CN101108482A - Route guiding method for self-propelled device - Google Patents

Abstract

The invention relates to a path guiding method of a self-propelled device, guiding the self-propelled device to a position appointed by a calling device to execute relevant work, wherein the self-propelled device is provided with a radio wave receiving unit with a pointing function, the calling device is provided with a radio wave emitting element, and the path guiding method of the self-propelled device comprises the following steps: a. the radio wave transmitting element emitting a radio wave path guide signal; b. receiving the radio wave path guidance signal through the radio wave receiving unit; and c, making the self-propelled device judge the advancing direction according to the intensity of the radio wave path guiding signal and advance towards the direction. The invention judges the direction of the calling device according to the strength and the direction of the received radio wave path guide signal, and advances towards the direction, and judges the distance with the calling device according to the strength of the received radio wave path guide signal.

Description

Translated fromChinese

自走式装置的路径导引方法Path guidance method for self-propelled device

技术领域technical field

本发明涉及一种自走式装置的路径导引方法，尤其是一种利用接收呼叫装置所发出的无线电波路径导引信号，将自走式装置导引至该呼叫装置的一种自走式装置的路径导引方法。The invention relates to a path guiding method for a self-propelled device, in particular to a self-propelled device that guides the self-propelled device to the calling device by receiving a radio wave path guiding signal sent by the calling device. The path guidance method of the device.

背景技术Background technique

随着科技的进步与发展，现代的机器人种类繁多且功能也日益强大，其中，举凡居家环境清洁、工厂重物搬运甚至是外层空间勘探等工作，移动式机器人皆扮演了相当重要的角色。With the advancement and development of science and technology, there are various types of modern robots and their functions are becoming more and more powerful. Among them, mobile robots play a very important role in cleaning the home environment, handling heavy objects in factories and even exploring outer space.

以移动式机器人及其相对应的充电站为例，移动式机器为了能够持续作业，因此必须在电量耗尽以前回到充电台进行充电作业。请参阅图1所示，其为现有第一种机器人充电系统的电路方块图。现有机器人充电系统1包括一移动式机器人11以及一充电台12。其中充电台12具有一充电控制模块121以及一红外线发射模块122，该红外线发射模块122可发射多个红外线光束，以确保移动式机器人11能够确认前往充电台12的路径；该充电控制模块121可控制充电台12的输出电力规格或其它电气特性。而该移动式机器人11的路径导引方法在于：当电池容量检测模块111发现电池模块112的电量过低时，会将信息传至控制模块，此时，当移动式机器人11进入红外线光束的区域时，其红外线接收模块114会在一特定方向接收到红外线光束，并利用控制模块113作定位校正，进而利用驱动模块115驶向充电台以进行充电作业。然而，当充电台12与移动式机器人11之间有障碍物存在时，红外线光束会遭受阻隔，因此会使得移动式机器人11搜索充电台12的工作变得相当复杂，而增加了设计上的困难。Take a mobile robot and its corresponding charging station as an example. In order to continue to work, the mobile machine must return to the charging station for charging before the power is exhausted. Please refer to FIG. 1 , which is a circuit block diagram of the first existing robot charging system. The existing robot charging system 1 includes amobile robot 11 and acharging platform 12 . Wherein thecharging station 12 has acharging control module 121 and aninfrared emitting module 122, theinfrared emitting module 122 can emit a plurality of infrared light beams, to ensure that themobile robot 11 can confirm the path to thecharging station 12; thecharging control module 121 can Control the output power specification or other electrical characteristics of thecharging station 12 . The path guidance method of themobile robot 11 is: when the batterycapacity detection module 111 finds that the power of thebattery module 112 is too low, it will transmit the information to the control module. At this time, when themobile robot 11 enters the area of the infrared beam At this time, theinfrared receiving module 114 will receive the infrared beam in a specific direction, and use thecontrol module 113 to perform positioning correction, and then use thedriving module 115 to drive to the charging station for charging operation. However, when there is an obstacle between thecharging platform 12 and themobile robot 11, the infrared light beam will be blocked, so that the work of themobile robot 11 searching for thecharging platform 12 becomes quite complicated, which increases the difficulty in design. .

另一种现有移动式机器人的路径导引方法，是以安装在移动式机器人车轮上的编码器来计算及检测移动式机器人的位置，然而，此方法常因车轮滑动或空转等因素，使得路径计算错误而导致误动作。Another existing path guidance method for mobile robots uses encoders installed on the wheels of the mobile robot to calculate and detect the position of the mobile robot. Misoperation due to path calculation error.

又一种移动式机器人的路径导引方法是将具有相同形状的反射板以一定的间隔设置于墙壁表面，且移动式机器人通过CCD照相机来确认反射板位置，使其能判断与充电台之间的距离。然而，当区域的照明亮度被改变或有类似反射板形状的物体被识别时，也有可能因误判而累积距离误差；此外，当区域照明亮度过高或太低时，CCD照相机也会无法辨识反射板，使得移动式机器人无法作位置检测；再者，由于移动式机器人必须装设CCD照相机，故而增加了移动式机器人的制造成本。Another path guidance method for a mobile robot is to place reflectors with the same shape on the wall surface at a certain interval, and the mobile robot uses a CCD camera to confirm the position of the reflector so that it can judge the distance between the charging station and the charging station. distance. However, when the illumination brightness of the area is changed or an object with a shape similar to a reflector is recognized, it is also possible to accumulate distance errors due to misjudgment; in addition, when the illumination brightness of the area is too high or too low, the CCD camera will not be able to identify The reflector makes the mobile robot unable to perform position detection; moreover, since the mobile robot must be equipped with a CCD camera, the manufacturing cost of the mobile robot is increased.

发明内容Contents of the invention

本发明所要解决的技术问题在于提供一种自走式装置的路径导引方法，其通过自走式装置上具有指向功能的无线电波接收单元来接收呼叫装置所发射的无线电波路径导引信号，并依据所接收到无线电波路径导引信号的强弱与方向，来判断呼叫装置的方向，并朝该方向前进。The technical problem to be solved by the present invention is to provide a path guidance method for a self-propelled device, which receives the radio wave path guidance signal emitted by the calling device through a radio wave receiving unit with a pointing function on the self-propelled device, And according to the strength and direction of the received radio wave path guidance signal, the direction of the calling device is judged, and the direction is moved forward.

本发明所要解决的另一技术问题在于提供一种自走式装置的路径导引方法，其根据自走式装置所接受到无线电波路径导引信号的强弱，来判断自走式装置与呼叫装置的距离，当距离在一定范围时，则采取自走式装置预设的特定动作，如减速动作、转向或待命等。Another technical problem to be solved by the present invention is to provide a path guidance method for a self-propelled device, which judges whether the self-propelled device and the caller are connected according to the strength of the radio wave path guidance signal received by the self-propelled device. When the distance of the device is within a certain range, specific actions preset by the self-propelled device will be taken, such as deceleration, turning or standby.

为了实现上述目的，本发明提供了、一种自走式装置的路径引导方法，其特点在于，将一自走式装置导引至一呼叫装置所指定的位置以执行相关作业，该自走式装置设有一具有指向功能的无线电波接收单元，该呼叫装置设有一无线电波发射元件，而该自走式装置的路径引导方法包括下列步骤：In order to achieve the above object, the present invention provides a path guidance method for a self-propelled device, which is characterized in that a self-propelled device is guided to a location specified by a calling device to perform related operations, The device is provided with a radio wave receiving unit with pointing function, the calling device is provided with a radio wave transmitting element, and the path guidance method of the self-propelled device includes the following steps:

a.该无线电波发射元件发出一无线电波路径导引信号；a. The radio wave emitting element sends out a radio wave path guiding signal;

b.通过该无线电波接收单元接收该无线电波路径导引信号；以及b. receiving the radio wave path guidance signal through the radio wave receiving unit; and

c.依据该无线电波路径导引信号的强度，而令该自走式装置判断前进方向，并朝该方向前进。c. According to the intensity of the radio wave path guidance signal, make the self-propelled device judge the direction of advancement and move towards the direction.

上述自走式装置的路径引导方法，其特点在于，该步骤b还包括下列步骤：该自走式装置做原地旋转。The path guiding method for the above-mentioned self-propelled device is characterized in that step b further includes the following step: the self-propelled device rotates in situ.

上述自走式装置的路径引导方法，其特点在于，该步骤c依据该无线电波路径导引信号的最大强度值，判断前进方向。The path guidance method for the above-mentioned self-propelled device is characterized in that step c judges the forward direction according to the maximum intensity value of the radio wave path guidance signal.

上述自走式装置的路径引导方法，其特点在于，该步骤c依据该无线电波路径导引信号的最小强度值，判断前进方向。The path guidance method for the above-mentioned self-propelled device is characterized in that step c judges the forward direction according to the minimum intensity value of the radio wave path guidance signal.

上述自走式装置的路径引导方法，其特点在于，该步骤c依据该无线电波路径导引信号的最大与最小强度值，判断前进方向。The path guidance method for the above-mentioned self-propelled device is characterized in that step c determines the direction of travel based on the maximum and minimum intensity values of the radio wave path guidance signal.

上述自走式装置的路径引导方法，其特点在于，步骤c后还执行下列步骤：判断该自走式装置是否碰触障碍物，若是，则进行一位移动作。The path guidance method for the above-mentioned self-propelled device is characterized in that, after step c, the following steps are performed: judging whether the self-propelled device has touched an obstacle, and if so, performing a one-bit shift operation.

上述自走式装置的路径引导方法，其特点在于，步骤c后还执行下列步骤：判断该无线电波路径导引信号的强度是否高于一第一默认值的步骤，若是，则进行一预设动作。The path guiding method of the above-mentioned self-propelled device is characterized in that, after step c, the following steps are also performed: the step of judging whether the strength of the radio wave path guiding signal is higher than a first default value, and if so, performing a preset action.

上述自走式装置的路径引导方法，其特点在于，该第一默认值是该呼叫装置的近距离处的该无线电波路径导引信号的强度。The path guidance method for the self-propelled device above is characterized in that the first default value is the strength of the radio wave path guidance signal at a short distance from the calling device.

上述自走式装置的路径引导方法，其特点在于，该预设动作是使该自走式装置减速。The path guidance method for the above-mentioned self-propelled device is characterized in that the preset action is to decelerate the self-propelled device.

上述自走式装置的路径引导方法，其特点在于，该预设动作是使该自走式装置转向。The path guidance method for the above-mentioned self-propelled device is characterized in that the preset action is to make the self-propelled device turn.

上述自走式装置的路径引导方法，其特点在于，该预设动作是使该自走式装置呈待命状态。The path guidance method for the above-mentioned self-propelled device is characterized in that the preset action is to put the self-propelled device in a standby state.

上述自走式装置的路径引导方法，其特点在于，该步骤c之后，还包括下列步骤：判断该自走式装置是否抵达该呼叫装置所指定位置。The path guidance method for the above-mentioned self-propelled device is characterized in that after step c, the following step is further included: judging whether the self-propelled device has arrived at the location specified by the calling device.

上述自走式装置的路径引导方法，其特点在于，当该自走式装置未抵达该呼叫装置所指定的位置时，则该自走式装置远离该呼叫装置，使其所接受到的该无线电波路径导引信号的强度小于一第二默认值。The path guidance method for the above-mentioned self-propelled device is characterized in that, when the self-propelled device does not arrive at the location designated by the calling device, the self-propelled device is kept away from the calling device, so that the radio received by the self-propelled device The strength of the wave path guiding signal is less than a second default value.

上述自走式装置的路径引导方法，其特点在于，该第二默认值是该呼叫装置的近距离处的该无线电波路径导引信号的强度。The path guiding method for the self-propelled device above is characterized in that the second default value is the strength of the radio wave path guiding signal at a short distance from the calling device.

上述自走式装置的路径引导方法，其特点在于，该呼叫装置是一充电站，该自走式装置还包括一电量检测单元。The path guidance method for the above-mentioned self-propelled device is characterized in that the calling device is a charging station, and the self-propelled device also includes a power detection unit.

上述自走式装置的路径引导方法，其特点在于，还包括：于步骤a前，该电量检测单元测得该自走式装置上的供电单元电力不足后，先通过该自走式装置的无线电波发射单元发出一无线电波充电请求信号并由该充电站的无线电波接收元件接收后，开始进行步骤a及后续动作。The path guidance method for the above-mentioned self-propelled device is characterized in that it also includes: before step a, after the power detection unit detects that the power of the power supply unit on the self-propelled device is insufficient, first pass the radio of the self-propelled device After the wave transmitting unit sends out a radio wave charging request signal and is received by the radio wave receiving element of the charging station, step a and subsequent actions begin.

上述自走式装置的路径引导方法，其特点在于，该无线电波接收单元是一指向性天线。The path guidance method for the above-mentioned self-propelled device is characterized in that the radio wave receiving unit is a directional antenna.

上述自走式装置的路径引导方法，其特点在于，该指向性天线是一八木天线、一号角天线以及一平板天线其中之一。The path guidance method for the above-mentioned self-propelled device is characterized in that the directional antenna is one of a Yagi antenna, a horn antenna and a panel antenna.

上述自走式装置的路径引导方法，其特点在于，该无线电波接收单元是一外部有金属屏蔽层的全向性天线，该金属屏蔽层可使该全向性天线只能于一特定方向获得该无线电波信号的最大强度。The path guiding method of the above-mentioned self-propelled device is characterized in that the radio wave receiving unit is an omnidirectional antenna with a metal shielding layer outside, and the metal shielding layer can make the omnidirectional antenna only obtain The maximum strength of the radio wave signal.

上述自走式装置的路径引导方法，其特点在于，该无线电波发射单元是一全向性天线。The path guiding method for the above-mentioned self-propelled device is characterized in that the radio wave transmitting unit is an omnidirectional antenna.

上述自走式装置的路径引导方法，其特点在于，该无线电波发射元件是一全向性天线。The path guiding method for the above-mentioned self-propelled device is characterized in that the radio wave radiating element is an omnidirectional antenna.

上述自走式装置的路径引导方法，其特点在于，该无线电波接收元件是一全向性天线。The path guiding method for the above-mentioned self-propelled device is characterized in that the radio wave receiving element is an omnidirectional antenna.

本发明的功效，在于：Effect of the present invention is:

a、通过自走式装置上具有指向功能的无线电波接收单元来接收呼叫装置所发射的无线电波路径导引信号，并依据所接收到无线电波路径导引信号的强弱与方向，来判断呼叫装置的方向，并朝该方向前进。a. Receive the radio wave path guidance signal emitted by the calling device through the radio wave receiving unit with pointing function on the self-propelled device, and judge the call according to the strength and direction of the received radio wave path guidance signal direction of the device and move in that direction.

b、根据自走式装置所接受到无线电波路径导引信号的强弱，来判断自走式装置与呼叫装置的距离，当距离在一定范围时，则采取自走式装置预设的特定动作，如减速动作、转向或待命等。b. According to the strength of the radio wave path guidance signal received by the self-propelled device, judge the distance between the self-propelled device and the calling device. When the distance is within a certain range, take a specific action preset by the self-propelled device , such as deceleration, turning or standby.

以下结合附图和具体实施例对本发明进行详细描述，但不作为对本发明的限定。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

附图说明Description of drawings

图1为现有机器人充电系统的电路方块图；Fig. 1 is the circuit block diagram of existing robot charging system;

图2为本发明自走式装置与充电站的电路方块图；Fig. 2 is the circuit block diagram of self-propelled device and charging station of the present invention;

图3为本发明自走式装置较佳实施例的仰视剖面图；Fig. 3 is the bottom sectional view of preferred embodiment of self-propelled device of the present invention;

图4为本发明自走式装置较佳实施例的外观示意图；Fig. 4 is the appearance schematic diagram of the preferred embodiment of self-propelled device of the present invention;

图5为本发明充电站较佳实施例的透视图；5 is a perspective view of a preferred embodiment of the charging station of the present invention;

图6为本发明自走式装置的路径引导方法的流程示意图；Fig. 6 is a schematic flow chart of the path guidance method of the self-propelled device of the present invention;

图7为本发明自走式装置朝充电站前进的动作示意图。Fig. 7 is a schematic diagram of the movement of the self-propelled device of the present invention moving toward the charging station.

1-现有机器人充电系统            11-移动式机器人1-Existing robot charging system 11-Mobile robot

111-电池容量检测模块             112-电池模块111-Battery capacity detection module 112-Battery module

113-控制模块                     114-红外线接收模块113-Control module 114-Infrared receiving module

115-驱动模块                     12-充电台115-Drive module 12-Charging stand

121-充电控制模块                 122-红外线发射模块121-Charging control module 122-Infrared transmitter module

2-自走式装置                     21-电量检测单元2-Self-propelled device 21-Power detection unit

22-供电单元                      23-第一控制单元22-Power supply unit 23-First control unit

24-第一无线电波发射单元          25-第一无线电波接收单元24-The first radio wave transmitting unit 25-The first radio wave receiving unit

26-驱动单元                      27-第一充电接口26-Drive unit 27-First charging interface

3-充电站                         31-第二控制单元3-Charging station 31-Second control unit

32-第二无线电波发射单元          33-第二无线电波接收单元32-The second radio wave transmitting unit 33-The second radio wave receiving unit

34-第二充电接口                  4-自走式吸尘器34-Second charging interface 4-Self-propelled vacuum cleaner

41-壳体                          42-第一控制器41-Shell 42-First controller

43-电池                          44-低压检测单元43-Battery 44-Low voltage detection unit

45-第一无线电波发射器            46-指向性天线45-The first radio wave transmitter 46-Directional antenna

47-第一充电接口                  48-滚轮47-The first charging interface 48-Roller

5-充电站                         51-本体5-charging station 51-body

52-第二控制器                    53-第二无线电波发射器52-Second Controller 53-Second Radio Wave Transmitter

54-全向性天线                    55-第二充电接口54-Omni-directional antenna 55-Second charging interface

6-自走式装置的路径引导方法       601～618-流程6-Path guidance method for self-propelled devices 601～618-process

7-障碍物7- Obstacles

具体实施方式Detailed ways

请参阅图2所示，其为本发明自走式装置与呼叫装置的电路方块图。自走式装置2包括一电量检测单元21、一供电单元22、一第一控制单元23、一第一无线电波发射单元24、一第一无线电波接收单元25、一驱动单元26及一第一充电接口27；呼叫装置3包括一第二控制单元31、一第二无线电波发射单元32、一第二无线电波接收单元33及一第二充电接口34。其中，电量检测单元21可检测供电单元22的电量，并将检测结果传送给第一回控制单元23，当电量过低时，第一控制单元23会通过第一无线发射单元24发出第一无线电波信号(S1)，当第二无线电波接收单元33收到第一无线电波信号(S1)后，会将信号传回第二控制单元31，再通过第二控制单元31的作用，使第二无线电波发射单元32发出一第二无线电波信号(S2)，当第一无线接收单元25接收到第二无线电波信号(S2)后，可通过第一控制单元23的作用使驱动单元26朝呼叫装置方向前进，当第一充电接口27的连接端口P1与第二充电接口34的连接端口P2接触后，可通过第一控制单元23与第二控制单元31的作用，使呼叫装置3对自走式装置2进行充电。Please refer to FIG. 2 , which is a circuit block diagram of the self-propelled device and the calling device of the present invention. The self-propelleddevice 2 includes apower detection unit 21, apower supply unit 22, afirst control unit 23, a first radiowave transmitting unit 24, a first radiowave receiving unit 25, a drivingunit 26 and a first The charginginterface 27 ; thecalling device 3 includes asecond control unit 31 , a second radiowave transmitting unit 32 , a second radiowave receiving unit 33 and asecond charging interface 34 . Among them, thepower detection unit 21 can detect the power of thepower supply unit 22, and transmit the detection result to thefirst control unit 23. When the power is too low, thefirst control unit 23 will send a first radio through the firstwireless transmission unit 24. wave signal (S1), when the second radiowave receiving unit 33 receives the first radio wave signal (S1), it will send the signal back to thesecond control unit 31, and then through the function of thesecond control unit 31, the second The radiowave transmitting unit 32 sends a second radio wave signal (S2), and after the firstwireless receiving unit 25 receives the second radio wave signal (S2), thedrive unit 26 can be made to call by the effect of thefirst control unit 23. When the device moves forward, when the connection port P1 of thefirst charging interface 27 is in contact with the connection port P2 of thesecond charging interface 34, the callingdevice 3 can be self-propelled by the action of thefirst control unit 23 and thesecond control unit 31. Theformula device 2 is charged.

请参阅图3以及图4所示，其中图3为本发明自走式装置较佳实施例的仰视剖面图、图4为本发明自走式装置较佳实施例的外观示意图。在本实施例中，自走式装置以一自走式吸尘器4进行说明，实际应用时并不在此限，举凡任何具有自走功能的电子装置都可应用本发明。如图所示，自走式吸尘器4具有一非金属材料的壳体41，壳体内设有一第一控制器42、一电池43以及受第一控制器42所控制的一低压检测单元44、一指向性天线46。由指向性天线46在一特定方向接收到强度最强的无线电波信号。此外，壳体41上设有一个受第一控制器42所控制的第一充电接口47，并且，壳体41下方另外设有两组由第一控制器42所控制的滚轮48。Please refer to FIG. 3 and FIG. 4 , wherein FIG. 3 is a bottom sectional view of a preferred embodiment of the self-propelled device of the present invention, and FIG. 4 is a schematic appearance diagram of a preferred embodiment of the self-propelled device of the present invention. In this embodiment, the self-propelled device is described as a self-propelledvacuum cleaner 4 , which is not limited in actual application, and any electronic device with self-propelled function can be applied to the present invention. As shown in the figure, the self-propelledvacuum cleaner 4 has ahousing 41 made of non-metallic material, and the housing is provided with afirst controller 42, abattery 43, a low-voltage detection unit 44 controlled by thefirst controller 42, aDirectional antenna 46. The strongest radio wave signal is received by thedirectional antenna 46 in a specific direction. In addition, afirst charging interface 47 controlled by thefirst controller 42 is provided on thehousing 41 , and two sets ofrollers 48 controlled by thefirst controller 42 are provided under thehousing 41 .

请参阅图5所示，其为本发明呼叫装置较佳实施例的透视图。在本实施例中，呼叫装置是一充电站5，其具有一本体51，本体上设有一第二控制器52以及受第二控制器52控制的一第二无线电波发射器53以及一全向性天线54。同理，第二无线电波发射器53所发射的无线电波信号(见本图得实线同心圆)也同样具有穿透性，可穿透除金属以外的材料。此外，本体51外围设有一个受第二控制器52所控制的第二充电接口55。由于自走式吸尘器4与充电站5的电路作动方式与图2所述相当，故不再赘述。Please refer to FIG. 5 , which is a perspective view of a preferred embodiment of the calling device of the present invention. In this embodiment, the calling device is a chargingstation 5, which has abody 51, asecond controller 52, a secondradio wave transmitter 53 controlled by thesecond controller 52 and anomnidirectional Antenna 54. Similarly, the radio wave signal (see the solid line concentric circles in this figure) emitted by the secondradio wave transmitter 53 is also penetrating, and can penetrate materials other than metal. In addition, asecond charging interface 55 controlled by thesecond controller 52 is disposed on the periphery of themain body 51 . Since the circuit operation modes of the self-propelledvacuum cleaner 4 and the chargingstation 5 are similar to those described in FIG. 2 , no further description is given.

为了解决现有技术的缺点，本发明提供一种自走式装置的路径引导方法6，其通过呼叫装置发出的无线电波路径导引信号来引导自走式装置，使其能以直线行进的方式朝充电站方向移动，由于无线电波为无指向性信号，且兼具高穿透性与绕射性，因此在特定范围内的自走式装置可利用其上具有指向性的无线电波接收单元来判断充电站的方向。该自走式装置的路径引导方法6的流程示意图如图6所示。In order to solve the shortcomings of the prior art, the present invention provides a path guidance method 6 for a self-propelled device, which guides the self-propelled device through the radio wave path guidance signal sent by the calling device, so that it can travel in a straight line Moving towards the charging station, since the radio wave is a non-directional signal with high penetration and diffraction, the self-propelled device within a certain range can use the directional radio wave receiving unit on it to detect Determine the direction of the charging station. A schematic flowchart of the path guidance method 6 of the self-propelled device is shown in FIG. 6 .

请参阅图3至图6所示，首先，如步骤601所示，当自走式吸尘器4于正常运作状况下会利用低压检测单元44检查电池43的电量，且如步骤602所示，当电池43达低电位时，会进行步骤603，通过第一控制器42的作用，使自走式吸尘器4原地旋转，并从第一无线电波发射器45发出一充电请求信号，当充电站上5的全向性天线54接收到充电请求信号后，会进行步骤604，通过第二控制器的作用，从第二无线电波发射器53持续发出一特定频率的路径导引信号。Please refer to FIGS. 3 to 6. First, as shown in step 601, when the self-propelledvacuum cleaner 4 is in normal operation, it will use the low-voltage detection unit 44 to check thebattery 43. As shown in step 602, when the battery When 43 reaches a low potential, step 603 will be carried out. Through the action of thefirst controller 42, the self-propelledvacuum cleaner 4 will rotate in situ, and a charging request signal will be sent from the firstradio wave transmitter 45. When the charging station is on the 5 After theomnidirectional antenna 54 receives the charging request signal, it will go to step 604, and through the action of the second controller, the secondradio wave transmitter 53 will continuously send out a path guiding signal of a specific frequency.

接着，继续进行步骤605，判断自走式吸尘器4的指向性天线46是否于预设时间内接受到该路径导引信号，若是，则进行步骤606，使自走式吸尘器4依据路径导引信号的强度，判断前进方向，并通过第一控制器42的作用，使滚轮带动自走式吸尘器4朝充电站5方向直线前进；然而，当指向性天线46未接收到路径导引信号时，则表示自走式吸尘器4可能不在路径导引信号的涵盖范围内，因此进行步骤607，使自走式吸尘器作任意方向的位移，并重新回到步骤603。其中，路径导引信号的信号强度与第二无线电波发射器53的距离平方成反比，而指向性天线46可于特定角度下测得路径导引信号的最大的强度，使自走式吸尘器4得以判断其与充电站5的相对方位。Then, proceed to step 605 to judge whether thedirectional antenna 46 of the self-propelledvacuum cleaner 4 has received the path guidance signal within a preset time, if so, proceed to step 606 to make the self-propelledvacuum cleaner 4 follow the path guidance signal strength, judge the direction of advancement, and through the action of thefirst controller 42, the rollers drive the self-propelledvacuum cleaner 4 to advance straight toward the direction of the chargingstation 5; however, when thedirectional antenna 46 does not receive the path guidance signal, then It means that the self-propelledvacuum cleaner 4 may not be covered by the path guidance signal, so proceed to step 607 to make the self-propelled vacuum cleaner move in any direction, and return to step 603 . Wherein, the signal strength of the path guidance signal is inversely proportional to the square of the distance from the secondradio wave transmitter 53, and thedirectional antenna 46 can measure the maximum strength of the path guidance signal at a specific angle, so that the self-propelledvacuum cleaner 4 The relative orientation to the chargingstation 5 can be judged.

再进行步骤608，检测自走式吸尘器4是否碰触障碍物。由于指向性天线46仅在其中一个方向获得最大强度的路径导引信号，因此第一控制器42会选择该方向作为前进路线。然而，由于路径导引信号为穿透性高的无线电波，因此自走式吸尘器4有可能在行进途中遇到障碍物阻挡而停滞不前，所以必须辅以障碍物回避的判断步骤，方能使自走式吸尘器4得以正确到达目的地。因此，若是自走式吸尘器4与障碍物碰触，则必须进行步骤609，使自走式吸尘器4转向位移一距离以避开；然而，若是自走式吸尘器4未与障碍物碰触，则进行步骤610。Then go to step 608, detecting whether the self-propelledvacuum cleaner 4 touches an obstacle. Since thedirectional antenna 46 only obtains the path guiding signal with the greatest strength in one direction, thefirst controller 42 will select this direction as the forward route. However, since the path guidance signal is a radio wave with high penetrability, the self-propelledvacuum cleaner 4 may be blocked by an obstacle on the way to travel and stagnate. Make the self-propelledvacuum cleaner 4 arrive at the destination correctly. Therefore, if the self-propelledvacuum cleaner 4 is in contact with an obstacle, step 609 must be performed to make the self-propelledvacuum cleaner 4 turn and shift a distance to avoid it; however, if the self-propelledvacuum cleaner 4 does not touch the obstacle, then Go to step 610 .

步骤610主要是判断路径导引信号的强度是否高于一第一默认值，其中该第一默认值是充电站近距离处的路径导引信号强度值。因此，若信号值低于第一默认值，则表示自走式吸尘器4距离充电站5仍有一定距离，因此进行步骤611，使其继续等速前进，并通过步骤612进行方位校正，然后再回到步骤606。其中，在步骤612中，由于自走式吸尘器4前进的同时，指向性天线46会持续接收该路径导引信号，因此可通过第一控制器42的作用，使自走式吸尘器4能依据路径导引信号强度的强弱而作方位修正。然而，若信号值高于第一默认值，则表示自走式吸尘器4距离充电站5已经不远，因此可通过步骤613使自走式装置减速前进，以避免自走式吸尘器4撞上充电站5而造成自身或充电站5的损坏。Step 610 is mainly to determine whether the strength of the route guidance signal is higher than a first default value, wherein the first default value is the strength value of the route guidance signal near the charging station. Therefore, if the signal value is lower than the first default value, it means that the self-propelledvacuum cleaner 4 still has a certain distance from the chargingstation 5, so step 611 is performed to make it continue to move forward at a constant speed, and the orientation is corrected through step 612, and then Go back to step 606. Wherein, in step 612, since thedirectional antenna 46 will continue to receive the path guidance signal while the self-propelledvacuum cleaner 4 is moving forward, the self-propelledvacuum cleaner 4 can be guided according to the path through the action of the first controller 42. Make azimuth correction based on the strength of the guidance signal strength. However, if the signal value is higher than the first default value, it means that the self-propelledvacuum cleaner 4 is not far away from the chargingstation 5, so the self-propelled device can be slowed down to avoid the self-propelledvacuum cleaner 4 bumping into the chargingstation 5 through step 613.Station 5 and cause damage to itself or the chargingstation 5.

再如步骤614所示，判断自走式吸尘器4的第一充电接口47是否与充电站5的第二充电接口55接触，若未接触，则表示其行进路线有所误差，因此必须进行步骤615，使自走式吸尘器4远离该充电站5，然后重新回到步骤63。在本实施例中，使自走式吸尘器4远离该充电站5，使其指向性天线46接收到的路径导引信号小于一第二默认值，其中，该第二默认值可设为充电站5近距离处的路径导引信号的强度值。然而，若第一充电接口47与第二充电接口55接触，则执行步骤616，通过第一控制器42与第二控制器52的作用进行充电作业。As shown in step 614, it is determined whether thefirst charging interface 47 of the self-propelledvacuum cleaner 4 is in contact with thesecond charging interface 55 of the chargingstation 5, if not, it means that there is an error in its travel route, so step 615 must be performed , keep the self-propelledvacuum cleaner 4 away from the chargingstation 5 , and then go back to step 63 . In this embodiment, the self-propelledvacuum cleaner 4 is kept away from the chargingstation 5 so that the path guidance signal received by itsdirectional antenna 46 is smaller than a second default value, wherein the second default value can be set as the chargingstation 5 The strength value of the path guidance signal at a short distance. However, if thefirst charging interface 47 is in contact with thesecond charging interface 55 , then step 616 is executed to perform the charging operation through the functions of thefirst controller 42 and thesecond controller 52 .

如步骤617所示，判断充电作业是否完成，若充电作业完成，则进行步骤618以停止供电，在步骤618中，可通过第一控制器42的作用，使第一无线电波发射器45发出一警告信号，当充电站5的全向性天线54接收到此一警告信号后，可通过第二控制器52做出立即停止供电的反应。此外，也可由第二控制器52直接检测自走式吸尘器4的电池43电量，以决定是否停止供电。As shown in step 617, it is judged whether the charging operation is completed. If the charging operation is completed, then proceed to step 618 to stop the power supply. In step 618, the firstradio wave transmitter 45 can send a As for the warning signal, when theomnidirectional antenna 54 of the chargingstation 5 receives the warning signal, thesecond controller 52 can make a reaction of immediately stopping the power supply. In addition, thesecond controller 52 can also directly detect the power of thebattery 43 of the self-propelledvacuum cleaner 4 to determine whether to stop the power supply.

请参阅图7所示，其为本发明自走式吸尘器朝充电站前进的动作示意图。0由于充电站5发出的路径导引信号的强度与距离成方成反比，因此，其强度大小为I₀＞I_S＞I₁＞I₂＞I₃，其中，I_S为充电站5近距离处的路径导引信号强度值。假设自走式吸尘器4在A点接收到路径导引信号，则其行进路线如L1所示；假设自走式吸尘器4在B点接收到路进导引信号，由于其行进路线中会遇到障碍物7的阻挡，因此其行进路线如L2所示，当自走式吸尘器4进入I_S后，会作一减速动作，并朝充电站5继续前进直至与充电站5接触为止。Please refer to FIG. 7 , which is a schematic diagram of the self-propelled vacuum cleaner moving toward the charging station according to the present invention. 0 Since the strength of the path guidance signal sent by the chargingstation 5 is inversely proportional to the square of the distance, its strength is I₀ >I_S >I₁ >I₂ >I₃ , where I_S is the distance near the chargingstation 5. Route guide signal strength value at distance. Assuming that the self-propelledvacuum cleaner 4 receives the route guidance signal at point A, its travel route is shown as L1; assuming that the self-propelledvacuum cleaner 4 receives the route guidance signal at point B, because it will encounterObstacle 7 is blocked, so its route of travel is shown as L2, after self-propelledvacuum cleaner 4 enters_IS , can make a deceleration action, and continue to advance toward chargingstation 5 until contacting with chargingstation 5.

在上述实施例中，以自走式吸尘器朝充电站前进以进行充电作业作说明，实际应用时并不以此为限，例如，假设呼叫装置仅是单纯的发出无线电波路径导引信号以指引电子装置的前进方向，则呼叫装置上仅须具备一无线发射器以及一控制器即可，而自走式装置也仅与须具备一无线接收器、一控制器以及一驱动单元即可。此外，上述实施例中的自走式吸尘器采用本身即具指向功能的指向性天线，实际应用时也不为此所限，例如，可采用一外部有金属屏蔽层的全向性天线，由于金属屏蔽层可阻挡路径导引信号，因此全向性天线只能在该金属屏蔽层未遮蔽的方向接收到路径导引信号的最大强度。In the above-mentioned embodiment, the self-propelled vacuum cleaner advances towards the charging station to perform the charging operation for illustration, but it is not limited to this in practical application. For example, it is assumed that the calling device simply sends out a radio wave path guidance signal For the forward direction of the electronic device, the calling device only needs to have a wireless transmitter and a controller, and the self-propelled device only needs to have a wireless receiver, a controller and a driving unit. In addition, the self-propelled vacuum cleaner in the above-mentioned embodiment adopts a directional antenna with a directional function, and it is not limited to this in actual application. For example, an omnidirectional antenna with a metal shielding layer on the outside can be used. Since the metal The shielding blocks the path-guiding signal, so the omni-directional antenna can only receive the maximum strength of the path-guiding signal in the direction not covered by the metal shielding.

在上述实施例中，自走式装置依据无线电波路径导引信号的最大强度值判断前进方向，然而实际应用时，由于指向性天线所接收到的无线电波最大强度值与最小强度值具有180度的相位差，因此，并非只有最大强度值可作为方向判断的依据，另外也可单独利用最小强度值，或是同时利用最大强度值与最小强度值作为方向判断的依据。此外，当自走式装置行进至呼叫装置的近距离处时，除了可采取减速手段之外，也可采取其它预设的特定动作，如转向或待命等。In the above-mentioned embodiments, the self-propelled device judges the direction of travel based on the maximum intensity value of the radio wave path guidance signal. Therefore, not only the maximum intensity value can be used as the basis for direction judgment, but also the minimum intensity value can be used alone, or both the maximum intensity value and the minimum intensity value can be used as the basis for direction judgment. In addition, when the self-propelled device travels close to the calling device, in addition to deceleration means, other preset specific actions can also be taken, such as turning or standby.

当然，本发明还可有其他多种实施例，在不背离本发明精神及其实质的情况下，熟悉本领域的技术人员可根据本发明作出各种相应的改变和变形，但这些相应的改变和变形都应属于本发明权利要求的保护范围。Certainly, the present invention also can have other multiple embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes All changes and modifications should belong to the protection scope of the claims of the present invention.

Claims (22)

1. the path guide method of a self-propelled device, it is characterized in that, one self-propelled device is directed to the specified position of a calling device to carry out relevant operation, this self-propelled device is provided with a radio wave receiving element with direction-pointing function, this calling device is provided with a radio wave transmission element, and the path guide method of this self-propelled device comprises the following steps:

A. this radio wave transmission element sends a radio path steering signal;

B. receive this radio path steering signal by this radio wave receiving element; And

C. according to the intensity of this radio path steering signal, and make this self-propelled device judge direction of advance, and advance towards this direction.

2. the path guide method of self-propelled device according to claim 1 is characterized in that, this step b comprises the following steps: that also this self-propelled device does original place rotation.

3. the path guide method of self-propelled device according to claim 1 is characterized in that, this step c judges direction of advance according to the maximum intensity value of this radio path steering signal.

4. the path guide method of self-propelled device according to claim 1 is characterized in that, this step c judges direction of advance according to the minimal intensity value of this radio path steering signal.

5. the path guide method of self-propelled device according to claim 1 is characterized in that, this step c judges direction of advance according to the maximum and the minimal intensity value of this radio path steering signal.

6. the path guide method of self-propelled device according to claim 1 is characterized in that, also carries out the following step behind the step c: judge whether this self-propelled device touches barrier, if then carry out a displacement action.

7. the path guide method of self-propelled device according to claim 1, it is characterized in that, also carry out the following step behind the step c: judge whether the intensity of this radio path steering signal is higher than the step of one first default value, if then carry out a deliberate action.

8. the path guide method of self-propelled device according to claim 7 is characterized in that, this first default value is the intensity of this radio path steering signal of closely locating of this calling device.

9. the path guide method of self-propelled device according to claim 7 is characterized in that, this deliberate action is that this self-propelled device is slowed down.

10. the path guide method of self-propelled device according to claim 7 is characterized in that, this deliberate action is that this self-propelled device is turned to.

11. the path guide method of self-propelled device according to claim 7 is characterized in that, this deliberate action is to make this self-propelled device be armed state.

12. the path guide method of self-propelled device according to claim 1 is characterized in that, after this step c, comprises the following steps: also to judge whether this self-propelled device arrives at the specified position of this calling device.

13. the path guide method of self-propelled device according to claim 12, it is characterized in that, when this self-propelled device does not arrive at the specified position of this calling device, then this self-propelled device is away from this calling device, and the intensity that makes its this radio path steering signal that receives is less than one second default value.

14. the path guide method of self-propelled device according to claim 13 is characterized in that, this second default value is the intensity of this radio path steering signal of closely locating of this calling device.

15. the path guide method of self-propelled device according to claim 1 is characterized in that, this calling device is a charging station, and this self-propelled device also comprises an electric weight detecting unit.

16. the path guide method of self-propelled device according to claim 15, it is characterized in that, also comprise: before step a, after this electric weight detecting unit records power supply unit power shortage on this self-propelled device, first radio wave transmission unit by this self-propelled device begins to carry out step a and subsequent action after sending radio wave charging request signal and the radio wave receiving element reception by this charging station.

17. the path guide method of self-propelled device according to claim 1 is characterized in that, this radio wave receiving element is an oriented antenna.

18. the path guide method of self-propelled device according to claim 17 is characterized in that, this oriented antenna be a yagi aerial, a horn antenna and a plate aerial one of them.

19. the path guide method of self-propelled device according to claim 1, it is characterized in that, this radio wave receiving element is the omni-directional antenna that there is metal screen layer an outside, and this metal screen layer can make this omni-directional antenna can only obtain the maximum intensity of this radio wave signal in a specific direction.

20. the path guide method of self-propelled device according to claim 16 is characterized in that, this radio wave transmission unit is an omni-directional antenna.

21. the path guide method of self-propelled device according to claim 1 is characterized in that, this radio wave transmission element is an omni-directional antenna.

22. the path guide method according to claim 16 a described self-propelled device is characterized in that, this radio wave receiving element is an omni-directional antenna.

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