TWI468105B - Moving device and moving control method thereof - Google Patents

Moving device and moving control method thereof Download PDF

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Publication number
TWI468105B
TWI468105B TW101147896A TW101147896A TWI468105B TW I468105 B TWI468105 B TW I468105B TW 101147896 A TW101147896 A TW 101147896A TW 101147896 A TW101147896 A TW 101147896A TW I468105 B TWI468105 B TW I468105B
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TW
Taiwan
Prior art keywords
magnetic field
mobile device
magnetic
motion
mode
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TW101147896A
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Chinese (zh)
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TW201408189A (en
Inventor
Yu Lun Ho
Yueh Ju Pu
Chun Wei Chen
Wei Han Wang
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Ind Tech Res Inst
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Priority to US201261691817P priority Critical
Application filed by Ind Tech Res Inst filed Critical Ind Tech Res Inst
Priority claimed from US13/937,066 external-priority patent/US9043070B2/en
Publication of TW201408189A publication Critical patent/TW201408189A/en
Application granted granted Critical
Publication of TWI468105B publication Critical patent/TWI468105B/en

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Description

Mobile device and its movement control method

The present invention relates to a mobile device and a mobile control method thereof, and more particularly to a mobile device that determines a motion mode according to a magnetic field and a motion control method thereof.

Conventional lawn mowers move randomly within a closed range to cut weeds within the range. A continuous conductive line is laid along the outer boundary and the inner boundary of the closed range, and a continuous electric wire generates a magnetic field after being energized. When the lawn mower moves to the boundary, the magnetic field is induced to determine the boundary of the closed range, and then returns to the closed range. Continue random movements to remove weeds. However, the lawn mower can easily cut the continuous conductive wire, causing the continuous conductive wire to be powered off and unable to generate a magnetic field, so that the lawn mower can not judge the boundary of the closed range and move outside the closed range.

The invention relates to a mobile device and a method for controlling the movement thereof, which determine the boundary of the moving area according to the magnetic field generated by the magnetic strip, so that the mobile device can keep moving in the moving area.

According to an embodiment of the invention, a mobile device is proposed. The moving device is adapted to move in a moving area, a first magnetic strip is distributed along an outer boundary of the moving area, and a second magnetic strip is distributed along an inner boundary of the moving area, and the first magnetic strip generates a first magnetic field The two magnetic strips generate a second magnetic field, wherein The second magnetic field is different from the first magnetic field. The mobile device includes a body, a magnetic sensing module, a driving mechanism and a controller. The magnetic sensing module is disposed on the body and configured to sense the first magnetic field and the second magnetic field. The driving mechanism is disposed on the body to drive the body to move. The controller determines a motion mode of the driving mechanism driving body according to the order of the first magnetic field and the second magnetic field sensed by the magnetic sensing module, and controls the driving mechanism to drive the body to perform corresponding motion.

According to another embodiment of the present invention, a mobile control method of a mobile device is proposed. The mobile control method includes the following steps. A mobile device determines whether a first magnetic field or a second magnetic field is sensed in a moving area, wherein a first magnetic strip is distributed along an outer boundary of the moving area, and a second magnetic strip is distributed along an inner boundary of the moving area, a magnetic strip generates a first magnetic field, and the second magnetic strip generates a second magnetic field, the second magnetic field being different from the first magnetic field; and, if the mobile device senses the first magnetic field or the second magnetic field, The mobile device determines a motion mode of the mobile device according to the sensed first magnetic field and the second magnetic field, and performs corresponding motion.

In order to provide a better understanding of the above and other aspects of the present invention, the following detailed description of the embodiments and the accompanying drawings

Please refer to FIG. 1 , which illustrates an external view of a mobile device according to an embodiment of the invention. The mobile device 100 is, for example, a lawn mower, a vacuum cleaner, a cleaning robot, or other type of robot or mobile platform that can operate in a home environment, corporate office, grass, garden, or exhibition ground. The mobile device 100 includes a body 110, at least one magnetic sensing module 120, a driving mechanism 130, and a controller 140.

The magnetic sensing module 120 can be disposed inside or outside the body 110, for example, adjacent to the front surface, the rear surface, the lower surface, the upper surface, and/or any side of the body 110 for sensing the direction of the magnetic field and/or the strength of the magnetic field. .

The driving mechanism 130 is composed of, for example, a transmission shaft, a differential, a shifting mechanism, a transmission belt and/or a driving wheel, and is disposed on the body 110 to drive the body 110 to move. The embodiment of the present invention does not limit the structure of the driving mechanism 130 as long as the driving mechanism 130 can drive the body 110 to move.

The controller 140 determines the motion mode of the driving mechanism 130 to drive the body 110 according to the magnetic polarity of the magnetic field sensed by the magnetic sensing module 120, and controls the driving mechanism 130 to drive the body 110 to perform corresponding motion according to the motion mode. The controller 140 is, for example, a single-chip microcomputer (micro-controller), which is a central controller, a memory, a timer/counter, various input and output interfaces, and the like. A microcomputer integrated on an integrated circuit chip. The present invention is not limited to the type of the controller 140, and any integrated circuit, chip, controller, processor, and/or circuit module that can perform the above functions can be used as the controller 140 of the embodiment of the present invention.

Referring to FIG. 2, an external view of a mobile device moving in a moving area according to an embodiment of the present invention is shown. The mobile device 100 is movable within the moving region R, wherein the first magnetic strip M1 is distributed along the outer boundary of the moving region R, and the second magnetic strip M2 surrounds the obstacle in the moving region R to define the inner boundary of the moving region R. The obstacle here refers to an object that the mobile device 100 does not wish to pass or an object that the mobile device 100 cannot pass.

The first magnetic strip M1 and the second magnetic strip M2 surround the closed loop. In another example, the first magnetic strip M1 and/or the second magnetic strip M2 may surround the open loop. In this example, the first magnetic stripe M1 and the second magnetic stripe M2 are continuous magnetic strips; in another example, the first magnetic stripe M1 and/or the second magnetic stripe M2 may be composed of a plurality of sub-magnetic strips separated from each other. In this example, the first magnetic strip M1 and the second magnetic strip M2 are separated from each other, but the embodiment of the invention is not limited thereto.

Please refer to FIG. 3, which is a schematic diagram of a first magnetic strip in accordance with another embodiment of the present invention. The first magnetic strip M1 and the second magnetic strip M2 may be connected to each other.

Please refer to Fig. 4, which is a cross-sectional view taken along line 4-4' in Fig. 2. The magnetic poles of the first magnetic strip M1 and the second magnetic strip M2 have different orientations. For example, the first magnetic strip M1 is configured such that the N pole is upward and the S pole is downward, and the first magnetic field is generated, and the second magnetic field is generated. The magnetic strip M2 is disposed, for example, such that the S pole faces upward and the N pole faces downward to generate a second magnetic field. In another example, the first magnetic strip M1 is disposed, for example, with the S pole facing upward and the N pole facing downward, and the second magnetic strip M2 being disposed, for example, with the N pole facing upward and the S pole pointing downward. Since the magnetic polarities of the first magnetic stripe M1 and the second magnetic stripe M2 are different in orientation, the first magnetic field and the second magnetic field are different, so the mobile device 100 can distinguish the boundary or the obstacle, and then match the working environment setting. Sports mode to improve operational efficiency. In another embodiment, the magnetic polarities of the first magnetic strip M1 and the second magnetic strip M2 can also be configured in the same manner, but the magnetic magnitudes of the two are different, and the first magnetic field is different from the second magnetic field, so the movement is Device 100 can also identify distinguishing boundaries or obstacles.

Referring to Figures 5A through 5C, there are shown several motion profiles of a mobile device in accordance with an embodiment of the present invention. The mobile device 100 determines its motion mode according to the sequence of the sensed first magnetic field and/or the second magnetic field, and performs corresponding motions, such as a reentry motion S1 (Fig. 5A) and a spiral motion S3 (Fig. 5C). , random motion S2 (Fig. 5B), S-shaped motion, multilateral Shape movement and / or edge movement. Since the magnetic strip itself can generate a magnetic field without being energized, even if the magnetic strip is accidentally damaged (e.g., broken) by the mobile device 100, it does not affect the magnetic field.

Please refer to FIG. 6 , which illustrates a schematic diagram of a first magnetic strip in accordance with another embodiment of the present invention. The first magnetic strip M1 has an opening P with an opening width H1. As long as the opening width H1 is smaller than the distribution width W1 of the magnetic sensing module 120, the mobile device 100 can still sense the magnetic field of the first magnetic strip M1 and is limited to The movement in the moving area R does not move to the outside of the moving area R. Alternatively, as long as the magnetic sensing module 120 of the mobile device 100 can sense the magnetic field of the first magnetic strip M1 in the forward direction D1, the embodiment of the present invention does not limit the opening width H1 to be smaller than the distribution width W1.

Please refer to FIG. 7 , which is a flow chart of a mobile control method of a mobile device according to an embodiment of the invention.

In step S102, the controller 140 of the mobile device 100 determines whether the magnetic sensing module 120 senses the first magnetic field generated by the first magnetic strip M1 or the second magnetic field generated by the second magnetic strip M2; if yes, enters In step S104, if no, the process returns to step S102.

In step S104, the controller 140 determines the motion mode of the mobile device 100 according to the sense of the first magnetic field and the second magnetic field sensed, and performs corresponding motion. The following is illustrated by the figures 8A and 8B.

Please refer to FIG. 8A and FIG. 8B for a flowchart of an implementation of step S104 of FIG. 7. The following describes an embodiment in which the magnetic sensing module 120 first senses the first magnetic strip M1 (outer boundary).

In step S102, the controller 140 determines whether the magnetic sensing module 120 senses the first magnetic field generated by the first magnetic stripe M1; if yes, enters Step S1042; if no, the process proceeds to step S1047 (Fig. 8B). Step S1042 will be described below.

In step S1042, the controller 140 sets i=i+1, where the preset value of i is 0; then, proceeds to step S1043.

In step S1043, the controller 140 determines whether the magnetic sensing module 120 senses the first magnetic field for two consecutive times (i>2 or i). 2) The above; if yes, the process proceeds to step S1044; if not, the process proceeds to step S1045.

In step S1044, if the controller 140 determines that the magnetic sensing module 120 senses that the first magnetic field is more than two consecutive times, indicating that the mobile device 100 may be located in the open area, the controller 140 determines that the motion mode is the first movement mode, and The control drive mechanism 130 drives the body 110 to perform a corresponding motion, such as a foldback motion S1 (Fig. 5A), and sets i=0 and j=0.

When the mobile device 100 senses the first magnetic field, the controller 140 may control the mobile device 100 to fold back at the foldback angle A1 (FIG. 2). In the open area, the folding angle A1 of the mobile device 100 can be larger (compared to the obstacle area) to expand the range of motion of the mobile device 100.

In step S1045, if the controller 140 determines that the magnetic sensing module 120 senses that the first magnetic field is less than two times, the controller 140 continues to determine whether the magnetic sensing module 120 senses the second magnetic strip M2. The second magnetic field; if yes, the process proceeds to step S1046; if not, the process proceeds to step S102.

In step S1046, if the magnetic sensing module 120 senses the second magnetic stripe M2, it indicates that the mobile device 100 may enter the obstacle area. In this case, the controller 140 determines that the motion mode is the second moving mode, and controls The drive mechanism 130 drives the body 110 to perform a corresponding motion, such as a random motion S2 (Fig. 5B), and sets i=0 and j=0.

When the mobile device 100 senses the second magnetic field, the controller 140 may control the mobile device 100 to fold back at the foldback angle A2 (FIG. 2). Within the obstacle zone, the foldback angle A2 of the mobile device 100 can be smaller (as compared to the open area) to increase the length of the travel path of the mobile device 100.

In another embodiment, the controller 140 sets the foldback angle A1 of the first movement mode to be greater than the foldback angle A2 of the second movement mode.

Hereinafter, an embodiment in which the magnetic sensing module 120 first senses the second magnetic strip M2 (step S102 step S1047) will be described.

As shown in FIG. 8B, in step S1047, the controller 140 determines whether the magnetic sensing module 120 senses the second magnetic field generated by the second magnetic stripe M2; if so, proceeds to step S1048.

In step S1048, the controller 140 sets j=j+1, where the preset value of j is 0; then, proceeds to step S1049.

In step S1049, the controller 140 determines whether the magnetic sensing module 120 senses the second magnetic field for two consecutive times (j>2 or j). 2) The above; if yes, the process proceeds to step S1050; if not, the process proceeds to step S1051.

In step S1050, if the controller 140 determines that the magnetic sensing module 120 senses the second magnetic field more than twice continuously, indicating that the mobile device 100 is located in the obstacle area, in this case, the controller 140 determines that the motion mode is the third. The mode is moved, and the driving mechanism 130 is driven to drive the body 110 to perform a corresponding motion, such as a spiral motion S3 (Fig. 5C), and i=0 and j=0 are set.

In step S1051, the controller 140 determines whether the magnetic sensing module 120 senses the first magnetic field generated by the first magnetic stripe M1; if so, proceeds to step S1052.

In step S1052, if the magnetic sensing module 120 senses the first magnetic strip M1, indicating that the mobile device 100 may enter the open area. In this case, the controller 140 determines that the motion mode is the fourth movement mode, and controls the driving mechanism 130 to drive the body 110 to perform corresponding motion, such as random motion S2 (5B). Figure), and set i=0 and j=0.

In another embodiment, the second movement mode is the same as the fourth movement mode, and the corresponding movements are also the same.

In summary, the mobile device 100 can determine the moving path and the motion parameter according to the sequence and/or the number of times and/or the direction of the magnetic field sensed by the first magnetic field and/or the second magnetic field, wherein the moving path is, for example, a reentry motion. At least one of a spiral motion, a random motion, and a boundary motion, and the motion parameter is, for example, at least one of a foldback angle, a motion speed, and a foldback stroke.

Returning to FIG. 7, in step S106, the controller 140 can determine whether the mobile device 100 is in a low power state; if yes, proceed to step S108.

In step S108, if the mobile device 100 is in the low power state, the controller 140 determines whether the magnetic sensing module 120 senses the first magnetic field, and if yes, proceeds to step S110; if not, the controller 140 controls the mobile device 100 to continue. Exercise until the first magnetic field is sensed.

In step S110, if the magnetic sensing module 120 senses the first magnetic field, the controller 140 controls the driving mechanism 130 to drive the body 110 to perform the edge motion to find the charger 150 (Fig. 2).

In step S112, the controller 140 determines whether the mobile device 100 searches for the charger 150; if so, the mobile device 100 is automatically connected to the charger 150 for charging; or, the mobile device 100 stays near the charger 150 and enters a province. Electrical mode; if the mobile device 100 has not found the charger 150, the edge motion can be continued.

In conclusion, the present invention has been disclosed in the above embodiments, but it is not intended to limit the present invention. A person skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

100‧‧‧Mobile devices

110‧‧‧ body

120‧‧‧Magnetic sensing module

130‧‧‧ drive mechanism

140‧‧‧ Controller

D1‧‧‧ Forward direction

H1‧‧‧ opening width

M1‧‧‧First magnetic strip

M2‧‧‧Second magnetic strip

P‧‧‧ openings

R‧‧‧Mobile area

S102~S112, S1042~S1052‧‧‧ steps

S1‧‧‧return movement

S2‧‧‧ random movement

S3‧‧‧Spiral movement

W1‧‧‧Width

FIG. 1 is a perspective view of a mobile device according to an embodiment of the invention.

FIG. 2 is a diagram showing the appearance of a mobile device moving in a moving area according to an embodiment of the invention.

FIG. 3 is a schematic diagram of a first magnetic strip in accordance with another embodiment of the present invention.

Fig. 4 is a cross-sectional view taken along line 4-4' in Fig. 2.

5A to 5C are diagrams showing a plurality of motion profiles of the mobile device in accordance with an embodiment of the present invention.

FIG. 6 is a diagram showing a first magnetic strip according to another embodiment of the present invention.

intention.

FIG. 7 is a flow chart of a mobile control method of a mobile device according to an embodiment of the invention.

8A and 8B are flowcharts showing an implementation of step S104 of FIG. 7.

S102~S112‧‧‧Steps

Claims (25)

  1. A moving device adapted to move in a moving area, a first magnetic strip is distributed along an outer boundary of the moving area, and a second magnetic strip is distributed along an inner boundary of the moving area, the first magnetic strip generates a a first magnetic field and a second magnetic field, wherein the second magnetic field is different from the first magnetic field, the moving device includes: a body; a magnetic sensing module disposed on the body, and The first magnetic field and the second magnetic field are sensed; a driving mechanism is disposed on the body to drive the body to move; and a controller senses the first magnetic field according to the magnetic sensing module The sequence of the second magnetic field determines a motion mode in which the driving mechanism drives the body, and controls the driving mechanism to drive the body to perform corresponding motion.
  2. The mobile device of claim 1, wherein the controller determines that the motion mode is the first movement mode when the magnetic sensing module senses the first magnetic field for more than two consecutive times.
  3. The mobile device of claim 2, wherein if the magnetic sensing module senses the second magnetic field when the number of times the first magnetic field is sensed is less than two, the controller determines the motion The mode is the second movement mode.
  4. The mobile device of claim 2, wherein the motion corresponding to the first movement mode is a foldback motion.
  5. The mobile device of claim 3, wherein the movement corresponding to the second movement mode is a random motion.
  6. The mobile device of claim 1, wherein if the magnetic sensing module senses the second magnetic field for more than two consecutive times, the controller determines that the motion mode is the third movement mode.
  7. The mobile device of claim 6, wherein if the magnetic sensing module senses the first magnetic field when the number of times the second magnetic field is sensed is less than two, the controller determines the motion The mode is the fourth movement mode.
  8. The mobile device of claim 6, wherein the movement corresponding to the third movement mode is a spiral motion.
  9. The mobile device of claim 7, wherein the movement corresponding to the fourth movement mode is a random motion.
  10. The mobile device of claim 5, wherein the controller sets the foldback angle of the first movement mode to be greater than the foldback angle of the second movement mode.
  11. The mobile device of claim 1, wherein a charger is located at the outer boundary; when the mobile device is in a low power state, and the magnetic sensing module senses the first magnetic field, the control Controlling the driving mechanism to drive the body to perform a side-by-side motion, so that the mobile device is along the The first magnetic strip finds the charger.
  12. The mobile device of claim 1, wherein the first magnetic strip and the second magnetic strip are closed loop, open loop or composed of a plurality of sub-magnetic strips.
  13. The mobile device of claim 1, wherein the first magnetic strip and the second magnetic strip are isolated from each other.
  14. The mobile device of claim 1, wherein the first magnetic strip and the second magnetic strip are connected to each other.
  15. A mobile device control method includes: a mobile device in a moving area, wherein a first magnetic strip is distributed along an outer boundary of the moving area, and a second magnetic strip is distributed along an inner boundary of the moving area, The first magnetic strip generates a first magnetic field, and the second magnetic strip generates a second magnetic field, the second magnetic field is different from the first magnetic field; the mobile device determines whether the sensor is sensed according to a magnetic sensing module a first magnetic field and the second magnetic field; and if the mobile device senses the first magnetic field and the second magnetic field, the mobile device determines a first one according to the sense of the first magnetic field and the second magnetic field sensed Exercise mode and perform corresponding movements.
  16. The mobile control method of claim 15, wherein the mobile device senses the first magnetic field according to the magnetic sensing module The step of determining the movement mode of the second magnetic field comprises: determining, by the mobile device, whether the first magnetic field is sensed more than twice; if the mobile device senses the first magnetic field for more than two consecutive times, The mobile device determines that the motion mode is the first motion mode.
  17. The mobile control method of claim 16, wherein the step of determining the motion mode by the mobile device according to the sequence of the first magnetic field and the second magnetic field sensed by the magnetic sensing module comprises: And if the mobile device continuously senses the number of the first magnetic field less than two times, the mobile device determines whether the second magnetic field is reached; if the mobile device senses the first magnetic field less than two times After the second magnetic field is sensed, the mobile device determines that the motion mode is the second movement mode.
  18. The mobile control method of claim 16, wherein the motion corresponding to the first movement mode is a foldback motion.
  19. The mobile control method of claim 17, wherein the motion corresponding to the second movement mode is a random motion.
  20. The mobile control method of claim 15, wherein the step of determining the motion mode by the mobile device according to the sequence of the first magnetic field and the second magnetic field sensed by the magnetic sensing module comprises: : the mobile device determines whether the second magnetic field is sensed twice consecutively If the mobile device senses the second magnetic field more than twice continuously, the mobile device determines that the motion mode is the third movement mode.
  21. The mobile control method of claim 20, wherein the step of determining the motion mode by the mobile device according to the sequence of the first magnetic field and the second magnetic field sensed by the magnetic sensing module comprises: And if the mobile device senses the second magnetic field less than twice, the mobile device determines whether the first magnetic field is reached; if the mobile device senses the second magnetic field less than two times, it is sensed The first magnetic field, the mobile device determines that the motion mode is the fourth movement mode.
  22. The mobile control method according to claim 20, wherein the movement corresponding to the third movement mode is a spiral motion.
  23. The mobile control method according to claim 21, wherein the motion corresponding to the fourth movement mode is a random motion.
  24. The mobile control method of claim 17, further comprising: setting, by the mobile device, a foldback angle of the first movement mode to be greater than a foldback angle of the second movement mode.
  25. For example, the mobile control method described in claim 15 of the patent scope further includes: Determining whether the mobile device is in a low power state; the step of the mobile device performing corresponding motion according to the first magnetic field and the second magnetic field sensed by the magnetic sensing module comprises: if the mobile device is at the low The power state and the mobile device senses the first magnetic field, and the mobile device performs a side-by-side motion to find a charger along the first magnetic strip.
TW101147896A 2012-08-22 2012-12-17 Moving device and moving control method thereof TWI468105B (en)

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US201261691817P true 2012-08-22 2012-08-22

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Application Number Priority Date Filing Date Title
US13/937,066 US9043070B2 (en) 2012-08-22 2013-07-08 Moving device and moving control method thereof

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TWI468105B true TWI468105B (en) 2015-01-11

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0561545A (en) * 1991-09-03 1993-03-12 Matsushita Electric Ind Co Ltd Mobile work robot
US6671592B1 (en) * 1998-12-18 2003-12-30 Dyson Limited Autonomous vehicular appliance, especially vacuum cleaner
CN1535646A (en) * 2003-03-17 2004-10-13 株式会社日立制作所 Automatic walking floor-sweeping machine and its operation method
CN1602263A (en) * 2001-12-12 2005-03-30 杰维斯·B·韦布国际公司 Driverless vehicle guidance system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0561545A (en) * 1991-09-03 1993-03-12 Matsushita Electric Ind Co Ltd Mobile work robot
US6671592B1 (en) * 1998-12-18 2003-12-30 Dyson Limited Autonomous vehicular appliance, especially vacuum cleaner
CN1602263A (en) * 2001-12-12 2005-03-30 杰维斯·B·韦布国际公司 Driverless vehicle guidance system and method
CN1535646A (en) * 2003-03-17 2004-10-13 株式会社日立制作所 Automatic walking floor-sweeping machine and its operation method

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