled mobile device (2) notifies the rotating unit (24) to rotate one. Looping, and causing the walking unit (25) to perform a random straight forward motion until the left signal receiving unit (21) or the right signal receiving unit (22) of the self-propelled mobile device (2) receives any 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:

<One of the modes 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 In the 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), and 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 search for the intermediate long distance signal (Sml), so as to sequentially repeat until the left and right signal receiving units ( 21), (22) When receiving the intermediate long-distance signal (Sml) at the same time, the self-propelled mobile device (2) performs a straight-passing station to complete the procedure of returning to the charging station (1); that is, whether it is left signal reception When the unit (21) or the right signal receiving unit (22) receives the intermediate long distance signal (Sml), the self-propelled mobile device (2) will perform a left turn or a right turn to make another signal receiving unit look for the middle of reception. 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 < Mode 2 of 3> is the same, because the angle of the self-propelled mobile device (2) and the charging station (1) is too large and too close, not It is easy to guide the self-propelled mobile device (2) back to the charging station (1), therefore, the self-propelled mobile device (2) will turn left 90 degrees and go straight away a distance away from the charging station (1) After that, the signal search procedure of mode three or mode four is performed. 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:

<One of the three modes>

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-distance signal transmitting unit

(13)‧‧‧right distance signal transmitting unit

(14) ‧‧‧Left close signal transmitting unit

(15)‧‧‧right-distance signal transmitting unit

(2) ‧‧‧ Self-propelled mobile devices

(21)‧‧‧Left signal receiving unit

(22)‧‧‧Right signal receiving unit

(23) ‧‧‧Central Processing Unit

(24)‧‧‧Rotating unit

(25)‧‧‧Walking unit

(26)‧‧‧Power storage unit

Claims (8)

A method for returning charging of a self-propelled mobile device includes the following steps: a) the central processing unit detects that the self-propelled mobile device is insufficient for power storage; b) the left and right signal receiving units search for the charging station to transmit respectively. Intermediate long distance signal, left and right long distance signals, left and right close distance signals; c) sent the searched signals to the central processing unit for processing, and the central processing unit drives the self-propelled mobile device to perform walking or rotating actions; d) The left and right signal receiving units continuously search for the intermediate long distance signal, the left and right long distance signals until the left and right signal receiving units of the self-propelled mobile device simultaneously receive the intermediate long distance signal; e) the self-propelled mobile device performs Walk straight to reach the charging station. A return charging system for a self-propelled mobile device includes: a remote signal transmitting unit disposed in a middle of a charging station, a left-distance signal transmitting unit, a right-distance signal transmitting unit, and a left-right signal transmitting unit And a right-distance signal transmitting unit, the intermediate long-distance signal transmitting unit transmits 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 emit left a right-distance signal; a left signal receiving unit, a right signal receiving unit, and a central processing unit disposed in a self-propelled mobile device; the central processing unit is coupled to the left and right signal receiving units; and the left and right signals are utilized Whether the receiving unit receives or receives the signal belongs to the intermediate long distance signal or the left and right long distance signals or the left and right close distance signals, and the driving unit is driven by the central processing unit to process the walking unit. The rotating unit performs walking and rotating actions to correct the route of the self-propelled mobile device to return to the charging station. A return charging method for a self-propelled mobile device, comprising: providing a charging station, which is provided with an intermediate long distance signal transmitting unit, a left close distance signal transmitting unit and a right close distance signal transmitting unit; and the intermediate long distance signal transmitting unit transmits The intermediate long-distance signal, the left and right short-range signal transmitting units respectively transmit left and right short-distance signals; and provide a self-propelled mobile device, which is provided with a left signal receiving unit and a right signal receiving unit, and a central processing unit is connected to the left And a right signal receiving unit; the self-propelled mobile device searches for the middle long distance signal, the left and right short distance signals of the charging station, and the left and right signal receiving units by using the left signal receiving unit and the right signal receiving unit Upon receipt of any of the foregoing signals, the central processing unit will cause the self-propelled mobile device to travel or rotate toward the intermediate long range signal and be directed back to the charging station by the intermediate long range signal. The method for returning charging of a self-propelled mobile device according to claim 3, wherein the left and right signal receiving units simultaneously perform the process of returning to the charging station when receiving the intermediate long distance signal. The return charging method of the self-propelled mobile device according to claim 3, wherein the left signal receiving unit receives the intermediate long distance signal, and after the central processing unit performs processing, drives the self-propelled mobile device Rotating and walking to the right signal receiving unit to find the intermediate long distance signal; when the right signal receiving unit receives the intermediate long distance signal, driving the self-propelled mobile device to rotate and walking, and the left signal receiving unit is looking for the intermediate long distance signal, Repeat in sequence until the The left and right signal receiving units simultaneously receive the intermediate long distance signal and perform a straight walk to return to the charging station. The method for returning charging of the self-propelled mobile device according to claim 3, wherein any one of the left and right signal receiving units receives any left and right close distance signals, and after being processed by the central processing unit, After driving the self-propelled mobile device to rotate and away from the charging station, the vehicle travels toward the middle long distance signal. The method for returning charging of a self-propelled mobile device according to claim 3, wherein the charging station further comprises a left-distance signal transmitting unit, which respectively transmits a left-distance signal, when the self-propelled mobile device When the left signal receiving unit receives the left long distance signal, the self-propelled mobile device performs a left turn. If the left signal receiving unit does not receive the left long distance signal, the self-propelled mobile device performs a right turn until the left signal receiving unit performs a right turn. The left signal receiving unit receives the intermediate long distance signal. The method for returning charging of a self-propelled mobile device according to claim 3, wherein the charging station further comprises a right-distance signal transmitting unit that respectively transmits a right-distance signal, when the self-propelled mobile device When the right signal receiving unit receives the right long distance signal, the self-propelled mobile device performs a right turn. If the right signal receiving unit does not receive the right long distance signal, the self-propelled mobile device performs a left turn until the right signal receiving unit performs a left turn. The right signal receiving unit receives the intermediate long distance signal.