HK1160687B - Guidance device and operation system utilizing the same - Google Patents

Description

Guiding device and operating system

Technical Field

The present invention relates to an operating system, and more particularly, to an operating system with a sweeping robot.

Background

With the development of technology, the variety of electronic products is increasing, and among them, a robot (robot) is one of them. In many mobile robot devices, in order to achieve the automatic movement function, the robot generally has a driving device, a detector and a movement controller. For example, a cleaning robot is a cleaning device, which can automatically move and suck dust on a floor without being operated by a user.

Disclosure of Invention

The invention provides a guiding device which can control the advancing direction of a sweeping robot and comprises a receiving unit, a transmitting unit and a control unit. The receiving unit is used for receiving an ultrasonic encoding signal. The ultrasonic coded signal is transmitted by the sweeping robot. The transmitting unit transmits at least one wireless signal. When the receiving unit receives the ultrasonic encoding signal, the control unit enables the transmitting unit to transmit a first guiding wireless signal. The sweeping robot moves according to the first guiding wireless signal.

The invention also provides an operating system which comprises a sweeping robot and a guiding device. The sweeping robot is used for cleaning and comprises a first transmitting unit. The first transmitting unit transmits a first ultrasonic encoding signal. The guiding device comprises a receiving unit, a second transmitting unit and a control unit. The receiving unit receives the first ultrasonic encoding signal. The second transmitting unit transmits at least one wireless signal. When the receiving unit receives the ultrasonic encoding signal, the control unit enables the second transmitting unit to transmit a first guiding wireless signal. The sweeping robot moves according to the first guiding wireless signal.

In order to make the features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

FIG. 1 is a schematic diagram of an operating system of the present invention.

FIGS. 2A-2C are schematic diagrams illustrating the operation of the operating system of the present invention.

FIG. 3 is a diagram of another exemplary embodiment of an operating system.

[ description of the reference numerals of the main elements ]

100. 300, and (2) 300: an operating system; 110. 310: a sweeping robot;

130. 330: a guide device; 111. 131: a transmitting unit;

113. 133: a receiving unit; 135: a control unit;

137: a charging terminal; 139: a charging unit;

115: a chargeable unit; 117: an electric quantity detection unit;

119: and a memory unit.

Detailed Description

FIG. 1 is a schematic diagram of an operating system of the present invention. As shown, the operating system 100 includes a sweeping robot 110 and a guiding device 130. The sweeping robot 110 is used for performing a cleaning operation. In the present embodiment, the guiding device 130 can control the moving direction of the sweeping robot 110, and can simultaneously or separately play the roles of a base station (dock), a light guide (lighthouse) and a virtual wall (virtual wall).

As shown, the sweeping robot 110 includes a transmitting unit 111 and a receiving unit 113. The transmitting unit 111 and the receiving unit 113 transmit and receive wireless signals, respectively. The present invention does not limit the kind of wireless signals. In one embodiment, the wireless signal may be an ultrasonic (ultrasonic wave) signal or an infrared (infrared) signal.

In one possible embodiment, the transmitting unit 111 and the receiving unit 113 transmit or receive the same kind of wireless signals. For example, the transmitting unit 111 transmits an ultrasonic signal and the receiving unit 113 receives the ultrasonic signal, or the transmitting unit 111 transmits an infrared signal and the receiving unit 113 receives the infrared signal.

In another embodiment, the transmitting unit 111 and the receiving unit 113 respectively transmit and receive different kinds of wireless signals. For example, the transmitting unit 111 transmits an infrared signal and the receiving unit 113 receives an ultrasonic signal, or the transmitting unit 111 transmits an ultrasonic signal and the receiving unit 113 receives an infrared signal.

In the present embodiment, the transmitting unit 111 is an ultrasonic transmitter, and the receiving unit 113 is an infrared receiver. The transmitting unit 111 transmits an ultrasonic encoding signal (e.g., UW)₁Or UW₂) Wherein the ultrasonic encoding signal UW₁The coded value is different from the ultrasonic coded signal UW₂The encoded value of (a). Since the encoding method of the ultrasonic signal is well known to those skilled in the art, it is not described in detail.

The ultrasonic signal has the advantages of long transmission distance and capability of overcoming the shielding problem, so that the cleaning efficiency can be improved. Furthermore, by emitting ultrasonic signals, it is known whether there is an obstacle in front, so as to avoid directly colliding with the obstacle. Therefore, the sweeping robot 110 does not generate much noise when performing the cleaning operation. In addition, the ultrasonic wave has higher stability and accuracy, and is not interfered by light (sunlight).

In the present embodiment, the guiding device 130 includes a receiving unit 131, a transmitting unit 133, and a control unit (MCU) 135. The receiving unit 131 receives the ultrasonic encoding signal (e.g. UW) transmitted by the transmitting unit 111₁And UW₂). Since the ultrasonic signal sent by the transmitting unit 111 has a specific code value, the receiving unit 131 can know whether the ultrasonic signal is sent by the sweeping robot 110 according to the code value of the received ultrasonic signal, and will not misunderstand the ultrasonic signal sent by other environmental devices as the signal sent by the sweeping robot 110.

The transmitting unit 133 transmits at least one wireless signal (e.g., IR)_ID、IR₁、IR₂). The present invention does not limit the kind of wireless signals. In some embodiments, the wireless signal may be an ultrasonic signal or an infrared signal. In the present embodiment, the transmitting unit 133 transmits infrared signals (e.g., IR signals) having different encoding values_ID、IR₁、IR₂). Since the encoding method of infrared is also well known to those skilled in the art, it is not described in detail.

The control unit 135 is used for controlling the receiving unit 131 and the transmitting unit 133. When the receiving unit 131 receives the ultrasonic encoding signal UW₁At this time, the control unit 135 enables the transmitting unit 133 to transmit the guiding wireless signal IR from the transmitting unit 133₁. The sweeping robot 110 can be used for sweeping the floor according to the guiding wireless signal IR₁But moves.

In a possible embodiment, the guiding wireless signal IR is emitted at the emitting unit 133₁Thereafter, the cleaning robot 110 moves to the guide device 130. Therefore, the receiving unit 133 can accurately receive the ultrasonic encoding signal UW transmitted by the sweeping robot 110₁。

When the receiving unit 133 receives the ultrasonic encoding signal UW transmitted by the sweeping robot 110₁Then, the control unit 135 encodes the ultrasonic wave signal UW received by the receiving unit 131 according to the ultrasonic wave₁The intensity or the code value of the signal, the transmitting unit 133 is enabled again, so that the transmitting unit 133 transmits the guiding wireless signal IR₂For controlling the moving direction of the sweeping robot 110.

In the embodiment, the sweeping robot 110 has an omnidirectional mirror surface, so that the guiding wireless signal IR can be easily received₁And IR₂. In addition, the guiding radio signal IR₁And IR₂With different encoding values or strengths.

In another possible embodiment, when the receiving unit 131 has not received the ultrasonic encoding signal UW₁At this time, the control unit 135 does not enable the transmission unit 133, thereby making the transmission unit 133 not transmit the wireless signal (e.g., IR signal)_ID、IR₁、IR₂) Until the receiving unit 131 receives the ultrasonic encoding signal UW₁Then, the control unit 135 enables the transmitting unit 133. Since the guiding device 130 only receives the ultrasonic encoding signal UW₁Only then does the wireless signal be transmitted, and the system is operated accordingly100 have a power saving function.

In other possible embodiments, the ultrasonic encoding signal UW has not been received at the receiving unit 131₁At this time, the control unit 135 enables the transmitting unit 133 to transmit an IR signal for identifying the wireless signal_ID. When the sweeping robot 110 receives the identification wireless signal IR_IDThen, it is known that the guiding device 130 is not an obstacle. Therefore, the sweeping robot 110 can operate according to the wireless signal sent by the guiding device 130.

For example, the robot 110 receives the identification wireless signal IR_IDThen, the sweeping robot 110 starts to move to the guiding device 130, so that the receiving unit 131 receives the ultrasonic encoding signal UW sent by the sweeping robot 110₁。

When the receiving unit 131 receives the ultrasonic encoding signal UW₁At the same time, the transmitting unit 133 transmits the guiding wireless signal IR₁. The sweeping robot 110 can guide the wireless signal IR₁The distance between the guiding device 130 and itself is known, and the function switching is performed.

In this case, the sweeping robot 110 can recognize the wireless signal IR according to the recognized wireless signal IR_IDThe guiding device 130 is known, so that when the power of the sweeping robot 110 is insufficient, the guiding wireless signal IR can be real-timely transmitted₁Then, the operation returns to the guide device 130, and the charging operation is performed by the guide device 130.

For example, if the guiding device 130 has a charging function, the sweeping robot 110 can guide the wireless signal IR according to the guiding signal IR₁The guiding device 130 is connected to perform the charging operation. If the guiding device 130 does not have the charging function, the guiding device 130 can guide the wireless signal IR₁The sweeping robot 110 is guided to a place where it can be charged.

In another possible embodiment, if the power of the sweeping robot 110 is still sufficient, the guiding device 130 can guide the wireless signal IR₁To make the floor sweeping machineThe person 110 performs a cleaning action to the other space.

For example, the guiding device 130 can be disposed between two areas for controlling the sweeping robot to sweep the two areas respectively. Referring to fig. 2A, when the sweeping robot 110 performs a cleaning action in the area 210, the guiding device 130A sends a guiding wireless signal IR₁The sweeping robot 110 may consider the guiding device 130A as a virtual wall (virtual wall). Thus, the sweeping robot 110 does not leave the area 210. In this embodiment, the sweeping robot 110 continues to perform cleaning actions within the area 210.

Referring to fig. 2B, after the sweeping robot 110 has cleaned the area 210, the transmitting unit 111 of the sweeping robot 110 sends another ultrasonic encoding signal UW₂. When the guiding device 130A receives the ultrasonic encoding signal UW₂Then another guiding wireless signal IR is emitted₂. The sweeping robot 110 can guide the wireless signal IR₂Leave zone 210 and enter zone 220 to begin cleaning operations.

In the present embodiment, the guiding wireless signal IR₁And IR₂With different encoding values. In addition, the ultrasonic encoding signal UW₁And UW₂Also having different code values.

After the sweeping robot 110 enters the area 210, the guiding devices 130A and 130B both emit the guiding wireless signal IR₁So that the sweeping robot 110 considers the guiding devices 130A and 130B to be virtual walls. Therefore, the sweeping robot 110 does not leave the area 220 and continues to perform the cleaning action within the area 220. At this time, the sweeping robot 110 emits the ultrasonic encoding signal UW₁。

Referring to fig. 2C, after the sweeping robot 110 has cleaned the area 220, the sweeping robot 110 transmits the ultrasonic encoding signal UW₂. When the guiding device 130B receives the ultrasonic encoding signal UW₂After that, the guiding wireless signal IR is transmitted₂. The sweeping robot 110 can guide the wireless signal IR₂Leave region 220 and enterIn the area 230, cleaning work is started.

In the above embodiment, the guiding device 130A has received the ultrasonic encoding signal UW₂Therefore, it will not be based on the ultrasonic encoding signal UW₂Instead of sending out the guiding wireless signal IR₂. Since the guiding device 130A emits the guiding wireless signal IR₁The sweeping robot 110 does not enter the area 210 from the area 220.

In addition, no matter which area the sweeping robot 110 is in, when the sweeping robot 110 is low in power, the sweeping robot 110 instead transmits another ultrasonic encoding signal UW₃To return to the original region (e.g., 210).

For example, when the sweeping robot 110 is performing a cleaning operation in the area 220, if the sweeping robot 110 finds that its own power is insufficient, the sweeping robot 110 instead transmits the ultrasonic encoding signal UW₃. Since the guiding device 130B never emitted the guiding wireless signal IR₂(since the sweeping robot 110 has not entered the area 230), the guiding device 130A has transmitted the guiding wireless signal IR₂(to guide the sweeping robot 110 from the area 210 to the area 220), only the guiding device 130A will encode the signal UW according to the ultrasonic wave₃Again emitting a pilot radio signal IR₂For guiding the sweeping robot 110 from the area 220 back to the area 210 for charging.

In the above embodiment, if the guiding device 130A has the charging function, the sweeping robot 110 can perform the charging operation through the guiding device 130A.

In addition, the sweeping robot 110 has a timing function. For example, after the sweeping robot 110 sweeps for 30 minutes, the ultrasonic encoding signal UW is transmitted instead₂For entering another area for cleaning.

In other embodiments, when the sweeping robot 110 enters a new area, it can first move along the wall to calculate the approximate size of the area and calculate the required cleaning power for the areaAnd (6) estimating time. When the actual cleaning time equals the estimated time, the cleaning robot 110 transmits the ultrasonic coded signal UW₂For entering another area for cleaning.

FIG. 3 is a diagram of another exemplary embodiment of an operating system. Fig. 3 is similar to fig. 1, except that the guiding device 330 of fig. 3 has more charging terminals 137 and charging units 139. The charging unit 139 can charge the sweeping robot 310 through the charging terminal 137.

For example, when the sweeping robot 310 receives the guiding wireless signal IR₁Thereafter, the cleaning robot 310 proceeds to the charging terminal 137. Then, the transmitting unit 133 re-transmits the guiding wireless signal IR₂So that the sweeping robot 310 can perform the wireless signal IR according to the guidance₂Accurately contact the charging terminal 137 for charging. In this case, the guiding device 330 acts as a base station.

In other embodiments, the sweeping robot 310 receives the guiding wireless signal IR₁Then, the sweeping robot 310 first moves forward to the charging terminal 137. Then, the transmitting unit 133 re-transmits the guiding wireless signal IR₂. The sweeping robot 310 can be based on the guiding wireless signal IR₂And turns to move to the left or right of the guide 330. In this case, the guiding device 330 serves as a light guiding device.

In addition, as shown in the figure, the sweeping robot 310 further includes a chargeable unit 115, an electric quantity detection unit 117, and a storage unit 119. The rechargeable unit 115 may be a rechargeable battery and may provide power to the transmitting unit 111 and the receiving unit 113.

The power amount detection unit 117 detects the power amount of the chargeable unit 115. When the power of the rechargeable unit 115 is less than a predetermined value, if the guiding device 330 has the charging function, the cleaning robot 310 moves to the guiding device 330.

The storage unit 119 is used for storing information related to cleaning operation. When the sweeping robot 310 receives the guiding wireless signal IR₁In time, the memory cell can be reset or corrected119 stored information.

For example, the position of the sweeping robot 310 can be derived by the number of turns or directions of the wheels 311 of the sweeping robot 310, and the position is stored in the storage unit 119. Depending on the location where the memory unit 119 is stored, coverage for cleaning may be provided.

However, the number of turns or direction of the wheel 311 may be subject to errors due to slippage. Thus, in one embodiment, when the sweeping robot 310 receives the guiding wireless signal IR₁The memory cell 119 may be reset or calibrated to improve the accuracy of the cleaning.

In summary, the guiding apparatus of the present invention can have the functions of a base station, light guiding and a virtual wall. When the guiding device has a charging function, it can be used as a charging base station of the cleaning robot. The sweeping robot can move according to the guide signal emitted by the guide device, so the guide device also has a light guide function. Furthermore, the sweeping robot can regard the guiding device as a virtual wall through the guiding signal emitted by the guiding device. Thus, the guide device has the function of a virtual wall.

Although the present invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. A guidance apparatus for controlling a traveling direction of a sweeping robot, the guidance apparatus comprising:

a receiving unit for receiving a first ultrasonic coded signal transmitted by the sweeping robot;

a transmitting unit for transmitting at least one wireless signal;

a control unit, when the receiving unit receives the first ultrasonic encoding signal, the control unit enables the transmitting unit to transmit a first guiding wireless signal, wherein the sweeping robot moves according to the first guiding wireless signal;

when the sweeping robot performs cleaning in a first area, the sweeping robot transmits a second ultrasonic coded signal, the guiding device transmits a second guiding wireless signal according to the second ultrasonic coded signal to guide the sweeping robot to enter a second area, and the first guiding wireless signal and the second guiding wireless signal have different code values.

2. The guiding device as claimed in claim 1, wherein the first guiding wireless signal and the second guiding wireless signal are an ultrasonic signal or an infrared signal.

3. The guiding device as claimed in claim 1, wherein the control unit disables the transmitting unit when the receiving unit has not received the first ultrasonic encoding signal, such that the transmitting unit does not transmit the first guiding wireless signal, or enables the transmitting unit when the receiving unit has not received the first ultrasonic encoding signal, such that the transmitting unit transmits an identifying wireless signal.

4. An operating system, comprising:

a sweeping robot for performing a cleaning operation, comprising:

a first transmitting unit for transmitting a first ultrasonic encoding signal;

a first guide device comprising:

a receiving unit for receiving the first ultrasonic encoding signal;

a second transmitting unit for transmitting at least one wireless signal; and

when the receiving unit receives the first ultrasonic encoding signal, the control unit enables the second transmitting unit to transmit a first guiding wireless signal, and the sweeping robot moves according to the first guiding wireless signal;

when the sweeping robot performs cleaning in a first area, the first transmitting unit transmits a second ultrasonic coded signal, the first guiding device transmits a second guiding wireless signal according to the second ultrasonic coded signal to guide the sweeping robot to enter a second area, and the first guiding wireless signal and the second guiding wireless signal have different code values.

5. The operating system of claim 4, wherein the control unit disables the second transmitting unit when the receiving unit does not receive the first ultrasonic encoding signal, such that the second transmitting unit does not transmit the first guiding wireless signal, or the control unit enables the second transmitting unit when the receiving unit does not receive the first ultrasonic encoding signal, such that the second transmitting unit transmits an identifying wireless signal, the sweeping robot starts to move to the first guiding device according to the identifying wireless signal, and the sweeping robot knows the distance to the first guiding device according to the first guiding wireless signal after the second transmitting unit transmits the first guiding wireless signal.

6. The operating system of claim 4, wherein the operating system further comprises a second guiding device, the first guiding device and the second guiding device transmit the first guiding wireless signal and the first transmitting unit transmits the first ultrasonic encoding signal after the sweeping robot enters the second area, the first transmitting unit transmits the second ultrasonic encoding signal after the sweeping robot performs a cleaning operation in the second area, and the second guiding device transmits the second guiding wireless signal according to the second ultrasonic encoding signal to guide the sweeping robot to enter a third area.

7. The operating system of claim 6, wherein the first guiding wireless signal and the second guiding wireless signal are an ultrasonic signal or an infrared signal, the sweeping robot further comprising:

a chargeable unit; and

the first guiding device is used for transmitting a second guiding wireless signal according to the second ultrasonic coded signal so as to guide the sweeping robot to enter the first area.

8. The operating system of claim 4, wherein the sweeping robot further comprises a memory unit for storing information related to cleaning operations, and the information stored in the memory unit is reset or corrected when the sweeping robot receives the first guiding wireless signal, wherein the sweeping robot regards the first guiding device as a virtual wall when the sweeping robot receives the first guiding wireless signal.