WO2020153442A1 - Appareil électronique mobile, station d'accueil et procédé d'accueil - Google Patents

Appareil électronique mobile, station d'accueil et procédé d'accueil Download PDF

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Publication number
WO2020153442A1
WO2020153442A1 PCT/JP2020/002387 JP2020002387W WO2020153442A1 WO 2020153442 A1 WO2020153442 A1 WO 2020153442A1 JP 2020002387 W JP2020002387 W JP 2020002387W WO 2020153442 A1 WO2020153442 A1 WO 2020153442A1
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WO
WIPO (PCT)
Prior art keywords
self
electronic device
signal
docking station
propelled electronic
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Application number
PCT/JP2020/002387
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English (en)
Japanese (ja)
Inventor
妹尾　敏弘
Original Assignee
シャープ株式会社
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Filing date
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Application filed by シャープ株式会社 filed Critical シャープ株式会社
Publication of WO2020153442A1 publication Critical patent/WO2020153442A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a self-propelled electronic device, a docking station, and a docking method.
  • a self-propelled electronic device having a function of returning to a docking station such as a charging stand is known (see, for example, Patent Document 1).
  • the receiving unit receives the guidance signal transmitted from the docking station installed on the floor, recognizes the direction in which the docking station is present, and the receiving unit receives the guidance signal while receiving the guidance signal. Drive toward the dock and return to the docking station.
  • it is necessary to accurately guide the self-propelled electronic device to the docking station.
  • the docking station has a function as a charging stand for charging the battery built in the self-propelled electronic device
  • the charging terminal of the self-propelled electronic device and the power supply terminal of the docking station should be accurately matched. Need to make contact.
  • the self-propelled electronic device measures the relative distance between the self-propelled electronic device and the docking station using a distance sensor for obstacle avoidance, and when the self-propelled electronic device is too close to the docking station. In this case, the self-propelled electronic device can be moved away from the docking station once, and the docking can be redone to perform docking with high accuracy. Since the distance sensor for obstacle avoidance is usually arranged in front of the self-propelled electronic device, the self-propelled electronic device needs to approach the docking station while moving forward. For this reason, it is necessary to dispose a receiving unit for receiving the induction signal and a charging terminal on the front side of the self-propelled electronic device.
  • the camera or the like needs to be arranged in front of the self-propelled electronic device.
  • the receiver and the like are arranged on the front side of the self-propelled electronic device, there is little space for arranging the camera and the like.
  • the present invention has been made in view of such circumstances, and provides a self-propelled electronic device in which a receiving unit for receiving an inductive signal can be arranged on the rear side of the self-propelled electronic device.
  • the present invention is a self-propelled electronic device provided so as to be dockable in a docking station including a first transmission unit, a second transmission unit, and a distance sensor, the self-propelled electronic device including a first reception unit.
  • a second receiver a housing on which the first and second receivers are mounted, a drive wheel provided to move the housing, and the signal based on the signals received by the first and second receivers.
  • a control unit provided to control the rotation of the drive wheel, wherein the control unit is configured such that the first reception unit detects the first guidance signal transmitted by the first transmission unit and the first reception unit first detects the first guidance signal.
  • the driving wheel is controlled so as to approach the transmitting unit, and the second receiving unit detects the second guidance signal transmitted by the second transmitting unit while the second receiving unit approaches the second transmitting unit.
  • Controlling the wheel the first guidance signal including a first identification signal
  • the second guidance signal including a second identification signal
  • at least one of the first and second guidance signals being measured by the distance sensor.
  • a distance signal regarding the distance between the docking station and the self-propelled electronic device, the control unit, the distance between the docking station and the self-propelled electronic device based on the distance signal is less than a threshold value. Is provided so as to determine whether the distance is smaller than the threshold value, and the self-propelled electronic device controls the drive wheels so as to move away from the docking station when it is determined that the distance is smaller than a threshold value.
  • the guidance signal transmitted from the docking station includes a distance signal regarding the distance between the docking station and the housing. Therefore, it becomes possible to arrange the receiving unit on the rear side of the self-propelled electronic device.
  • 6 is a flowchart of a method of docking a self-propelled electronic device with a docking station according to an exemplary embodiment of the present invention.
  • 6 is a flowchart of a method of docking a self-propelled electronic device with a docking station according to an exemplary embodiment of the present invention.
  • 6 is a flowchart of a method of docking a self-propelled electronic device with a docking station according to an exemplary embodiment of the present invention. It is a schematic diagram which shows operation
  • the self-propelled electronic device of the present invention is a self-propelled electronic device that is provided so as to be dockable in a docking station that includes a first transmission unit, a second transmission unit, and a distance sensor.
  • a control unit provided to control the rotation of the drive wheel based on the received signal, wherein the control unit detects the first guidance signal transmitted by the first transmission unit while detecting the first induction signal.
  • the first receiver controls the driving wheel so that the first receiver approaches the first transmitter, and the second receiver detects the second guidance signal transmitted by the second transmitter, and the second receiver causes the second transmitter to move.
  • the control unit controlling the drive wheels so that the first induction signal includes a first identification signal, the second induction signal includes a second identification signal, and at least one of the first and second induction signals is A distance signal related to the distance between the docking station and the self-propelled electronic device measured by the distance sensor, wherein the control unit, based on the distance signal, between the docking station and the self-propelled electronic device. Is provided to determine whether the distance between the docking stations is less than a threshold, and when the distance is less than the threshold, the self-propelled electronic device controls the drive wheels to move away from the docking station. It is characterized by doing.
  • the self-propelled electronic device of the present invention further includes a third receiver, and the first and second receivers are preferably arranged on the right rear side and the left rear side of the housing, respectively.
  • the section is preferably arranged between the first receiving section and the second receiving section.
  • the self-propelled electronic device of the present invention includes an omnidirectional sensor, and the control unit rotates the housing after the omnidirectional sensor detects the first or second induction signal and causes the first or second reception unit to rotate. It is preferably provided so as to determine whether or not to detect the first or second induction signal. As a result, the control unit of the self-propelled electronic device can recognize that the docking station is close, and the alignment of the self-propelled electronic device and the docking station can be started.
  • the self-propelled electronic device of the present invention preferably includes at least one fourth receiving unit provided on a side surface of the housing, and the control unit includes one of the first receiving unit, the second receiving unit, and the fourth receiving unit. At least one is provided so as to rotate the casing after detecting the first or second induction signal, and to determine whether the first or second reception unit detects the first or second induction signal. Is preferred. As a result, the omnidirectional sensor can be omitted, and the height of the self-propelled electronic device and the height of the docking station can be reduced.
  • the self-propelled electronic device of the present invention includes a battery and a charging terminal connected to the battery, and the control unit has the first receiving unit that is the first receiving unit until the charging terminal is connected to the power supply terminal included in the docking station. It is preferable to control the drive wheels so that the second receiver approaches the transmitter and the second receiver approaches the second transmitter. As a result, the charging terminal can be accurately connected to the power supply terminal, and the battery can be charged by the power supplied from the docking station to the self-propelled electronic device.
  • the invention also provides a docking station for docking with self-propelled electronics.
  • the docking station includes a first transmitter provided to emit a first guidance signal, a second transmitter provided to emit a second guidance signal, a self-propelled electronic device, and a docking station.
  • a distance sensor arranged to measure a distance therebetween.
  • the first or second inductive signal includes a distance signal related to the distance between the self-propelled electronic device and the docking station measured by the distance sensor.
  • the first and second induction signals are preferably infrared signals, the distance sensor is preferably an infrared distance sensor, and the infrared rays emitted by the distance sensor do not interfere with the first and second induction signals.
  • it is preferably provided so as to measure the distance between the docking station and the housing.
  • the first transmitting unit is preferably provided so as to intermittently transmit the first induction signal
  • the second transmitting unit is preferably provided so as to intermittently transmit the second induction signal
  • the distance sensor Is preferably provided so as to measure the distance between the docking station and the housing when the first and second guidance signals are not transmitted from the first and second transmission units. This makes it possible to prevent the infrared rays emitted by the distance sensor from interfering with the first and second guidance signals.
  • the present invention also provides a docking method in which a self-propelled electronic device having first and second receivers is docked at a docking station having first and second transmitters.
  • the first receiver approaches the first transmitter while the first receiver detects the first guide signal generated by the first transmitter
  • the second guide signal generated by the second transmitter is output by the second receiver.
  • the self-propelled electronic device approaches the docking station so that the second receiver approaches the second transmitter while the receiver detects, and the self-propelled electronic device included in the first or second guidance signal and the docking. Moving the self-propelled electronics away from the docking station based on a signal relating to the distance to the station.
  • FIGS. 1 and 2 are schematic perspective views of a self-propelled electronic device according to the present embodiment
  • FIG. 3 is a schematic rear view of the self-propelled electronic device
  • FIG. 4 is a schematic perspective view of the docking station
  • FIG. 5 is a schematic view showing a state in which the self-propelled electronic device is docked with the docking station.
  • FIG. 6 is a block diagram showing an electrical configuration of the self-propelled electronic device and the docking station.
  • the self-propelled electronic device 60 of the present embodiment is the self-propelled electronic device 60 provided so as to be dockable in the docking station 10 including the first transmission unit 11, the second transmission unit 12, and the distance sensor 13.
  • the self-propelled electronic device 60 is provided so that the first receiving unit 3, the second receiving unit 4, the housing 2 on which the first receiving unit 3 and the second receiving unit 4 are mounted, and the housing 2 are moved.
  • the drive wheel 6 and the control unit 7 provided to control the rotation of the drive wheel 6 based on the signals received by the first receiving unit 3 and the second receiving unit 4, and the control unit 7
  • the first receiving unit 3 controls the drive wheels 6 so that the first receiving unit 3 approaches the first transmitting unit 11 while detecting the first induction signal transmitted by the first transmitting unit 11, and the second transmitting unit 12 While the second receiving unit 4 detects the second guiding signal transmitted by, the second receiving unit 4 controls the drive wheel 6 so as to approach the second transmitting unit 12, and the first guiding signal includes the first identification signal.
  • the second guidance signal includes a second identification signal, and at least one of the first and second guidance signals is a distance related to the distance between the docking station 10 and the self-propelled electronic device 60 measured by the distance sensor 13.
  • the control unit 7 is provided to determine whether the distance between the docking station 10 and the self-propelled electronic device 60 is smaller than a threshold value based on the distance signal, and the distance is When it is determined that the driving wheel 6 is smaller than the threshold value, the self-propelled electronic device 60 controls the driving wheels 6 so as to move away from the docking station 10.
  • the docking station 10 of the present embodiment includes a first transmitter 11 provided to emit a first guidance signal, a second transmitter 12 provided to emit a second guidance signal, and a self-propelled type.
  • the distance sensor 13 provided so as to measure the distance between the electronic device 60 and the docking station 10, and the first or second inductive signal is the self-propelled electronic device 60 measured by the distance sensor 13. It is characterized in that it includes a distance signal relating to the distance to the docking station 10.
  • the self-propelled electronic device 60 of this embodiment and the docking station of this embodiment may form an electronic device system.
  • the first receiving unit 3 approaches the first transmitting unit 11 and the second transmitting unit 12 emits while the first receiving unit 3 detects the first guidance signal emitted by the first transmitting unit 11.
  • the self-propelled electronic device 60 is an electronic device that is powered by its own power.
  • the self-propelled electronic device 60 is, for example, a self-propelled cleaner, a self-propelled air cleaner, a self-propelled ion generator, a self-propelled robot, or the like.
  • 1 to 6 show a self-propelled vacuum cleaner as an example of the self-propelled electronic device 60.
  • the electric blower 33, the rotating brush 34, the side brush 40, and the like are used to remove outside air from the suction port 38 together with dust.
  • the dust in the air sucked into the self-propelled electronic device 60 and sucked in the dust collecting portion 37 is removed.
  • the air that has passed through the dust collecting portion 37 is discharged from the exhaust port 39.
  • the self-propelled electronic device 60 is provided so as to be able to suck the dust scraped out by the rotating brush 34, the side brush 40, and the like from the suction port 38 while moving forward.
  • This forward direction is the front direction of the self-propelled electronic device 60, and the opposite direction is the rear direction. If the front is south, the west is to the right, and if the front is south, the east is to the left.
  • the control unit 7 is a unit that controls the self-propelled electronic device 60.
  • the control unit 7 can include, for example, a microcontroller having a CPU, a memory (storage unit 31), a timer, an input/output port, and the like.
  • the storage unit 31 included in the control unit 7 can include a ROM such as a mask ROM, an EPROM, an EEPROM, a flash memory (nonvolatile memory), and a RAM such as FeRAM, SRAM, DRAM.
  • the controller 7 may be composed of a plurality of control boards. The plurality of control boards can be connected by a signal line or a power line.
  • the control unit 7 includes, for example, a control board having a drive circuit for the right drive wheel, a control board having a drive circuit for the left drive wheel, a control board having a drive circuit for an electric blower, and a drive circuit for a rotary brush. It consists of a control board and a microcontroller.
  • the storage unit 31 of the control unit 7 stores control software for controlling the self-propelled electronic device 60.
  • the control software may include firmware that controls the electric blower 33, the rotating brush 34, the drive wheels 6, the first to third receiving units, the omnidirectional sensor 8, the ultrasonic sensor 36, the battery 20, and the like.
  • the firmware can also be regarded as a part of the first to third receiving units, the omnidirectional sensor 8, the ultrasonic sensor 36, and the like.
  • the self-propelled electronic device 60 may include the battery 20 and the charging terminal 21 for charging the battery 20.
  • the battery 20 is included in the power supply unit of the self-propelled electronic device 60, and the output current of the battery 20 is the electric blower 33, the rotating brush 34, the right drive wheel motor 35a, and the left drive wheel motor 35b via the control unit 7.
  • the self-propelled electronic device 60 is driven.
  • the adjustment of the supplied power can be performed by the power adjustment unit 32 of the control unit 7.
  • the power adjustment unit 32 is, for example, a PWM circuit.
  • the charging terminal 21 is provided so as to contact the power supply terminal 25 of the docking station 10 when the self-propelled electronic device 60 and the docking station 10 are docked.
  • the charging terminal 21b and the power supply terminal 25b are in contact with each other.
  • the charging circuit 51 for charging the battery 20 may be included in the control unit 15 of the docking station 10 or may be included in the control unit 7 of the self-propelled electronic device 60.
  • the drive wheel 6 is a wheel that is connected to the motors 35a and 35b and is rotated by this motor, and is a wheel that drives the self-propelled electronic device 60.
  • the drive wheel 6 may be a tire or a crawler.
  • the self-propelled electronic device 60 can have a right drive wheel 6a and a left drive wheel 6b, and the rotation of these can be controlled by the control unit 7. By adjusting the rotational direction, rotational speed, etc. of the right drive wheel 6a and the left drive wheel 6b, the self-propelled electronic device 60 can be moved straight forward, forward while curving right, forward while curving left, on the floor surface. You can retreat, turn right while retreating, turn left while retreating, and rotate on the spot.
  • the self-propelled electronic device 60 can have the ultrasonic sensor 36 for obstacle avoidance. As a result, the self-propelled electronic device 60 can avoid obstacles and move.
  • the self-propelled electronic device 60 can have a front ultrasonic sensor 36a, a left ultrasonic sensor 36b, and a right ultrasonic sensor 36c. Using these sensors, the self-propelled electronic device 60 can detect obstacles in front, obstacles in front of left, obstacles in front of right, and can move while avoiding these obstacles. ..
  • the docking station 10 has a first transmitter 11 and a second transmitter 12.
  • the 1st transmission part 11 is provided so that a 1st guidance signal can be transmitted.
  • the 2nd transmission part 12 is provided so that a 2nd guidance signal can be transmitted.
  • the first and second induction signals are, for example, infrared signals.
  • the first and second transmitters have infrared irradiation points (irradiation points). This irradiation point can emit the first induction signal or the second induction signal at an irradiation angle of approximately 10 degrees (desirably, a range that spreads outward by 5 degrees from the front direction of the main body).
  • the first guidance signal receivable area 53 is formed in the irradiation direction of the first transmission section 11
  • the second guidance signal receivable area 54 is formed in the irradiation direction of the second transmission section 12.
  • the irradiation point of the first transmitting unit 11 is a part facing the receiving point of the first receiving unit 3 of the self-propelled electronic device 60 or this part in a state where the self-propelled electronic device 60 is docked at the docking station 10. Can be placed in the vicinity of.
  • the irradiation point of the second transmitting unit 12 is a portion facing the receiving point of the second receiving unit 4 of the self-propelled electronic device 60 when the self-propelled electronic device 60 is docked at the docking station 10, or It can be placed at a location close to this portion. This allows the self-propelled electronic device 60 and the docking station 10 to be accurately aligned and docked. For example, the distance D between the first receiver 3 and the second receiver 4 shown in FIG.
  • the distance d between the first transmitter 11 and the second transmitter 12 shown in FIG. 4 are substantially the same.
  • the height of the first transmitter 11 from the floor surface when the self-propelled electronic device 60 and the docking station 10 placed on the same floor surface are docked. Is substantially the same as the height of the first receiver 3 from the floor, and the height of the second transmitter 12 from the floor is substantially the same as the height of the second receiver 4 from the floor.
  • the 1st transmission part 11 and the 2nd transmission part 12 can be arrange
  • the first transmitter 11 can transmit the first guidance signal with 0/1 data
  • the second transmitter 12 can transmit the second guidance signal with 0/1 data.
  • the 1st transmission part 11 is provided so that a 1st identification signal can be transmitted as a 1st guidance signal
  • the 2nd transmission part 12 is provided so that a 2nd identification signal can be transmitted as a 2nd guidance signal. This allows the control unit 7 of the self-propelled electronic device 60 to distinguish between the first guidance signal and the second guidance signal.
  • the docking station 10 has a distance sensor 13.
  • the distance sensor 13 is, for example, an infrared distance sensor, an ultrasonic distance sensor, or a laser distance sensor.
  • the distance sensor 13 may be a reflection type distance sensor.
  • the distance sensor 13 is provided so that the distance between the docking station 10 and the self-propelled electronic device 60 can be measured in the docking step between the docking station 10 and the self-propelled electronic device 60.
  • the distance sensor 13 can be arranged, for example, between the first transmitter 11 and the second transmitter 12.
  • the first transmitting unit 11 can transmit a distance signal regarding the distance between the docking station 10 and the self-propelled electronic device 60, which is measured by the distance sensor 13, as a first guidance signal together with a first identification signal.
  • the second transmission unit 12 can transmit a distance signal regarding the distance between the docking station 10 and the self-propelled electronic device 60 measured by the distance sensor 13 as a second guidance signal together with a second identification signal.
  • the distance sensor 13 When the first and second guidance signals are infrared signals and the distance sensor 13 is an infrared distance sensor, the infrared rays emitted by the distance sensor 13 may interfere with the first or second guidance signal.
  • the distance sensor 13 can be arranged at a height different from that of the first transmitter 11 and the second transmitter 12. As a result, it is possible to prevent the infrared rays emitted by the distance sensor 13 from interfering with the first or second guidance signal.
  • the distance sensor 13 can be arranged at a mounting angle different from that of the first transmitter 11 and the second transmitter 12. As a result, it is possible to prevent the infrared rays emitted by the distance sensor 13 from interfering with the first or second guidance signal.
  • the first transmission unit 11 can be provided so as to transmit the first induction signal intermittently
  • the second transmission unit 12 can be provided so as to transmit the second induction signal intermittently
  • the distance sensor 13 is provided so as to measure the distance between the docking station 10 and the self-propelled electronic device 60 when the first and second guidance signals are not transmitted from the first transmission unit 11 and the second transmission unit 12. be able to. This makes it possible to prevent the infrared rays emitted by the distance sensor 13 from interfering with the first or second guidance signal.
  • the first transmitter 11, the second transmitter 12, and the distance sensor 13 can irradiate infrared rays at different timings as in the timing chart shown in FIG. 7.
  • FIG. 7 in FIG.
  • the irradiation of the 1st transmission part 11, the 2nd transmission part 12, and the distance sensor 13 do not overlap.
  • the irradiation of the first transmitting unit 11 is turned off and then the second transmitting unit 12 is turned on after the irradiation of the first transmitting unit 11 is turned off. To do so.
  • the self-propelled electronic device 60 can have the omnidirectional sensor 8.
  • the omnidirectional sensor 8 is provided so as to detect the first or second induction signal from 360 degrees around the self-propelled electronic device 60.
  • the omnidirectional sensor 8 is an omnidirectional infrared sensor.
  • the omnidirectional sensor 8 is controlled by the control unit 7.
  • the self-propelled electronic device 60 has a first receiving unit 3 and a second receiving unit 4.
  • the first and second induction signals are infrared induction signals
  • the first reception unit 3 and the second reception unit 4 each have an infrared sensor.
  • Each of these infrared sensors can have an infrared detection point (detection point).
  • This detection point can have a detection angle of approximately ⁇ 15 degrees (30 degrees) centered on the rear of the self-propelled electronic device 60.
  • the first receiving unit 3 can be arranged on the right rear side of the self-propelled electronic device 60
  • the second receiving unit 4 can be arranged on the left rear side of the self-propelled electronic device 60. This allows the self-propelled electronic device 60 to approach the docking station 10 and dock while retracting.
  • the first receiver 3 and the second receiver 4 can be arranged on the rear side surface of the housing 2.
  • the self-propelled electronic device 60 can have the third receiving unit 5 arranged between the first receiving unit 3 and the second receiving unit 4.
  • the third reception unit 5 has an infrared sensor.
  • Each of the infrared sensors can have an infrared detection point (detection point). This detection point can have a detection angle of approximately ⁇ 15 degrees (30 degrees).
  • FIGS. 8 to 10 are flowcharts of the method of docking the self-propelled electronic device 60 with the docking station 10
  • FIGS. 11 to 14 are schematic diagrams showing the movement of the self-propelled electronic device 60 in this docking method. is there. The docking method will be described with reference to these drawings.
  • the self-propelled electronic device 60 is moved so as to return to the docking station 10 after the work such as cleaning is finished or when the remaining amount of the battery 20 is reduced (the battery voltage becomes a predetermined voltage or less). start. Self-propelled electronic device 60 runs at random until omnidirectional sensor 8 receives the 1st or 2nd guidance signal like Steps S1 and S2. When the omnidirectional sensor 8 receives the first or second guidance signal, the self-propelled electronic device 60 moves forward by a half vehicle length as in step S3, and starts rotating on the spot as in step S4. For example, when the omnidirectional sensor 8 enters the second guidance signal receivable area 54 as shown in FIG. 11A and receives the second guidance signal, the self-propelled electronic device as shown in FIG.
  • the device 60 moves forward by a half vehicle length and starts rotating counterclockwise. Further, for example, when the omnidirectional sensor 8 enters the first guidance signal receivable area 53 as shown in FIG. 12A and receives the first guidance signal, the omnidirectional sensor 8 is self-propelled as shown in FIG. 12B.
  • the formula electronic device 60 moves forward by a half vehicle length and starts rotating clockwise.
  • the “vehicle length” is the length from the front end to the rear end of the self-propelled electronic device 60.
  • “Half length” is half this length.
  • the control unit 7 determines whether the first receiving unit 3 receives the first guidance signal during rotation, and whether the second receiving unit 4 receives the second guidance signal during rotation. It is determined whether or not the guidance signal is received, and as in steps S7, S9, and S10, the position where the first reception unit 3 receives the first guidance signal or the second reception unit 4 receives the second guidance signal.
  • the rotation is stopped. From this position, alignment of the self-propelled electronic device 60 and the docking station 10 is started.
  • control unit 7 determines whether the first receiving unit 3 receives the first guidance signal and whether the second receiving unit 4 receives the second guidance signal. Determine whether or not.
  • steps S11 and S12 when the controller 7 determines that the second receiver 4 receives the second guidance signal and the first receiver 3 receives the first guidance signal, the connector 3 shown in FIG. Go to.
  • the control unit 7 determines that the second receiving unit 4 receives the second guidance signal and the first receiving unit 3 does not receive the first guidance signal in steps S11 and S12, it is shown in FIG.
  • the self-propelled electronic device 60 bends to the right and slightly retracts to approach the docking station 10 (step S13).
  • the control unit 7 determines that the distance between the self-propelled electronic device 60 and the docking station 10 (hereinafter, this distance is also referred to as a relative distance) is greater than a threshold value based on the distance signal included in the first or second guidance signal. Also, it is determined whether or not (step S14). When the relative distance is smaller than the threshold value, the process proceeds to the connector 4 shown in FIG.
  • the threshold value of the relative distance is a distance serving as a boundary of whether or not the self-propelled electronic device 60 can be docked in the docking station 10 with high accuracy.
  • the threshold value may be, for example, about 30 cm or more and 100 cm or less.
  • step S16 the self-propelled electronic device 60 bends to the left and slightly retracts to approach the docking station 10 (step S16). Then, the control unit 7 determines whether or not the relative distance is smaller than the threshold value based on the distance signal included in the first or second guidance signal (step S17). When the relative distance is smaller than the threshold value, the process proceeds to the connector 4 shown in FIG. When the relative distance is larger than the threshold value, the process proceeds to the connector 2 and step S11 is performed again.
  • the control unit 7 determines whether the first receiving unit 3 receives the first induction signal and the second receiving process, as in steps S28, S29, and S32.
  • the unit 4 determines whether to receive the second induction signal.
  • the control unit 7 determines that the second reception unit 4 receives the second guidance signal and the first reception unit 3 receives the first guidance signal
  • the self-propelled electronic device 60 moves straight forward slightly and docks. Move away from the station 10 (step S30). Then, it is judged whether or not the relative distance is smaller than the threshold value (step S36), and if the relative distance is smaller than the threshold value, the process proceeds to the connector 4 and step S28 is performed again so that the relative distance is smaller than the threshold value. If it is larger, the process proceeds to the connector 2 and step S11 is performed again.
  • the control unit 7 determines that the second reception unit 4 receives the second guidance signal and the first reception unit 3 does not receive the first guidance signal in Steps S28 and S29, it is shown in FIG. As described above, the self-propelled electronic device 60 bends to the right, moves forward a little, and moves away from the docking station 10 (step S31). Then, the control unit 7 determines whether or not the relative distance is smaller than the threshold value based on the distance signal included in the first or second guidance signal (step S36), and when the relative distance is smaller than the threshold value. Goes to connector 4 and repeats step S28. If the relative distance is larger than the threshold value, it advances to connector 2 and repeats step S11.
  • step S36 determines whether or not the relative distance is smaller than the threshold value. If the relative distance is smaller than the threshold value, the control unit 7 proceeds to the connector 4 and performs step S28 again, If the distance is larger than the threshold value, the process proceeds to the connector 2 and step S11 is performed again.
  • the control unit 7 determines whether or not the relative distance is smaller than the threshold value (step S35), and when the relative distance is smaller than the threshold value, the control unit 7 proceeds to the connector 4 and performs step S28 again, If the distance is larger than the threshold value, the process proceeds to the connector 2 and step S11 is performed again.
  • the control unit 7 determines whether the third receiving unit 5 receives the first guidance signal and the third receiving unit, as in steps S18, S19, and S24. 5 determines whether to receive the second induction signal.
  • the controller 7 determines that the third receiver 5 receives neither the first nor the second guidance signal, the self-propelled electronic device 60 recedes a little straight (step S20) and approaches the docking station 10. ..
  • the control unit 7 determines whether or not the charging terminal 21 is connected to the power supply terminal 25, and if the charging terminal 21 is connected to the power supply terminal 25, docking ends. To do.
  • the electric power supply terminal 25 starts supplying electric power when the self-propelled electronic device 60 pushes the switch 52 as shown in FIG. Note that the power supply may be started immediately after pressing the switch 52, or the power supply may be started after detecting that the switch 52 is pressed for a predetermined time (for example, 30 seconds). When the switch 52 is no longer pressed, the power supply ends. When the control unit 7 determines in step S21 that the charging terminal 21 is not connected to the power supply terminal 25, the process proceeds to the connector 2 and step S11 is performed again.
  • step S23 determines whether or not the relative distance is smaller than the threshold value (step S23), and when the relative distance is smaller than the threshold value, the process proceeds to the connector 4 and step S28 is performed again, If the distance is larger than the threshold value, the process proceeds to the connector 2 and step S11 is performed again.
  • step S27 determines whether or not the relative distance is smaller than the threshold value.
  • step S28 determines whether or not the relative distance is smaller than the threshold value.
  • the control unit 7 determines whether or not the relative distance is smaller than the threshold value (step S27). When the relative distance is smaller than the threshold value, the process proceeds to the connector 4 and step S28 is performed again. When the relative distance is greater than the threshold value, the process proceeds to the connector 2 and step S11 is performed again.
  • FIG. 15 is a schematic perspective view of the self-propelled electronic device 60 of the present embodiment
  • FIGS. 16 and 17 are schematic diagrams showing the movement of the self-propelled electronic device 60 of the present embodiment.
  • the self-propelled electronic device 60 of the present embodiment does not include the omnidirectional sensor 8 and includes the fourth receiver 9 on the side surface of the housing 2.
  • Other configurations are similar to those of the self-propelled electronic device 60 of the first embodiment.
  • the configuration of the fourth receiver 9 is similar to that of the first, second or third light receiver.
  • the self-propelled electronic device 60 may include one fourth receiving unit 9 or a plurality of fourth receiving units 9.
  • the fourth receiver 9a is arranged on the right side surface of the housing 2
  • the fourth receiver 9b is arranged on the left side surface of the housing 2. Since the fourth receiver 9 is a sensor that replaces the omnidirectional sensor 8, it can be arranged separately from the first to third receivers. Further, when a plurality of fourth receiving units 9 are provided, each fourth receiving unit 9 can be arranged separately. Further, since the self-propelled electronic device 60 includes the plurality of fourth reception units 9, it becomes possible to receive the guidance signals from various directions.
  • the omnidirectional sensor needs to be placed on the top surface of the self-propelled electronic device 60 to receive the guidance signal. Further, the transmitter of the docking station 10 needs to be arranged at a height corresponding to the installation height of the omnidirectional sensor 8 so that the omnidirectional sensor can receive the guidance signal. Therefore, when the vehicle height of the self-propelled electronic device 60 is high, for example, in order to increase the dust collecting capacity or to mount a cyclone type dust collecting mechanism, it is necessary to increase the height of the docking station 10. Therefore, the size of the docking station 10 becomes large. If the omnidirectional sensor of the self-propelled electronic device 60 can be omitted, the height of the docking station 10 can be reduced and the docking station 10 can be downsized.
  • the method of docking the self-propelled electronic device 60 of the present embodiment to the docking station 10 is almost the same as the method described in the flowcharts of FIGS. 8 to 10 and the first embodiment, but the self-propelled electronic device of the present embodiment is used. Since the electronic device 60 does not include an omnidirectional sensor, steps S2 and S3 are different. Here, the operation corresponding to steps S1 to S4 will be described.
  • the self-propelled electronic device 60 runs at random until at least one of the first receiving unit 3, the second receiving unit 4, the third receiving unit 5, and the fourth receiving unit 9 receives the first or second guidance signal. (Corresponding to step S1).
  • the first, second, third or fourth receiver receives the first or second guidance signal (corresponding to step S2)
  • rotation is started on the spot (corresponding to step S4).
  • the forward movement of the half vehicle length as in step S3 is not performed.
  • the fourth receiving unit 9a when the fourth receiving unit 9a enters the second guidance signal receivable area 54 as shown in FIG. 16(a) and receives the second guidance signal, it is self-propelled as shown in FIG. 16(b).
  • the electronic device 60 starts rotating counterclockwise on the spot.
  • the fourth receiver 9b enters the first guidance signal receivable area 53 as shown in FIG. 17(a) and receives the first guidance signal, as shown in FIG.
  • the mobile electronic device 60 starts rotating clockwise on the spot.
  • the steps after step S5 are the same as the method described in the flowcharts of FIGS. 8 to 10 and the first embodiment. Other configurations are similar to those of the first embodiment.
  • the description of the first embodiment also applies to the second embodiment as long as there is no contradiction.
  • FIG. 18 is a timing chart of the first transmitter 11, the second transmitter 12, and the distance sensor 13 included in the docking station 10 of this embodiment.
  • the first transmitter 11, the second transmitter 12, and the distance sensor 13 irradiate infrared rays at different timings as in the timing chart shown in FIG. 7, but in the present embodiment, The first transmitter 11 and the second transmitter 12 irradiate infrared rays at the same timing, and the first and second transmitters and the distance sensor 13 irradiate infrared rays at different timings.
  • the signal transmission interval of the first transmission unit 11 and the second transmission unit 12 can be shortened, and the determination speed of the control unit 7 of the self-propelled electronic device 60 can be improved.
  • the first transmission unit 11 and the second transmission unit 12 transmit the first and second guidance signals so that the first guidance signal receivable area 53 and the second guidance signal receivable area 54 do not overlap. It is provided to do. As a result, it is possible to suppress the interference between the first guidance signal and the second guidance signal.
  • Other configurations are similar to those of the first or second embodiment.
  • the description of the first or second embodiment is also applicable to the third embodiment unless there is a contradiction.

Abstract

L'invention concerne un appareil électronique mobile pourvu d'une première unité de réception, d'une seconde unité de réception, d'un boîtier, de roues d'entraînement et d'une unité de commande, l'unité de commande commandant les roues d'entraînement de telle sorte que la première unité de réception s'approche d'une première unité d'émission, pendant que la première unité de réception détecte un premier signal d'induction et commandant les roues d'entraînement de telle sorte que la seconde unité de réception s'approche d'une seconde unité d'émission, pendant que la seconde unité de réception détecte un second signal d'induction. Le premier et/ou le second signal d'induction comprennent un signal de distance relatif à la distance entre une station d'accueil et un boîtier. L'unité de commande est conçue pour déterminer, sur la base du signal de distance, si la distance entre la station d'accueil et le boîtier est inférieure à un seuil et commande les roues d'entraînement de telle sorte que le boîtier soit éloigné de la station d'accueil, lorsque la distance est déterminée comme étant inférieure au seuil.
PCT/JP2020/002387 2019-01-25 2020-01-23 Appareil électronique mobile, station d'accueil et procédé d'accueil WO2020153442A1 (fr)

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JP2019-011266 2019-01-25

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007520012A (ja) * 2004-01-21 2007-07-19 アイロボット コーポレーション 自律ロボットのドッキング方法
JP2015022754A (ja) * 2013-07-18 2015-02-02 聯潤科技股▲ふん▼有限公司 自走式移動設備の引き返し充電誘導方法
JP2015221148A (ja) * 2014-05-23 2015-12-10 シャープ株式会社 自走式電子機器
JP2016045598A (ja) * 2014-08-20 2016-04-04 株式会社東芝 自律走行体装置
JP2016057945A (ja) * 2014-09-11 2016-04-21 シャープ株式会社 自走式電子機器およびその帰還方法
JP2016091336A (ja) * 2014-11-06 2016-05-23 日立アプライアンス株式会社 自律走行型掃除機システム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007520012A (ja) * 2004-01-21 2007-07-19 アイロボット コーポレーション 自律ロボットのドッキング方法
JP2015022754A (ja) * 2013-07-18 2015-02-02 聯潤科技股▲ふん▼有限公司 自走式移動設備の引き返し充電誘導方法
JP2015221148A (ja) * 2014-05-23 2015-12-10 シャープ株式会社 自走式電子機器
JP2016045598A (ja) * 2014-08-20 2016-04-04 株式会社東芝 自律走行体装置
JP2016057945A (ja) * 2014-09-11 2016-04-21 シャープ株式会社 自走式電子機器およびその帰還方法
JP2016091336A (ja) * 2014-11-06 2016-05-23 日立アプライアンス株式会社 自律走行型掃除機システム

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