CN102087529B - Movable device and control method thereof - Google Patents
Movable device and control method thereof Download PDFInfo
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- CN102087529B CN102087529B CN200910253176.7A CN200910253176A CN102087529B CN 102087529 B CN102087529 B CN 102087529B CN 200910253176 A CN200910253176 A CN 200910253176A CN 102087529 B CN102087529 B CN 102087529B
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Abstract
The invention relates to a movable device and a control method thereof. A first receiving device receives rays from a base station to acquire the direction pointing to the base station from an initial position of the movable device and the direction is used as a target direction; a driving device drives the movable device to move towards the target direction from the initial position; when the movable device meets a first barrier in the target direction within a target area, a second receiving device acquires distance between the movable device and the base station according to the rays and the distance is used as intermediate distance; if a judging device judges that the intermediate distance is not equal to preset distance, the driving device drives the movable device to bypass the first barrier and move towards the target direction; and if the judging device judges that the intermediate distance is equal to the preset distance, the driving device judges that the first barrier is the base station and the driving device stops near the first barrier.
Description
Technical field
The present invention relates to a kind of mobile device, particularly relate to the mobile device that can return to base station and the control method returning to base station thereof.
Background technology
In recent years, robot device is widely used in human habitat, such as sweeping robot device.Current sweeping robot, when completing the task of sweeping the floor or electric power is not enough, needs to turn back to bus stop and berths or charge.
At present, a kind of return the pattern of bus stop under, when sweeping robot will move or return bus stop, sweeping robot is to go to find the code signal that sends of bus stop to identify bus stop apart from metope certain distance along wall walking.When sweeping robot detects this code signal, then proceed to bus stop to berth or to charge with AD HOC.If when sweeping robot does not detect the code signal that bus stop sends, now sweeping robot can go to find code signal, until code signal detected and successfully return bus stop around a circle usually aimlessly or along wall again.
The pattern that another kind returns bus stop is, the ray that sweeping robot first sends along bus stop and can near bus stop, then the distance of object and position arround being detected by range-measurement infrared or ultrasonic.But range-measurement infrared or ultrasonic can only provide the object distance and position that are detected, but cannot confirm whether this object is bus stop, therefore need to detect again the code signal that sent by bus stop to identify bus stop.Could return smoothly by duplicate detection object and identification bus stop.
Above-mentionedly existingly return bus stop method, sweeping robot need spend the more time to go to find and identify bus stop, learns that the position of bus stop and direction are back to bus stop.
Therefore, expect to provide a kind of mobile device and control method thereof, the phase can make mobile device faster return to base station.
Summary of the invention
The invention provides a kind of control method, be applicable to a mobile device, comprise the following steps: receive the ray from base station; Obtain according to ray and point to the direction of base station using as target direction by the original position at mobile device place; Mobile device is moved towards target direction by original position; Objective definition region, wherein, when mobile device is positioned at target area, can obtain distance between mobile device and base station according to ray; When mobile device run into be positioned on target direction and the first barrier in target area time, the spacing obtaining mobile device and base station according to ray is using as intermediate distance; Judge whether intermediate distance equals predeterminable range; If intermediate distance is not equal to predeterminable range, make mobile device walk around the first barrier and continue head for target direction to move; And if intermediate distance equals predeterminable range, then judge that the first barrier is base station and makes mobile device rest against the first barrier.
The present invention also provides a kind of mobile device, comprises first receiving device, the second receiving system, drive unit and judgment means.First receiving device receives the ray from base station.First receiving device obtains according to ray and points to the direction of base station using as target direction by the original position at mobile device place.Drive unit drives mobile device to be moved towards target direction by original position.Second receiving system receives ray.When mobile device run into be positioned on target direction and the first barrier in target area time, the second receiving system obtains distance between mobile device and base station using as intermediate distance according to ray.Judgment means judges whether intermediate distance equals a predeterminable range.If judgment means judges that intermediate distance is not equal to predeterminable range, drive unit drives mobile device to walk around the first barrier and continues head for target direction and moves.If judgment means judges that intermediate distance equals predeterminable range, drive unit judges that the first barrier is base station and drives mobile device to rest against the first barrier.
Accompanying drawing explanation
Figure 1A and Figure 1B represents the mobile device according to the embodiment of the present invention;
Fig. 2 illustrates the operation chart obtaining target direction when mobile device is positioned at target area;
Fig. 3 illustrates the operation chart obtaining target range;
Fig. 4 illustrates the operation chart obtaining target direction when mobile device is positioned at outside target area;
Fig. 5 illustrates that mobile device runs into the schematic diagram of the barrier in target area;
Fig. 6 illustrates that mobile device runs into the schematic diagram of the barrier outside target area; And
Fig. 7 A and Fig. 7 B represents the control method according to the embodiment of the present invention.
Reference numeral explanation
1 ~ mobile device;
2 ~ base station;
10A, 10B ~ first receiving device;
11 ~ the second receiving systems;
12 ~ drive unit;
13 ~ judgment means;
14 ~ supervising device;
20 ~ light source;
OA ~ target area;
OB1, OB2 ~ barrier.
Detailed description of the invention
For making above-mentioned purpose of the present invention, feature and advantage become apparent, a preferred embodiment cited below particularly, and be described with reference to the accompanying drawings as follows.
Figure 1A represents the mobile device according to the embodiment of the present invention.Consult Figure 1A, mobile device 1 can be movable machine people, such as sweeping robot, and it can arbitrarily move or move according to pre-determined route, and can return to base station 2 in time finishing the work or electric power is not enough and berth or charge.Consult Figure 1A and Figure 1B, mobile device 1 comprises at least one first receiving device 10, the second receiving system 11, drive unit 12 and a judgment means 13.In the embodiment of Figure 1A and Figure 1B, be illustrate for two first receiving device 10A and 10B.First receiving device 10A and 10B and the second receiving system 11 all receive the ray of the light source 20 from base station 2.This light source can launch infrared ray, and realizes with infrared light emitting diode.Although first receiving device 10A and 10B and the second receiving system 11 all receive the ray from light source 20, but because first receiving device and the second receiving system have different camera lenses, first receiving device and the second receiving system are captured and the ray analyzed has different characteristics and composition.
First receiving device 10A and 10B acquisition to be loaded on ray and to be used for identifying the code signal of base station 20 identity.When mobile device 1 original place rotate make in first receiving device 10A and 10B any one receive the ray from light source 20 time, this first receiving device then identifies the status of base station 20 according to this code signal.Consulting Fig. 2, in this embodiment, is that the ray received from light source 20 for first receiving device 10A illustrates.Now, the first receiving device 10A identifying base station 20 identity can obtain the target direction being pointed to base station 20 by the original position at the current place of mobile device 10.Drive unit 12 driving mobile devices 1 by original position towards target direction D
iRmobile.
Second receiving system 11 also receives the ray from light source 20.Consult Figure 1B, the second receiving system 11 has forms 110, and it stores multiple distance values, the corresponding voltage value of each distance values.Consult Fig. 3, when mobile device 1 enters in the OA of target area, mobile device 1 original place rotates and makes the second receiving system 11 receive ray from light source 20, now, second receiving system 11 can obtain a detection voltage value according to this ray, now to table look-up the distance D that can obtain between mobile device 1 and base station 20 to forms 110 according to this detection voltage value
iS.In the embodiments of figure 3, distance D
iSrefer to the second receiving system 11 of mobile device 1 and the minimum range of light source 20.
In embodiments of the present invention, " mobile device 1 enters in the OA of target area " illustrates for whole the entering in the OA of target area of mobile device 1.In other embodiments, " mobile device 1 enters in the OA of target area " can represent that the center of mobile device 1 enters in the OA of target area, or the second receiver 11 of mobile device 1 enters to target area OA.
In the embodiments of figure 3, the second receiving system 11 just can obtain the distance between mobile device 1 and base station 20 at target area OA according to the ray from light source 20, but first receiving device 10A and 10B is not limited to target area OA.First receiving device 10A and 10B also can obtain according to the code signal being loaded in ray by the direction of the sensing base station, position 20 at the current place of mobile device 10 outward at target area OA.In the embodiment of fig. 2, be with as mobile device 1 target approach region OA, it is that example illustrates that first receiving device 10A obtains original position.But, in other embodiments, as shown in Figure 4, when mobile device 1 is positioned at target area OA outer (namely original position is positioned at outside the OA of target area), first receiving device 10A or 10B still can obtain according to the code signal being loaded in ray by the direction of the sensing base station, position 20 at the current place of mobile device 10, using as target direction.Until mobile device 1 is before this target direction and then when entering to target area OA, the second receiving system 11 just obtains the distance between mobile device 1 and base station 20 according to the ray from light source 20.
At mobile device 1 towards during target direction movement, if run into barrier, the judgment means 13 of 1B figure judges whether this barrier is exactly base station 20.This literary composition described " running into " one word, represents that the surface of two articles contacts with each other, or between two articles each other quite close to but do not contact with each other.In other words, " running into " one vocabulary show the surface of surface contact to barrier of mobile device 1, or represent that mobile device 1 moves to quite close to the position of barrier but the surface of mobile device 1 does not touch the surface of barrier.
Consult Fig. 3 and Fig. 5, when supposing that mobile device 1 moves towards target direction and to move in the OA of target area and to run into the barrier OB 1 be positioned on target direction, second receiving system 11 obtains a detection voltage value according to the ray from light source 20, and now the second receiving system 11 to be tabled look-up the distance (being called intermediate distance) that can obtain between mobile device 1 and base station 2 to forms 110 according to this detection voltage value again.Then, judgment means 13 judges whether this intermediate distance equals a predeterminable range, and wherein, this predeterminable range has fixed value.When judgment means 13 judges that this intermediate distance is not equal to this predeterminable range, drive unit 12 drives mobile device 1 cut-through thing OB1 and continues head for target direction and moves, until run into base station 2.When device 13 judges that this intermediate distance equals predeterminable range, drive unit 12 disturbance in judgement thing OB1 are base station 2 and drive mobile device 1 to rest against barrier OB1.
In the above-described embodiments, predeterminable range is the distance be defined as when mobile device 1 runs into base station 2 between the two.For example, when the surface contact of mobile device 1 is to base station 2 surperficial, or when mobile device 1 move to quite close to the position of base station 2 but the surface of mobile device 1 does not touch base station 2 time, the minimum range between the second receiving system 11 of mobile device 1 and the light source 20 of base station 2 is as predeterminable range.
In other embodiments, the second receiving system 11 is tabled look-up to forms 110 according to this detection voltage value the distance of gained, can be the distance between the mass centre of mobile device 1 and the mass centre of base station 2.In the case, when the surface contact of mobile device 1 is to base station 2 surperficial, or when mobile device 1 move to quite close to the position of base station 2 but the surface of mobile device 1 does not touch base station 2 time, the distance between the mass centre of mobile device 1 and the mass centre of base station 2 is then as predeterminable range.
Suppose that mobile device 1 is positioned at target area OA outer (namely original position is positioned at target area OA outward) and by first receiving device 10A or 10B to obtain target direction.Consult Fig. 4 and Fig. 6, at mobile device 1 towards during target direction movement, mobile device 1 run into be positioned on target direction and outside target area the barrier OB2 of OA.Now the direct cut-through thing OB2 of mobile device 1 also moves in lasting head for target direction.
Consult Figure 1B, mobile device also comprises supervising device 14.Supervising device 14 is used for monitoring mobile device 1, and whether head for target direction is moved.If supervising device 14 monitors mobile device 1 when departing from target direction and move towards an offset direction, drive unit 12 driving mobile devices 1 go back to target direction by offset direction and head for target direction continues mobile.
In the embodiment of Figure 1A and Figure 1B, the camera lens of the second receiving system 11 is omnidirectional type camera lens, and therefore, as long as mobile device 1 enters into the region that the ray from light source 20 covers, the second receiving system 11 just can receive this ray.
Fig. 7 A represents the control method according to the embodiment of the present invention, is applicable to the mobile device 1 of Figure 1A.Illustrate below with reference to Figure 1A and Figure 1B.First, the ray (step S70) from the light source 20 of base station 2 is received by first receiving device 10A or 10B (illustrating for first receiving device 10A below).First receiving device 10A obtains the target direction (step S71) being pointed to base station 2 by the original position at mobile device 1 place according to ray.Drive unit 12 drives mobile device 1 to be moved (step S72) towards target direction by original position.Define a target area (step S73).When mobile device is positioned at target area, distance between mobile device 1 and base station 2 can be obtained according to ray.When mobile device 1 run into be positioned on target direction and barrier in target area time, the second receiving system 11 obtains distance between mobile device 1 and barrier using as intermediate distance (step S74) according to the ray from light source 20.Judgment means 13 judges whether this intermediate distance equals a predeterminable range (step S75).If judgment means 13 judges that this intermediate distance is not equal to predeterminable range, drive unit 12 makes mobile device 1 walk around this barrier and continues head for target direction to move (step S76).If judgment means 13 judges that this intermediate distance equals predeterminable range, then drive unit judges that this barrier is base station 2 and makes mobile device 1 rest against this barrier (step S77).
In the method flow of Fig. 7 A, the step S73 in objective definition region can perform, not to be limited after step S72 before step S70, between step S70 to S71 or between step S71 to S72.In addition, in the control method of Fig. 7, the original position of mobile device 1 can be positioned at outside target area or within.
If the original position of mobile device 1 is positioned at outside target area.Consult Fig. 7 B, when mobile device 1 run into be positioned on target direction and a barrier outside target area time, drive unit 12 driving mobile devices are walked around this barrier and are continued head for target direction and move (step S78).
According to above-mentioned mobile device 1 and control method thereof, mobile device 1 can obtain direction and the position of base station 2 more quickly when providing without figure.When the power supply of mobile device 1 is not enough, base station 2 can be returned in real time and charge.
Though the present invention discloses as above with preferred embodiment; so itself and be not used to limit scope of the present invention; those skilled in the art, can do some changes and retouching under the premise without departing from the spirit and scope of the present invention, and therefore protection scope of the present invention is as the criterion with claim of the present invention.
Claims (14)
1. return a control method for base station for mobile device, comprising:
Receive the ray from a base station;
The direction of pointing to this base station by an original position at this mobile device place is obtained using as a target direction according to this ray;
This mobile device is moved towards this target direction by this original position;
Define a target area, wherein, when this mobile device is positioned at this target area, distance between this mobile device and this base station can be obtained according to this ray;
When this mobile device run into be positioned on this target direction and first barrier in this target area time, the spacing obtaining this mobile device and this base station according to this ray is using as an intermediate distance;
Judge whether this intermediate distance equals a predeterminable range;
If this intermediate distance is not equal to this predeterminable range, makes this mobile device walk around this first barrier and continue to move towards this target direction; And
If this intermediate distance equals this predeterminable range, then judge that this first barrier is this base station and makes this mobile device rest against this first barrier.
2. control method as claimed in claim 1, wherein, this original position is positioned at outside this target area.
3. control method as claimed in claim 2, also comprises:
When this mobile device run into be positioned on this target direction and second barrier outside this target area time, make this mobile device walk around this second barrier and continue to move towards this target direction.
4. control method as claimed in claim 1, wherein, this original position is positioned at this target area.
5. control method as claimed in claim 1, wherein, in this step obtaining this target direction, this target direction obtains according to the code signal be loaded on this ray, and this code signal is the identification about this base station.
6. control method as claimed in claim 1, also comprises:
Monitor this mobile device whether to move towards this target direction; And
If when this mobile device departs from this target direction and moves towards an offset direction, make this mobile device be gone back to by this offset direction and move towards this target direction.
7. control method as claimed in claim 1, wherein, this predeterminable range defines according to the distance when this mobile device runs into this base station between this mobile device and this base station.
8. a mobile device, comprising:
One first receiving device, in order to receive from a ray of a base station, wherein, this first receiving device obtains the direction of pointing to this base station by an original position at this mobile device place using as a target direction according to this ray;
One drive unit, is moved towards this target direction by this original position in order to drive this mobile device;
One second receiving system, in order to receive this ray, wherein, to be positioned on this target direction and when first barrier of a target area when this mobile device runs into, this second receiving system obtains distance between this mobile device and this base station using as an intermediate distance according to this ray; And
One judgment means, in order to judge whether this intermediate distance equals a predeterminable range;
Wherein, if this judgment means judges that this intermediate distance is not equal to this predeterminable range, this drive unit drives this mobile device to walk around this first barrier and continues to move towards this target direction; And
Wherein, if this judgment means judges that this intermediate distance equals this predeterminable range, this drive unit judges that this first barrier is this base station and drives this mobile device to rest against this first barrier.
9. mobile device as claimed in claim 8, wherein, this original position is positioned at outside this target area.
10. mobile device as claimed in claim 9, wherein, when this mobile device run into be positioned on this target direction and second barrier outside this target area time, this drive unit drives this mobile device to walk around this second barrier and continues to move towards this target direction.
11. mobile devices as claimed in claim 8, wherein, this original position is positioned at this target area.
12. mobile devices as claimed in claim 8, wherein, this first receiving device obtains this target direction according to the code signal be loaded on this ray, and this code signal is the identification about this base station.
13. mobile devices as claimed in claim 8, also comprise:
Whether one supervising device, move towards this target direction in order to monitor this mobile device;
Wherein, if this supervising device monitors this mobile device when departing from this target direction and move towards an offset direction, this drive unit drives this mobile device gone back to by this offset direction and move towards this target direction.
14. mobile devices as claimed in claim 8, wherein, this predeterminable range defines according to the distance when this mobile device runs into this base station between this mobile device and this base station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910253176.7A CN102087529B (en) | 2009-12-04 | 2009-12-04 | Movable device and control method thereof |
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| CN200910253176.7A CN102087529B (en) | 2009-12-04 | 2009-12-04 | Movable device and control method thereof |
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| CN102087529B true CN102087529B (en) | 2015-03-25 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103284662B (en) * | 2012-03-02 | 2016-09-21 | 恩斯迈电子(深圳)有限公司 | Cleaning system and control method thereof |
| CN103507067B (en) * | 2012-06-15 | 2016-01-20 | 华硕电脑股份有限公司 | Robot device and guiding robot return the method for base station |
| EP3111285B1 (en) * | 2014-02-25 | 2020-02-12 | Alfred Kärcher SE & Co. KG | Method for docking a floor treatment device to a base station, and floor treatment system |
| DE102014214889A1 (en) * | 2014-07-29 | 2016-02-04 | Kuka Roboter Gmbh | Driverless transport vehicle and method for operating a driverless transport vehicle |
| CN104765379B (en) * | 2014-11-11 | 2018-01-09 | 深圳市银星智能科技股份有限公司 | Robot finds the method and robot system for recharging seat in closing working region |
| CN112256011B (en) * | 2019-07-05 | 2022-05-17 | 苏州宝时得电动工具有限公司 | Regression guiding method, regression guiding device, mobile robot, and storage medium |
| CN111000498B (en) * | 2019-12-23 | 2021-10-08 | 深圳市无限动力发展有限公司 | Sweeping robot, and method, device and storage medium for setting sweeping area of sweeping robot |
| CN112083728A (en) * | 2020-09-09 | 2020-12-15 | 上海擎朗智能科技有限公司 | Parking method, device, equipment and storage medium for driving equipment |
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| US6542812B1 (en) * | 1999-10-19 | 2003-04-01 | American Calcar Inc. | Technique for effective navigation based on user preferences |
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