TWM599901U - Automatically guiding system - Google Patents

Abstract

This creation proposes an automatic guidance system. The self-propelled device rotates and illuminates when it senses the signal light of the charging station through the side sensor, and changes the direction of rotation when different signal light is sensed through the front sensor. The charging station is self-propelled every time When the device is irradiated, it switches to emitting a signal light different from the current one, and repeats the above actions and makes the self-propelled device approach the light emitting unit until the self-propelled device reaches the charging position. This creation only needs to set up two sensors on the self-propelled device to accurately guide the self-propelled device to the charging position.

Description

Automatic guidance system

This creation is related to self-propelled equipment, especially automatic guidance systems.

At present, many self-propelled devices (such as sweeping robots) that can perform automatic cleaning have been proposed. Existing self-propelled equipment can automatically return to home to automatically return to the charging station for charging when the battery is too low.

At present, an automatic return-to-home technology based on indoor positioning has been proposed, which is to control the self-propelled device to return to the location of the charging station through the indoor positioning technology when the power is too low. The above technology must locate the charging station and the self-propelled equipment at the same time, and requires an additional indoor positioning device (such as a Bluetooth transceiver) or a track recording program.

At present, an automatic return-to-home technology based on heterogeneous sensors has been proposed. A variety of different types of sensors (such as ultrasonic sensors, infrared sensors, wireless network sensors) are installed on each side of the self-propelled equipment. Transceiver, etc.), guided by a variety of different types of sensors (such as ultrasonic sensors for long-distance guidance, infrared sensors for short-distance guidance, wireless network transceivers for confirming charging stations Location, etc.) to control the self-propelled device back to the charging station. The above-mentioned technology must be additionally equipped with multiple sensors, which greatly increases the cost, and multiple sensors must be used at the same time, which makes the guidance procedure very complicated.

Therefore, the existing automatic return-to-home technology has the above-mentioned problems, and a more effective solution is urgently required.

The main purpose of this creation is to provide an automatic guidance system that can simplify the number of sensors and reduce the complexity of guidance.

In order to achieve the above purpose, this creative department provides an automatic guidance system, including: a charging station for automatically guiding a self-propelled device to move to a charging position, including: a light emitting unit set corresponding to the charging position, using A signal light is emitted by switching between a signal light of a first signal and a signal light of a second signal; a sensing unit arranged next to the light emitting unit is used to sense the light to be triggered; a power unit , Used to provide power; and a control unit electrically connected to the light emitting unit, the sensing unit and the power unit, the control unit is set to the light emitting unit is to emit the signal light of the first signal and the When the sensing unit is triggered, the light emitting unit is controlled to switch to the signal light emitting the second signal, and when the light emitting unit is emitting the signal light of the second signal and the sensing unit is triggered, the light is controlled The transmitting unit is switched to the signal light that emits the first signal; and the self-propelled equipment includes: a driving device for moving the self-propelled equipment; at least one of the left half and the right half of the self-propelled equipment One side sensor is used to sense the signal light; a light emitter arranged on the front side of the self-propelled equipment is used to illuminate the signal light forward; a front sensor arranged on the front side of the self-propelled equipment A detector for sensing the signal light; a power device for connecting the power unit of the charging station when the self-propelled equipment reaches the charging position, receiving power from the power unit, and storing power; and A controller electrically connected to the driving device, the side sensor, the light emitter, the front sensor and the power device, the controller is set to sense the first sensor on the side sensor When the signal light of the signal, the driving device is controlled to rotate in a first rotation direction within the irradiation range of the light emitting unit of the charging station, and the controller is also set to detect the second rotation by the front sensor When the signal light of the signal, the driving device is controlled to rotate in a second rotation direction opposite to the first rotation direction. When the front sensor senses the signal light of the first signal, the driving device is controlled to move toward the When the first rotation direction rotates, the controller repeats the above operation, controls the light emitter to irradiate during the rotation, and at the same time controls the driving device to approach the light emitting unit of the charging station until it reaches the charging position.

In one embodiment, the self-propelled equipment further includes a storage electrically connected to the controller, the storage storing a return condition; the controller of the self-propelled equipment includes a wall-seeking control module, and the wall-seeking control module The control module is set to switch to a return-to-home mode when the return-to-home condition is satisfied, to sense the position of any wall via the front sensor or the side sensor, and to control the driving device to move along the wall.

In one embodiment, the controller of the self-propelled equipment further includes: a random movement control module for controlling the drive device to move randomly; and a wall movement control module for controlling the drive module to move along The wall moves, wherein when moving along the wall, the side sensor senses towards the wall; the wall finding control module is set to first trigger the random movement control module to move randomly, and pass through The front sensor or the side sensor senses the wall, and when the wall is sensed, the wall movement control module is triggered to move along the wall.

In one embodiment, the memory further stores a condition for stopping along the wall; the controller of the self-propelled equipment further includes a stopping along the wall control module, the stopping along the wall control module moves along the wall when the driving device Until the stop along the wall condition is met and the front sensor or the side sensor remains When the signal light of the first signal is not sensed, the driving device is controlled to move away from the wall, and the wall finding control module is triggered to find another wall.

In one embodiment, the power device of the self-propelled equipment includes a power connection device, the power unit of the charging station includes a power connection unit; the controller of the self-propelled equipment further includes an engagement control module, the After the self-propelled equipment reaches the charging position, the joint control module controls the driving device to perform a joint movement so that the power connection device is wired to the power connection unit.

In one embodiment, the self-propelled equipment further includes a housing that at least partially covers the driving device, the side sensor, the light emitter, the front sensor, the electronic device, and the Controller.

In one embodiment, the side sensor is arranged on the right rear side or right side of the housing, and is used for sensing toward the right rear side or right side of the housing, and the light emitter faces the housing The front left half of the body is irradiated without irradiating the front right half; the first rotation direction is counterclockwise; the second rotation direction is clockwise.

In one embodiment, the side sensor is arranged on the left rear side or the right left side of the housing, and is used for sensing toward the left rear side or the right left side of the housing, and the light emitter faces the housing The front right half of the body is illuminated without illuminating the front left half; the first rotation direction is clockwise; the second rotation direction is counterclockwise.

In one embodiment, the controller of the self-propelled device includes a charging station detection module, and the charging station detection module is set when the side sensor detects the signal light of the first signal , Controlling the driving device to advance a preset distance to enter the irradiation range of the light emitting unit of the charging station, and then rotate to the first rotation direction.

In one embodiment, the control unit of the charging station includes a trigger detection module, and the trigger detection module starts to determine when the sensing unit is illuminated by the light emitter of the self-propelled device Whether the sensing unit is out of the light of the light emitter, and when it is out of the light of the light emitter, it is determined that the sensing unit is triggered by the light of the light emitter.

In one embodiment, the controller of the self-propelled device includes an arrival control module, and the arrival control module determines through the front sensor that the distance from the light emitting unit of the charging station is not greater than When a charging distance is reached, it is determined that the self-propelled equipment has reached the charging position, and the driving device is controlled to rotate so that the light emitter is aligned with the sensing unit of the charging station.

In one embodiment, the controller of the self-propelled equipment includes a docking control module and a re-docking control module; the docking control module is set to detect the first signal on the side sensor When the signal light is applied, the driving device is controlled to rotate and move toward the first rotation direction within the irradiation range of the light emitting unit of the charging station, and when the front sensor senses the signal light of the second signal, the driving device is controlled to The driving device rotates in a second rotation direction opposite to the first rotation direction, and the above operation is repeated, wherein the docking control module is also set to control the light emitter to illuminate during the rotation, and control the driving device at the same time Approach the light emitting unit of the charging station until it reaches the charging position; the re-parking control module judges through the front sensor that the distance from the light emitting unit of the charging station is less than a charging distance and the When the charging station is not charging the self-propelled equipment, the driving device is controlled to rotate to move away from the charging station along a spiral track, and the wall finding control module and the docking control module are triggered to operate, wherein the re-parking control module The group controls the driving device to first rotate and move along a first spiral track, and then rotate and move along a second spiral track with a radius greater than the first spiral track, so as to gradually move away from the charging station.

In an embodiment, the side sensor includes a right sensor arranged on the right half of the self-propelled device and a left sensor arranged on the left half of the self-propelled device; the self-propelled device The controller includes a docking control module; The docking control module is set to control the driving device toward the first rotation direction within the irradiation range when the right sensor is triggered by the signal light of the first signal emitted by the light emitting unit of the charging station Rotational movement, when the front sensor senses the signal light of the second signal, the driving device is controlled to rotate in the second rotation direction, and the signal light of the first signal is sensed by the front sensor When the self-propelled device is controlled to rotate in the first rotation direction; the docking control module is also set to be triggered by the signal light of the first signal emitted by the light emitting unit of the charging station on the left sensor When the driving device is controlled to rotate and move in the second rotation direction within the irradiation range, when the front sensor senses the signal light of the second signal, the driving device is controlled to rotate in the first rotation direction. When the signal light of the first signal is sensed by the front sensor, the autonomous device is controlled to rotate in the second rotation direction.

In one embodiment, the light emitter of the self-propelled device includes: a left light emitter, which is set to be energized to irradiate the left front half of the self-propelled device when the right sensor is triggered And will not illuminate the right front half; and a right light emitter, which is set to be enabled when the left sensor is triggered to illuminate the right front half of the self-propelled device and will not illuminate the left front half side.

In one embodiment, the light emitter is set to irradiate one of the left front half or the right front half of the self-propelled device without irradiating the other front half. The light emitter is inside the lamp holder A multi-layer optical filter which covers part of the optical path to enhance the linearity of the light is provided on it.

In one embodiment, the power device of the self-propelled equipment includes a wireless charging device, the power unit of the charging station includes a wireless power supply unit; the control unit of the charging station is set to detect the wireless charging When the device reaches the charging position, the wireless power supply unit wirelessly provides power to the wireless charging device.

In one embodiment, the self-propelled equipment further includes a functional device that is electrically connected to the controller and operates when moving, and the functional device includes: A filter module; and a fan module for being controlled by the controller to adjust the speed to generate air flow through the filter module.

In one embodiment, the self-propelled equipment further includes a functional device that is electrically connected to the controller and operates during movement. The functional device includes: a dehumidification module for absorbing moisture in the air to generate Dry air; a fan module to output the generated dry air; a heating module to evaporate the moisture absorbed by the dehumidification module; and a heat exchanger module to condense the steam.

In one embodiment, the self-propelled equipment further includes a functional device that is electrically connected to the controller and operates while moving, and the functional device includes: a heating module for heating air to generate hot air; and a The fan module is used to output the hot air.

In one embodiment, the self-propelled equipment further includes a functional device that is electrically connected to the controller and operates when it moves. The functional device includes: a dust collection module for sucking garbage or dust; and a dust collection The module is used to collect the garbage or the dust.

This creation only needs to set up two sensors on the self-propelled device to accurately guide the self-propelled device to the charging position.

1, 2: System

10: Self-propelled equipment

100: Controller

1000: Wall finding control module

1001: Random movement control module

1002: Move the control module along the wall

1003: Stop the control module along the wall

1004: Charging station detection module

1005: docking control module

1006: Arrive at the control module

1007: Re-dock the control module

1008: Joint control module

101: light emitter

1010: left light emitter

1011: Right light emitter

102: Front sensor

103: side sensor

1030: right sensor

1031: left sensor

104: power device

1040: Power connection device

1041: wireless charging device

105: Drive

106: Storage

1060: Return conditions

1061: Stop along the wall condition

1062: computer program

107: Functional device

1070: Fan module

1071: Filter Module

1072: Dehumidification module

1073: Fan module

1074: Heating module

1075: Heat exchanger module

1076: Fan module

1077: Heating module

1078: Vacuum module

1079: Dust Collection Module

108: Communication device

20: Charging station

200: control unit

2000: Guidance Module

2001: Trigger detection module

201: sensing unit

202: light emitting unit

203: Power Unit

2030: Power connection unit

2031: wireless power supply unit

204: storage unit

2040: computer program

205: indicator unit

206: Communication unit

30: Power

31: Network

32: User device

33: Cloud server

40-49: location

50-58: Path

60-66: location

70-75: location

80-81: Wall

90: light source

91, 92: inner wall

93, 94: filter

L1, L2, L3: signal light

E1, E2, E3: Electricity

R1-R4: Irradiation range

S10-S15: The first guiding step

S20-S21: Steps to return home

S200-S204: Wall finding steps

S300-S309: Second guidance step

S40-S42: Retry steps

Figure 1 is the architecture diagram of the system for creating the first implementation mode.

Figure 2 is an architecture diagram of the system for creating the second implementation mode.

Fig. 3 is the architecture diagram of the controller of the third embodiment of the creation.

Figure 4 is a structural diagram of the control unit of the fourth embodiment of the creation.

Fig. 5 is a structural diagram of a functional device for creating a fifth implementation mode.

Fig. 6 is a structural diagram of a functional device of the sixth embodiment of the creation.

Fig. 7 is a structural diagram of a functional device for creating a seventh implementation mode.

Fig. 8 is a structural diagram of a functional device for creating an eighth implementation mode.

Fig. 9 is a flowchart of the automatic guidance method of the first embodiment of authoring.

Figure 10 is a flowchart of the automatic return to home of the second embodiment of the creation.

Fig. 11 is a flowchart of the automatic guidance method of the third embodiment of authoring.

Figure 12 is a flowchart of the automatic retry of the fourth embodiment of authoring.

Figure 13 is a schematic diagram of returning home for the first example of creation.

Fig. 14A is a schematic diagram of the first guide of the second example of creation.

Fig. 14B is a schematic diagram of the second guide of the second example of creation.

Fig. 14C is a schematic diagram of the third guide of the second example of creation.

Figure 14D is a schematic diagram of the fourth guide of the second example of creation.

Figure 14E is a schematic diagram of the fifth guide of the second example of creation.

Figure 14F is a schematic diagram of the sixth guide of the second example of creation.

Figure 15 is a schematic diagram of returning home for the third example of creation.

FIG. 16A is a schematic diagram of the first guide of the fourth example of creation.

FIG. 16B is a schematic diagram of the second guide of the fourth example of authoring.

FIG. 16C is a schematic diagram of the third guide of the fourth example of creation.

FIG. 16D is a schematic diagram of the fourth guide of the fourth example of creation.

Fig. 16E is a schematic diagram of the fifth guide of the fourth example of authoring.

Figure 17 is a schematic diagram of the self-propelled device of the fifth example of creation.

Figure 18 is a schematic diagram of the retry guidance of the sixth example of creation.

Figure 19 is a schematic diagram of finding the wall of the seventh example of creation.

FIG. 20 is a schematic diagram of the optical transmitter of the ninth embodiment of the creation.

For a preferred embodiment of this creation, in conjunction with the drawings, the detailed description is as follows.

Please refer to Figure 1, which is an architecture diagram of the system for creating the first implementation mode. This creation is mainly to propose a system 1 that can use the most simplified sensor and guidance program to guide the self-propelled device to the charging position of the charging station.

Specifically, the system 1 includes a self-propelled device 10 and a charging station 20. The self-propelled device 10 includes a light transmitter 101, a front sensor 102, a side sensor 103, a power device 104, a driving device 105, and a controller 100 electrically connected to the above devices.

The light emitter 101 is arranged on the front side of the self-propelled device 10 to illuminate the signal light L1 forward. The front sensor 102 is disposed on the front side of the self-propelled device 10 to sense the signal light on the front side. The side sensor 103 is arranged on the left half or the right half of the self-propelled device 10 to sense the signal light on the left half or the right half.

The power device 104 is used to receive power and store power to provide power required for the operation of the self-propelled equipment 10. Specifically, when the self-propelled device 10 arrives at the charging position and is connected to the power unit 203 of the charging station 20, the power device 104 may receive the power E2 from the power unit 203.

The driving device 105 (which may include a motor, a driving wheel, and other transmission components) is used to move the self-propelled device 10. The controller 100 is used to control the operation of each device of the self-propelled equipment 10.

The charging station 20 is used to automatically guide the self-propelled device 10 to move to a charging position, and includes a sensing unit 201, a light emitting unit 202, a power unit 203, and a control unit 200 electrically connected to the aforementioned devices. and, The sensing unit 201 and the light emitting unit 202 are arranged adjacently, for example, the sensing unit 201 is arranged next to the light emitting unit 202.

The sensing unit 201 is used to sense light signals, and can be triggered when the light emitter 101 of the self-propelled device 10 is irradiated.

The light emitting unit 202 is arranged corresponding to the aforementioned charging position and used for emitting signal light. Specifically, the relationship between the installation position of the light emitting unit 202 and the charging position is stored in the self-propelled device 10 in advance, and the self-propelled device 10 reaches the charging position by tracking the installation position of the light emitting unit 202 based on the above relationship. and. The light emitting unit 202 can switch between the signal light of the first signal and the signal light of the second signal to guide the self-propelled device 10 to move to the charging position by emitting different signal lights alternately.

The power unit 203 is used to provide power required for the operation of the charging station, and can provide external power E2. The control unit 200 is used to control the operation of various devices of the charging station 20.

Please also refer to Figure 2 for the architecture diagram of the system for creating the second implementation mode. The system 2 in this embodiment is similar to the system 1, and only the differences between the system 2 and the system 1 will be described below.

The self-propelled device 10 may further include a storage 106 electrically connected to the controller 100, a functional device 107 and a communication device 108.

The storage 106 is used to store data. The function device 107 is used to provide a designated function (such as an air purification function, a dehumidification function, a heating function and/or a dust collection function). In an implementation mode, the functional device 107 can be operated during the movement of the self-propelled equipment 10 or after moving to a fixed point.

Communication device 108 (such as NFC module, Bluetooth module, Wi-Fi module, mobile network module, Zigbee module, Ethernet module, infrared receiver or any combination of the above communication devices) External communications.

In an implementation mode, the communication device 108 can be connected to the network 31, and connected to the user device 32 and/or the cloud server 33 via the network 31 to receive commands or commands from the user device 32 and/or the cloud server 33 Updates.

In one implementation, the user can operate the user device 32 (such as a remote control or a connected mobile device installed with a specified application) to generate and send operation instructions to the communication device 108, and the controller 100 based on the received operation Commands control the self-propelled device 10, such as moving to a designated location, adjusting operating parameters, returning to home for charging, turning off the power, and so on.

In one embodiment, the self-propelled device 10 may include a housing 109, and the housing 109 may partially or completely cover the device of the self-propelled device 10 to provide protection.

Please refer to Figure 2 and Figure 17 together. Figure 17 is a schematic diagram of the self-propelled device of the fifth example of the creation. In this embodiment, the light emitter 101 may include a left light emitter 1010 and a right light emitter 1011. In addition, the side sensor 103 includes a right sensor 1030 and a left sensor 1031.

In one embodiment, the light transmitter is an infrared transmitter, the sensor is an infrared receiver, and the signal light is an infrared signal light.

In this creation, the combination of the front sensor 102, the left light emitter 1010 and the right sensor 1030, or the combination of the front sensor 102, the right light emitter 1011 and the left sensor 1031 can be used to realize automatic guide.

In other words, when performing automatic guidance, only one of the above two combinations will be enabled. The self-propelled device 10 of this creation only needs two sets of sensors and one set of light emitters to achieve the return home function. .

In this creation, the left light emitter 1010 is set to be enabled when the right sensor 1030 is triggered to illuminate the left front half of the self-propelled device 10 (irradiation range R2) without irradiating the self-propelled device The right front half of 10.

In addition, the right light emitter 1011 is set to be enabled when the left sensor 1031 is triggered to irradiate the right front half of the self-propelled device 10 (irradiation range R4) and not to irradiate the left side of the self-propelled device 10 The front half. The above arrangement method can avoid the overlapping of the irradiation range of the left light emitter 1010 and the right light emitter 1011, which may cause misjudgment.

In an implementation aspect, the right sensor 1030 can be arranged on the right rear side or right side of the housing 109 (Figure 17 is the right side as an example), and used to move toward the right rear side or right side of the housing 109 Sensing. In addition, the left side sensor 1031 is arranged on the left rear side or the right left side of the casing 109 (FIG. 17 shows the right left side as an example), and is used for sensing toward the left rear side or the right left side of the casing 109. The above arrangement can prevent the sensing range of the side sensor 103 and the front sensor 102 from overlapping, which may cause misjudgment.

Please also refer to Figure 20, which is a schematic diagram of the light emitter of the ninth implementation aspect of this creation. This creation further proposes a lamp holder structure that can accurately illuminate the left front half (irradiation range R2) or right front half (irradiation range R4) of the self-propelled device 10 without irradiating the other front half of the self-propelled device 10 side.

Although FIG. 20 takes the left light emitter 1010 as an example for description, those skilled in the art can understand that this lamp holder structure can also be used for the right light emitter 1011.

Specifically, a light source 90 and a reflecting wall are provided inside the lamp holder of the left light emitter 1010. The angle of the irradiation range R2 can be changed by adjusting the angle between the left reflecting wall 92 and the right reflecting wall 91.

In addition, the left reflective wall 92 is provided with a multi-layer filter 94 covering part of the optical path, and the right reflective wall 91 is provided with a multi-layer filter 93 covering a part of the optical path. Through the arrangement of the above-mentioned multilayer filters 93 and 94, the diffusion of light can be slowed down, the linearity of the light can be enhanced, and the irradiation range R2 can be accurately controlled.

Please refer to FIG. 2 again. In one embodiment, the power device 104 of the self-propelled device 10 is charged by wire. Specifically, the power device 104 may include a power connection device 1040 (such as an electrical connector or an electrical port), and the power unit 203 of the charging station 20 includes a power connection unit 2030 (such as an electrical port or an electrical connector), and the charging position This is a position where the power connection device 1040 can contact the power connection unit 2030. In this way, when the self-propelled equipment 10 reaches the charging position, the power connection unit 2030 can provide the power E2 to the power connection device 1040 in a wired manner to charge the battery (not shown) of the power device 104.

In an implementation aspect, the power device 104 of the self-propelled device 10 adopts wireless charging. Specifically, the power device 104 may include a wireless charging device 1041, the power unit 203 of the charging station 20 includes a wireless power supply unit 2031, and the charging position is such that the induction coil of the wireless charging device 1041 can sense the induction coil of the wireless power supply unit 2031. The position of the magnetic field. In this way, when the self-propelled device 10 reaches the charging position, the wireless power supply unit 2031 can wirelessly provide the power E3 to the wireless charging device 1041 to charge the battery of the power device 104.

The charging station 20 may further include a storage unit 204, an indication unit 205, and a communication unit 206 electrically connected to the control unit 200.

The storage unit 204 is used for storing data. The communication unit 205 is the same or similar to the communication device 108 for external communication. In an implementation mode, the communication unit 205 can be connected to the network 31 and communicate with the outside via the network 31, such as receiving commands or updating data.

The indicating unit 205 (such as an indicator light, a button, a touch panel, a display, a speaker, a buzzer, or any combination of the above) is used to interact with the user or output information.

In one embodiment, the power unit 203 is connected to an external power source 30, and can obtain power E1 from the power source 30, convert the power E1 into power E2 or E3, and output it to the power device 104 of the self-propelled equipment 10.

Please refer to FIGS. 3 and 4 together. FIG. 3 is the architecture diagram of the controller in the third embodiment of the creation, and FIG. 4 is the architecture diagram of the control unit in the fourth embodiment of the creation. In this creation, the controller 100 of the self-propelled device 10 may include the following modules for implementing different functions:

1. Wall finding control module 1000: It is set to switch to the home return mode when the home return conditions (which can be stored in the memory 106 in advance) are met. In the return home mode, when the front sensor 102 or the side sensor 103 senses the position of any wall, the driving device 105 is controlled to move along the wall.

2. Random movement control module 1001: It is set to control the driving device 105 to move randomly.

3. Move the control module 1002 along the wall: set to control the drive module 105 to move along the wall. In an implementation aspect, the movement control module 1002 along the wall causes the side sensor 103 to sense toward the wall to detect the position of the wall and move along the wall.

In one implementation, the wall-seeking control module 1000 can be set to trigger the random movement control module 1002 first to make the self-propelled device 10 move randomly, and pass through the front sensor 102 or the side sensor 103 during the random movement. The wall is sensed, and when the wall is sensed, the wall movement control module 1002 is triggered to start moving along the wall.

4. Stop along the wall control module 1003: It is set when the driving device 105 moves along the wall to stop along the wall. The condition (which can be stored in the memory 106 in advance) is met and the front sensor 102 or the side sensor 103 is still not sensed When the signal light of the charging station 20 is detected, the driving device 105 is controlled to move away from the currently circling wall, and the wall finding control module 1000 is triggered to find another wall.

5. Charging station detection module 1004: When the side sensor 103 detects the signal light of the first signal of the charging station 20, it controls the driving device 105 to advance a preset distance (such as 20 cm) to Enter into the irradiation range of the light emitting unit 202 of the charging station 20, and then rotate (for example, toward the first rotation direction).

6. Dock control module 1005: When the side sensor 103 detects the signal light (such as the first signal) of the charging station 20, it controls the driving device 105 to illuminate the light emitting unit 202 of the charging station 20 When the front sensor 102 senses another signal light (such as a second signal), the driving device 105 is controlled to rotate in the opposite direction (such as toward the second rotation). Direction), when the front sensor 102 again senses a different signal light (such as the first signal), control the driving device 105 to rotate in the opposite direction (such as the first rotation direction), repeat the above operation and move toward the charging station The light emitting unit 202 of 20 approaches until it reaches the charging position. The docking control module 1005 also controls the light emitter 202 to illuminate during the rotation.

7. Arrival control module 1006: It is set to determine that the self-propelled device 10 has arrived at the charging position when the front sensor 102 determines that it is approaching the light emitting unit 202 of the charging station 20 (for example, the distance is not greater than the preset charging distance).

In one embodiment, after reaching the charging position, the arrival control module 1006 can further control the driving device 105 to rotate, so that the self-propelled device 10 faces the charging station 20 in a designated posture.

In one embodiment, when the light transmitter 101 is aligned with the sensing unit 201 of the charging station 20, the self-propelled device 10 faces the charging station 20 in a designated posture.

8. Re-parking control module 1007: It is set to control the driving device 105 to rotate and move away from the charging when it is determined by the front sensor 102 that the distance to the light emitting unit 202 of the charging station is less than the charging distance and not charging Station 20, and trigger the wall-seeking control module 1000 and the docking control module 1005 to operate to re-park to the charging position.

9. Engagement control module 1008: After the self-propelled device 10 arrives at the charging position (and faces the charging station 20 in a specified posture), it controls the driving device 105 to perform an engagement movement (such as moving a preset distance toward the charging station or rotating a preset distance). Set an angle) so that the power connection device 1040 is wired to the power connection unit 2030 of the charging station 20.

In addition, the control unit 200 of the charging station 20 may include the following modules for implementing different functions:

1. Guiding module 2000: It is set to control the light emitting unit 202 to switch to the signal light L3 emitting the second signal when the light emitting unit 202 emits the signal light L2 of the first signal and the sensing unit 201 is triggered, And when the light emitting unit 202 emits the signal light L3 of the second signal and the sensing unit 201 is triggered, the light emitting unit 202 is controlled to switch to the signal light L2 that emits the first signal.

2. Trigger detection module 2001: When the sensing unit 201 is illuminated by the light emitter 101 of the self-propelled device 10, it starts to determine whether the sensing unit 201 is out of the light of the light emitter 101, and when it is out of the light emitter 101 During irradiation, it is determined that the sensing unit is triggered by the irradiation of the light emitter 101.

It is worth mentioning that the aforementioned modules 1000-1008 and modules 2000-2001 are connected to each other (electrical connection or information connection), and can be hardware modules (such as electronic circuit modules, integrated circuit modules). Groups, SoCs, etc.), software modules or a mix of software and hardware modules, without limitation.

It is worth mentioning that when the aforementioned modules 1000-1008 are software modules (such as firmware, operating systems, or applications), the self-propelled device 10 may include a non-transitory computer-readable recording medium (as shown in Figure 2). The storage 106), the non-transitory computer readable recording medium stores a computer program 1062, and the computer program 1062 records a computer executable program code. When the controller 100 executes the program code, the aforementioned module can be realized 1000-1008 control function.

Moreover, when the aforementioned modules 2000-2001 are software modules (such as firmware, operating systems, or applications), the charging station 20 may include a non-transitory computer-readable recording medium (such as the storage unit 204 shown in FIG. 2). ), the aforementioned non-transitory computer-readable recording medium stores a computer program 2040, and the computer program 2040 records a computer executable program code. When the control unit 200 executes the aforementioned program code, the control of the aforementioned module 2000-2001 can be realized Features.

Please also refer to FIG. 5, which is a structural diagram of the functional device of the fifth embodiment of the creation. In this embodiment, the self-propelled device 1 is a mobile air cleaning device that can purify the surrounding air during movement. Specifically, the functional device 107 includes a fan module 1070 and a filter module 1071. The fan module 1070 is used to adjust the rotation speed under the control of the controller 100 to generate air flow through the filter module 1071, thereby achieving the air purification function.

Please also refer to FIG. 6, which is a structural diagram of the functional device of the sixth implementation mode of the creation. In this embodiment, the self-propelled device 1 is a mobile dehumidification device, and the humidity of the surrounding air can be reduced during the movement. Specifically, the functional device 107 includes a dehumidification module 1072, a fan module 1073, a heating module 1074, and a heat exchanger module 1075. The dehumidification module 1072 is used to absorb moisture in the surrounding air to generate dry air. The fan module 1073 is used to generate air flow to output the generated dry air. The heating module 1074 is used to evaporate the moisture absorbed by the dehumidification module 1072 so that the dehumidification module 1072 maintains the ability of adsorbing moisture. The heat exchanger module 1075 is used to condense and collect the evaporated water vapor. In this way, this creation can realize the dehumidification function.

Please also refer to FIG. 7, which is a structural diagram of the functional device of the seventh embodiment of the creation. In this embodiment, the self-propelled device 1 is a mobile heater, which can provide warm air during movement. With In general, the functional device 107 includes a fan module 1076 and a heating module 1077. The heating module 1077 is used to heat the surrounding air to generate hot air. The fan module 1076 is used to generate air flow to output hot air. In this way, this creation can realize the warm air function.

Please also refer to FIG. 8, which is a structural diagram of the functional device of the eighth implementation mode of the creation. In this embodiment, the self-propelled device 1 is a sweeping robot, which can perform cleaning during the moving process. Specifically, the functional device 107 includes a dust collection module 1078 and a dust collection module 1079. The dust suction module 1078 is used to suck garbage or dust on the floor. The dust collection module 1079 is used to collect the collected garbage or dust. In this way, this creation can realize the mobile cleaning function.

Please refer to FIG. 9, which is a flowchart of the automatic guidance method according to the first embodiment of the authoring. The automatic guidance method of each embodiment of the present creation can be implemented by the system 1 shown in FIG. 1 or the system 2 shown in FIG. 2, and the system 1 in FIG.

Step S10: The controller 100 of the self-propelled device 10 determines whether the self-propelled device 10 is close to the charging station 20.

In one embodiment, the controller 100 senses the signal light emitted by the light emitting unit 202 of the charging station 20 via the side sensor 103 (which can be set on one of the left half and the right half). Such as the first signal L2 or the signal light of the second signal L3), it is determined that it is close to the charging station 20.

If the self-propelled device 10 is close to the charging station 20, the self-propelled device 10 executes step S11, and the charging station 20 executes step S12 at the same time.

Step S11: The controller 100 controls the rotation of the self-propelled device 10 via the driving device 105 (such as rotating in the first rotation direction) through the docking control module 1005, and controls the light emitter 101 to irradiate during the rotation (such as emitting a signal L1 Light signal).

In addition, during the rotation, the controller 100 simultaneously controls the self-propelled device 10 to approach the light emitting unit 202 of the charging station 20 through the driving device 105, such as approaching the charging station 20 by a preset distance each time after rotating by a preset angle, or while rotating The side approaches the charging station 20.

In addition, the controller 100 can control each time another signal light emitted by the light emitting unit 202 of the charging station 20 is sensed via the front sensor 102 (that is, when the light signal of the light emitting unit 202 is sensed to change) The driving device 105 rotates in the reverse direction.

For example, when the signal light change is detected for the first time (such as changing from the first signal L2 to the second signal L3), it rotates in the second rotation direction opposite to the current first rotation direction, and the second detection When the signal light changes (for example, from the second signal L3 to the first signal L2), it rotates in the first rotation direction opposite to the current second rotation direction, and so on.

In one embodiment, the self-propelled device 10 performs the aforementioned movement and rotation in the irradiation range of the light emitting unit 202. In this way, the self-propelled device 10 can be effectively prevented from getting lost and failing to park.

Step S12: The control unit 200 of the charging station 20 emits a signal light and switches to another signal light when triggered by the self-propelled device 10.

Specifically, the control unit 200 is triggered each time the self-propelled device 10 is sensed via the sensing unit 201 (for example, the sensing unit 201 is irradiated by the signal light of the self-propelled device 10), and controls the light emitting unit 202 Switch to the signal light emitting a different signal.

For example, the sensing unit 201 originally emits the signal light of the first signal L2, and when it is irradiated by the signal light of the signal L1 of the self-propelled equipment 10 for the first time, it switches to the signal light that emits the second signal L3. When irradiated by the signal light of the signal L1 of the self-propelled device 10, it switches back to the signal light that emits the first signal L2, and so on.

Step S13: The controller 100 determines whether the self-propelled device 10 has reached the charging position.

In an embodiment, the controller 100 can be based on the distance between the light emitter 101 and the sensing unit 201, the distance between the front sensor 102 or the side sensor 103 and the light emitting unit 202, or the power device 104 Whether to connect the power unit 203 or the like to determine whether the self-propelled device 10 reaches the charging position.

If the self-propelled device 10 has not reached the charging position, step S11 and step S12 are executed again to continue to guide the self-propelled device 10 to gradually shorten the distance from the charging position.

If the self-propelled device 10 reaches the charging position, step S14 is executed: after the power device 104 is connected to the power unit 203, the controller 100 receives power from the power unit 203 and charges the battery of the power device 104.

If the self-propelled device 10 is not close to the charging station 20 in step S10, step S15 is executed: the controller 100 moves the self-propelled device 10 via the driving device 105 (such as moving randomly or along a wall) to continue searching for the charging station 20.

In this way, this creation only needs to install two sensors (front sensor and side sensor) on the self-propelled device to accurately guide the self-propelled device to the charging position.

Please continue to refer to Figures 14A to 14F together. Figure 14A is a schematic diagram of the first guide for the second example of creation, Figure 14B is a schematic diagram of the second guide for the second example of creation, and Figure 14C is a schematic diagram of the second guide for creating the second example The third guide schematic diagram, Figure 14D is the fourth guide schematic diagram of the second example of creation, Figure 14E is the fifth guide schematic diagram of the second example of the creation, and Figure 14F is the sixth guide schematic diagram of the second example of creation .

In this example, the side sensor 103 of the self-propelled device 10 includes a right sensor 1030 arranged on the right rear side or right side of the housing 109, and the right sensor 1030 faces the right rear side of the self-propelled device Or sense on the right side. The light emitter 101 includes a left light emitter 1010, and the left light emitter 1010 irradiates the front left half of the self-propelled device 10 and does not irradiate the front right half.

As shown in FIG. 14A, the light emitting unit 202 of the charging station 20 emits the signal light of the first signal L2 to the irradiation range R1. After the self-propelled device 10 enters the irradiation range R1 (position 60), it will sense the signal light of the first signal L2 emitted by the charging station 20 through the right sensor 1030. Then, the self-propelled device 10 moves forward by a preset distance d so that the self-propelled device 10 completely enters the irradiation range R1 (or may not move forward), that is, moves to the position 61.

Next, as shown in FIG. 14B, the self-propelled device 10 continuously emits the signal light L1 toward the front right half (the irradiation range R2) at the position 62 and rotates in the first rotation direction. In this example, the self-propelled device 10 is The direction away from the charging station 20 rotates, that is, the counterclockwise direction (it can be further away from the charging station 20), so as to avoid collision with the charging station 20 due to being too close to the charging station 20 during rotation.

Next, as shown in FIG. 14C, when the self-propelled device 10 rotates in the first rotation direction at the position 63, the signal light L1 will irradiate the sensing unit 201 of the charging station 20, and the charging station 20 will be triggered to control the light emitting unit 202 to switch Signal light to the second signal L3.

Next, as shown in FIG. 14D, when the self-propelled device 10 senses the signal light of the second signal L3 through the front sensor 102, it approaches the charging station 20 to the position 64 and rotates in the opposite second rotation direction, namely Clockwise. Moreover, when the self-propelled device 10 rotates in the second rotation direction, the signal light L1 will irradiate the sensing unit 201 of the charging station 20 again, and the charging station 20 is triggered to control the light emitting unit 202 to switch to the signal light of the first signal L2 .

Next, as shown in FIG. 14E, when the self-propelled device 10 senses the signal light of the first signal L2 via the front sensor 102, it approaches the charging station 20 to the position 65 and rotates in the opposite first rotation direction. In addition, during the rotation, the signal light L1 will irradiate the sensing unit 201 again, which triggers the charging station 20 to switch to the signal light of the second signal L3.

Next, as shown in FIG. 14F, when the self-propelled device 10 senses the signal light of the second signal L3 via the front sensor 102, it approaches the charging station 20 to the position 66 and rotates in the opposite second rotation direction. In addition, when the signal light L1 irradiates the sensing unit 201, the self-propelled device 10 and the charging station 20 determine that they have reached the charging position, and this guidance is ended.

Please continue to refer to Figures 16A to 16F together. Figure 16A is a schematic diagram of the first guidance of the fourth example of creation, Figure 16B is a schematic diagram of the second guidance of the fourth example of creation, and Figure 16C is the schematic diagram of the fourth example of creation The third guiding schematic diagram, FIG. 16D is the fourth guiding schematic diagram of the fourth example of creation, and FIG. 16E is the fifth guiding schematic diagram of the fourth example of creating.

In this example, the side sensor 103 of the self-propelled device 10 includes a left sensor 1031 arranged on the left rear side or the right side of the housing 109, and the left sensor 1031 faces the left rear side of the self-propelled device Or right left Side sensing. The light emitter 101 includes a right light emitter 1011, and the right light emitter 1011 irradiates the front right half of the self-propelled device 10 and does not irradiate the front left half.

As shown in FIG. 16A, the light emitting unit 202 of the charging station 20 emits the signal light of the first signal L2 to the irradiation range R3. After the self-propelled device 10 enters the irradiation range R3 (position 70), it will sense the signal light of the first signal L2 emitted by the charging station 20 through the left sensor 1031. Then, the self-propelled device 10 moves forward by a preset distance so that most of the self-propelled device 10 enters the irradiation range R3 (may not move forward), that is, the position 71.

Next, as shown in FIG. 16B, the self-propelled device 10 continuously emits the signal light L1 toward the front left half (the irradiation range R4), and rotates in the first rotation direction at the position 72. In this example, the self-propelled device 10 rotates in the direction away from the charging station 20, that is, clockwise (it can be further away from the charging station 20), so as to avoid collisions during the rotation due to being too close to the charging station 20 Charging station 20.

Next, as shown in FIG. 16C, when the self-propelled device 10 rotates in the first rotation direction at the position 73, the signal light L1 will irradiate the sensing unit 201 of the charging station 20, and the charging station 20 will be triggered to control the light emitting unit 202 to switch Signal light to the second signal L3.

Next, as shown in FIG. 16D, when the self-propelled device 10 senses the signal light of the second signal L3 via the front sensor 102, it approaches the charging station 20 to the position 74 and rotates in the opposite second rotation direction, namely Counterclockwise. Moreover, when the self-propelled device 10 rotates in the second rotation direction, the signal light L1 will irradiate the sensing unit 201 of the charging station 20 again, and the charging station 20 is triggered to control the light emitting unit 202 to switch to the signal light of the first signal L2 .

Next, as shown in FIG. 16E, when the self-propelled device 10 senses the signal light of the first signal L2 via the front sensor 102, it approaches the charging station 20 to the position 75 and rotates in the opposite first rotation direction. In addition, when the signal light L1 irradiates the sensing unit 201, the self-propelled device 10 and the charging station 20 determine that they have reached the charging position, and this guidance is ended.

Please also refer to FIG. 10 for the flowchart of the automatic return to home of the second embodiment of the creation. FIG. 10 is used to explain how the self-propelled device 10 is moved to a position close to the charging station 20 in this creation, so that the self-propelled device 10 is parked to the charging position by the automatic guide. The self-propelled device 10 performs the following steps to find and approach the charging station 20.

Step S20: The controller 100 determines whether the preset return home condition is satisfied.

The aforementioned return conditions may be: the remaining battery power is lower than the return power threshold, the preset return time has elapsed, or the task is completed (such as the surrounding air quality or humidity reaches the standard, or the cleaning of the designated area is completed).

If the return home condition is not met, step S20 is executed again to continue monitoring.

If the return condition is met, step S21 is executed: the controller 100 senses the position of the wall through the front sensor 102 or the side sensor 103 through the wall finding control module 1000, and moves along the wall to find the charging station 20.

In one embodiment, the controller 100 can perform wall search and movement along the wall through the following steps S200-S202.

Step S200: The controller 100 controls the driving device 105 to move randomly through the random movement control module 1001, so that the autonomous device 10 roams.

In one embodiment, the random movement control module 1001 can plan a randomly generated movement path, or randomly generate a movement control command, which is not limited.

Step S201: The controller 100 senses the surrounding walls via the front sensor 102 or the side sensor 103 during random movement.

If the wall is not sensed, step S200 is executed again to continue searching for the wall.

If the wall is sensed, step S202 is executed: the controller 100 controls the driving device 105 to move along the wall through the wall movement control module 1002, so that the self-propelled device 10 starts to move around the sensed wall and finds the charging station 20 .

In one embodiment, during the movement along the wall, the controller 100 controls the side sensor 103 to sense the wall, so as to detect the position of the wall and realize the winding around the wall.

In one embodiment, since there may be multiple different walls in the environment, in order to avoid the self-propelled device 10 from spending too much time on the wrong wall (that is, a wall without charging station 20) and failing to return home (such as When the power is exhausted), the controller 100 can also perform the functions of stopping along the wall and re-searching the wall through the following steps S203-S204, so as to replace the bypassed wall in a timely manner to increase the probability of a successful return.

Step S203: The controller 100 judges whether the wall stop condition is satisfied and whether the charging station 20 is sensed through the wall stop control module 1003.

In one embodiment, the aforementioned condition along the wall may be that the entire wall is detoured, the charging station 20 is not found after detouring for more than a preset time, and so on.

If the stop along the wall condition is not satisfied and the charging station 20 is not detected, the detection is continued.

If the stop along the wall condition is satisfied and the charging station 20 is still not sensed, step S204 is performed: the controller 100 controls the autonomous device 10 to move when the stop along the wall condition is satisfied and the charging station 20 is still not sensed To stay away from the current wall, and find another wall through the wall finding control module 1000 (for example, perform steps S200-S202 again).

In this way, the present creation can effectively find the wall, and successfully find the charging station 20 by moving along the wall without indoor positioning technology or additional sensors.

Please also refer to Figure 19 for the wall finding diagram of the seventh example of this creation. Figure 19 is used to exemplify how to find the charging station 20 in this creation.

In this example, the charging station 20 is set on the wall 81, and the self-propelled device 10 circumnavigates the wall 80 along the path 56 at the position 47, but the charging station 20 is not found (the conditions for stopping along the wall are satisfied).

Then, the self-propelled device 10 stops moving along the wall 80 and follows a random path 57 to escape the wall 80 and detects the wall 81 at a position 48.

Next, the self-propelled device 10 starts to move along the wall along the path 58 and finds the charging station 20 at the position 49.

Please also refer to Figure 13 for the return home diagram of the first example of this creation. FIG. 13 is used to illustrate how the self-propelled device 10 finds the charging station 20 through the right sensor 1030.

As shown in the figure, the self-propelled device 10 randomly moves along a random path 50 from a position 40, and then moves to a position 41 to detect a wall via the front sensor 102 or the right sensor 1030.

Then, the self-propelled device 10 can be rotated to make the right sensor 1030 detect the wall, and move along the wall path 51 along the wall (for example, counterclockwise) to the position 42, and the charging station 20 can be found ( Such as entering the illumination range of the light emitter 202). In addition, in the process of moving along the wall, the self-propelled device 10 can continue to maintain a fixed distance between the right side sensor 1030 and the wall by moving, so that it can move along the wall.

Please also refer to Figure 15 for the return home diagram of the third example of this creation. FIG. 15 is used to illustrate how the self-propelled device 10 finds the charging station 20 through the left sensor 1031.

As shown in the figure, the self-propelled device 10 moves randomly along a random path 52 from a position 43, and then moves to a position 44 to detect a wall via the front sensor 102 or the left sensor 1031.

Then, the self-propelled device 10 can be rotated to make the left sensor 1031 detect the wall and move along the wall path 53 (such as clockwise) to the position 45, and the charging station 20 can be found. Moreover, in the process of moving along the wall, the self-propelled device 10 can continue to maintain a fixed distance between the left sensor 1031 and the wall by moving, so that it can move along the wall.

Please also refer to FIG. 11, which is a flowchart of the automatic guidance method of the third embodiment of the creation. The automatic guidance method of this embodiment is illustrated with the system 2 in FIG. 2.

Step S300: The controller 100 of the self-propelled device 10 determines through the charging station detection module 1004 whether the side sensor 103 senses the charging station 20, that is, whether the right sensor 1030 or the left sensor 1031 is at the charging station The light emitting unit 202 is irradiated.

If the charging station 20 is sensed, the self-propelled device 10 performs step S301: the controller 100 controls the self-propelled device 10 to move forward by a preset distance through the docking control module 1005 so that more of the self-propelled device 10 enters the light emission The irradiation range of the unit 202 rotates and controls the light emitter 101 to emit the light signal of the signal L1 during the rotation.

It is worth mentioning that in the self-propelled device 10, if the right sensor 1030 is irradiated by the charging station 10, then in the subsequent steps S302-S306, the left light emitter 1010 is used to emit the signal light of the signal L1; if it is The left sensor 1031 is illuminated by the charging station 10, and the right light emitter 1011 is used to emit the signal light of the signal L1 in the subsequent steps S302-S306.

Step S302: The control unit 200 of the charging station 20 judges whether it is triggered by the trigger detection module 2001 via the sensing unit 201, such as whether it is illuminated by the light signal of the signal L1 of the self-propelled device 10.

In one embodiment, the control unit 200 starts to determine whether the sensing unit 201 is out of irradiation when the sensing unit 201 is illuminated, and determines that the sensing unit 201 is triggered when it is out of irradiation.

If the sensing unit 201 of the charging station 20 is not triggered, step S302 is executed again to continue sensing.

If the sensing unit 201 of the charging station 20 is triggered, step S303 is executed: the control unit 200 controls the light emitting unit 202 to switch signals through the guiding module 2000, such as switching from the signal light of the first signal to the signal light of the second signal , Or switch from the signal light of the second signal to the signal light of the first signal.

Step S304: The controller 100 senses whether the signal light emitted by the charging station 20 changes through the front sensor 102 through the docking control module 1005.

If the signal light emitted by the charging station 20 has not changed, step S304 is executed again to continuously rotate and move and sense.

If the signal light emitted by the charging station 20 changes, step S305 is executed: the controller 100 controls the driving device 105 to rotate in the reverse direction every time it senses the change of the signal light of the charging station 20 through the docking control module 1005.

Step S306: The control unit 200 judges whether the distance from the charging station 20 (the light emitting unit 202) is not greater than the preset charging distance (such as 0.5 cm, 3 cm, 10 cm) through the parking control module 1005 to determine Whether the self-propelled device 10 has reached the charging position.

If the distance between the self-propelled device 10 and the charging station 20 is greater than the charging distance, it is determined that the charging position has not been reached, and steps S302-S306 are executed again.

If the distance between the self-propelled device 10 and the charging station 20 is not greater than the charging distance, it is determined that the charging position has been reached, and step S307 is executed: the controller 100 performs alignment by reaching the control module 1006 to rotate the self-propelled device 10 to The reference attitude, such as aligning the light transmitter 101 with the sensing unit 201 of the charging station 20, or aligning the front sensor 102 or the side sensor 103 with the light transmitting unit 202.

Step S308: The controller 100 performs an engaging movement (such as moving a predetermined distance toward the charging station or rotating a predetermined angle toward a designated rotation direction) through the engaging control module 1008 via the driving device 105, so that the power connection device 1040 is connected to charging Station 2030, or the wireless charging device 1041 can sense the power E3 of the wireless power supply device 2031.

It is worth mentioning that the aforementioned engagement movement is set based on the aforementioned reference attitude, that is, when the self-propelled equipment 10 and the charging station 20 are in the reference attitude, the self-propelled equipment 10 only needs to perform a preset engagement movement to make the power device 104 is connected to the power unit 203 and can be charged.

If the charging station 20 is not sensed in step S300, the self-propelled device 10 executes step S309: the controller 100 moves the self-propelled device 10 via the driving device 105 to continue to find the charging station 20, as shown in FIG. 10.

In this way, the present creation can more accurately guide the self-propelled device 10 to move to the charging position of the charging station 20 for charging.

Please also refer to FIG. 12, which is a flowchart of the automatic retry of the fourth embodiment of the authoring. When the self-propelled device 10 moves to the charging position, it may be due to some reasons (such as the power device 104 is not correctly connected The power unit 203, or poor contact) cannot be charged correctly, which will cause charging failure. In this regard, the author proposes the following steps S40-S42 to achieve

Step S40: The controller 100 determines whether the self-propelled device 10 has reached the charging position but the charging station 20 has not charged the self-propelled device 10 through the re-parking control module 1007.

In one embodiment, the controller 100 determines whether the distance from the light emitter 202 of the charging station 20 is less than the charging distance through the front sensor 102 or the side sensor 103 and the charging station 20 does not contact the self-propelled device 10 Charge it.

If the charging position has been reached and the charging station 20 is charging the self-propelled device 10, this detection is ended.

If the charging position has been reached but the charging station 20 has not charged the self-propelled equipment 10, step S41 is executed: the controller 100 controls the driving device 105 to move away from the charging station 20 through the docking control module 1007.

In one embodiment, the self-propelled device 10 rotates backward along a spiral track to move away from the charging station 20. The front sensor 102 and the side sensor 103 are rotated to detect surrounding objects to avoid collision, and move backward to move away from the charging station 20.

Step S42: the controller 100 controls the unit 200 to execute the automatic guidance procedure again to approach the charging station 20 again, arrive at the charging position and perform charging.

In this way, this creation can effectively eliminate the problem of charging failure.

Please also refer to Figure 18, which is a schematic diagram of the retry guide for the sixth example of this creation. Figure 18 is used to exemplify how to get away from the charging station.

In this example, the self-propelled device 10 first rotates and moves along the first spiral track 54 with a smaller radius to slightly move away from the charging station 20. Then, the self-propelled device 10 rotates and moves along the second spiral track 55 having a radius larger than the first spiral track 54 to be more clearly away from the charging station 20.

In this way, the present creation can effectively avoid collisions with surrounding objects when the self-propelled device 10 has only a few sensors.

The above descriptions are only preferred specific examples of this creation, and are not limited to the scope of this creation. Therefore, all equivalent changes made by using this creation content are included in the scope of this creation for the same reason. Bright.

1: system

10: Self-propelled equipment

100: Controller

101: light emitter

102: Front sensor

103: side sensor

104: power device

105: Drive

20: Charging station

200: control unit

201: sensing unit

202: light emitting unit

203: Power Unit

30: Power

L1, L2, L3: signal light

E1, E2: Electricity

Claims (20)

An automatic guidance system, including: a charging station for automatically guiding a self-propelled device to move to a charging position, including: a light emitting unit set corresponding to the charging position for the signal light of a first signal Switching between the signal light of a second signal and emitting the signal light; a sensing unit arranged next to the light emitting unit for sensing the illumination and being triggered; a power unit for providing power; and a control Unit electrically connected to the light emitting unit, the sensing unit and the power unit, the control unit is set to control the light emitting unit when the light emitting unit emits the signal light of the first signal and the sensing unit is triggered The light emitting unit is switched to the signal light emitting the second signal, and when the light emitting unit is emitting the signal light of the second signal and the sensing unit is triggered, the light emitting unit is controlled to switch to emitting the first signal And the self-propelled equipment, including: a driving device for moving the self-propelled equipment; a side sensor provided on at least one of the left half and the right half of the self-propelled equipment, Used to sense signal light; a light emitter arranged on the front side of the self-propelled equipment to illuminate the signal light forward; a front sensor arranged on the front side of the self-propelled equipment to sense the signal light A power device for connecting the power unit of the charging station when the self-propelled equipment reaches the charging position, receives power from the power unit, and stores power; and a controller, which is electrically connected to the driving device and the The side sensor, the light emitter, the front sensor and the power device, the controller is set to control the driving device to operate the driving device when the side sensor senses the signal light of the first signal Within the illumination range of the light emitting unit of the charging station Rotating and moving in a first rotation direction, the controller is also set to control the driving device to rotate in a second rotation opposite to the first rotation direction when the front sensor senses the signal light of the second signal When the front sensor senses the signal light of the first signal, the driving device is controlled to rotate in the first rotation direction. The controller repeats the above operation and controls the light emitter to illuminate during the rotation , And at the same time control the driving device to approach the light emitting unit of the charging station until it reaches the charging position. The automatic guidance system according to claim 1, wherein the self-propelled equipment further includes a storage electrically connected to the controller, the storage storing a return condition; the controller of the self-propelled equipment includes a wall search Control module, the wall-seeking control module is set to switch to a return-to-home mode when the return-to-home condition is met, sense the position of any wall through the front sensor or the side sensor, and control the drive The device moves along the wall. The automatic guidance system according to claim 2, wherein the controller of the self-propelled equipment further includes: a random movement control module for controlling the driving device to move randomly; and a wall movement control module for To control the drive module to move along the wall, wherein when moving along the wall, the side sensor is to sense the wall; the wall-seeking control module is set to trigger the random movement control module to randomly During random movement, the wall is sensed by the front sensor or the side sensor, and the wall movement control module is triggered to move along the wall when the wall is sensed. The automatic guidance system according to claim 3, wherein the storage further stores a condition for stopping along the wall; the controller of the self-propelled device further includes a stopping along the wall control module, and the stopping along the wall control module The driving device moves along the wall until the stop along the wall condition is satisfied and the front sensor or the side When the sensor still does not sense the signal light of the first signal, it controls the driving device to move away from the wall, and triggers the wall finding control module to find another wall. The automatic guidance system according to claim 1, wherein the power device of the self-propelled equipment includes a power connection device, the power unit of the charging station includes a power connection unit; the controller of the self-propelled equipment further includes An engagement control module, which controls the driving device to perform an engagement movement after the self-propelled equipment reaches the charging position so that the power connection device is wired to the power connection unit. The automatic guidance system according to claim 1, wherein the self-propelled device further includes a housing, the housing at least partially enveloping the driving device, the side sensor, the light emitter, and the front sensor , The electronic device and the controller. The automatic guidance system according to claim 6, wherein the side sensor is arranged on the right rear side or right side of the casing, and is used for sensing toward the right rear side or right side of the casing, the The light emitter irradiates the front left half of the casing and does not irradiate the front right half; the first rotation direction is counterclockwise; the second rotation direction is clockwise. The automatic guidance system according to claim 6, wherein the side sensor is arranged on the left rear side or the right left side of the casing, and is used for sensing toward the left rear side or the right left side of the casing, the The light emitter irradiates the front right half of the housing and does not irradiate the front left half; the first rotation direction is clockwise; the second rotation direction is counterclockwise. The automatic guidance system according to claim 1, wherein the controller of the self-propelled device includes a charging station detection module, and the charging station detection module is set to detect the side sensor When the signal light of the first signal is applied, the driving device is controlled to advance a predetermined distance to enter the irradiation range of the light emitting unit of the charging station, and then rotate in the first rotation direction. The automatic guidance system according to claim 1, wherein the control unit of the charging station includes a trigger detection module, and the trigger detection module is used when the sensing unit is emitted by the light of the self-propelled device When the emitter is irradiated, it is determined whether the sensing unit is out of the irradiation of the light emitter, and when it is out of the irradiation of the light emitter, it is determined that the sensing unit is triggered by the irradiation of the light emitter. The automatic guidance system according to claim 1, wherein the controller of the self-propelled device includes an arrival control module, and the arrival control module determines the relationship with the light emission of the charging station via the front sensor When the distance between the units is not greater than a charging distance, it is determined that the self-propelled device has reached the charging position, and the driving device is controlled to rotate so that the light emitter is aligned with the sensing unit of the charging station. The automatic guidance system according to claim 1, wherein the controller of the self-propelled equipment includes a docking control module and a re-parking control module; the docking control module is set to sense on the side sensor When the signal light of the first signal is detected, the driving device is controlled to rotate in the first rotation direction within the irradiation range of the light emitting unit of the charging station, and the second signal is sensed by the front sensor When the signal light of, control the driving device to rotate in a second rotation direction opposite to the first rotation direction, and repeat the above operation, wherein the docking control module is also set to control the light emitter to illuminate during rotation , And at the same time, control the driving device to approach the light emitting unit of the charging station until it reaches the charging position; the re-parking control module determines the distance between the light emitting unit of the charging station and the light emitting unit through the front sensor When the distance is less than a charging distance and the charging station is not charging the self-propelled equipment, control the driving device to rotate to move away from the charging station along a spiral track, and trigger the wall-seeking control module and the docking control module to operate , Wherein the re-parking control module controls the driving device to first rotate and move along a first spiral track, and then rotate along a second spiral track with a radius greater than the first spiral track, so as to gradually move away from the charging station. The automatic guidance system according to claim 1, wherein the side sensor includes a right side sensor arranged on the right half of the self-propelled device and a left side sensor arranged on the left half of the self-propelled device Detector The controller of the self-propelled equipment includes a docking control module; the docking control module is set to be triggered when the right sensor is triggered by the signal light of the first signal emitted by the light emitting unit of the charging station , Controlling the driving device to rotate in the first rotation direction within the illumination range, and controlling the driving device to rotate in the second rotation direction when the front sensor senses the signal light of the second signal. When the front sensor senses the signal light of the first signal, it controls the self-propelled device to rotate in the first rotation direction; the docking control module is also set to be controlled by the charging station when the left sensor is When the signal light of the first signal emitted by the light emitting unit is triggered, the driving device is controlled to rotate and move in the second rotation direction within the irradiation range, and the signal light of the second signal is sensed by the front sensor When the driving device is controlled to rotate in the first rotation direction, when the signal light of the first signal is sensed by the front sensor, the autonomous device is controlled to rotate in the second rotation direction. The automatic guidance system according to claim 13, wherein the light emitter of the self-propelled device includes: a left light emitter, which is set to be enabled to move toward the self-propelled when the right sensor is triggered The front left half of the device is illuminated without illuminating the front right half; and a right light emitter is set to be enabled to illuminate the front right half of the self-propelled device when the left sensor is triggered And it will not illuminate the front left half. The automatic guidance system according to claim 1, wherein the light emitter is set to irradiate one of the left front half or the right front half of the self-propelled device without irradiating the other front half, the The inner side of the lamp holder of the light emitter is provided with a multilayer filter which covers part of the light path to enhance the linearity of the light. The automatic guidance system according to claim 1, wherein the power device of the self-propelled equipment includes a wireless charging device, and the power unit of the charging station includes a wireless power supply unit; The control unit of the station is configured to wirelessly provide power to the wireless charging device via the wireless power supply unit when detecting that the wireless charging device reaches the charging position. The automatic guidance system according to claim 1, wherein the self-propelled equipment further includes a functional device electrically connected to the controller and operating when moving, and the functional device includes: a filter module; and a fan The module is used for being controlled by the controller to adjust the rotation speed to generate air flow through the filter module. The automatic guidance system according to claim 1, wherein the self-propelled equipment further includes a functional device that is electrically connected to the controller and operates while moving, and the functional device includes: a dehumidification module for adsorption Moisture in the air to generate dry air; a fan module to output the generated dry air; a heating module to evaporate the moisture absorbed by the dehumidification module; and a heat exchanger The module is used to condense the moisture. The automatic guidance system according to claim 1, wherein the self-propelled equipment further includes a functional device electrically connected to the controller and operating when moving, and the functional device includes: a heating module for heating air To generate hot air; and a fan module to output the hot air. The automatic guidance system according to claim 1, wherein the self-propelled equipment further includes a functional device electrically connected to the controller and operating when moving, and the functional device includes: a dust collection module for sucking garbage Or dust; and a dust collection module for collecting the garbage or the dust.

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