CN106455888A

CN106455888A - Self-propelled electronic device

Info

Publication number: CN106455888A
Application number: CN201580026161.0A
Authority: CN
Inventors: 平川功
Original assignee: Sharp Corp
Current assignee: Sharp Corp
Priority date: 2014-05-29
Filing date: 2015-01-20
Publication date: 2017-02-22
Also published as: JP2015223423A; JP6289268B2; WO2015182163A1

Abstract

A self-propelled electronic device (1) that automatically travels toward the position of a target object (100), said device (1) being provided with: a travel control unit (21) for controlling the rotation of a wheel (22) so that straight-line travel and rotation are performed; a signal communication unit (14) for receiving a wireless signal transmitted from the target object (100); a distance measurement unit (16) for measuring the distance to the target object (100) on the basis of the received wireless signal; a direction determination unit (18) for determining the direction in which the target object (100) is present; and a control unit (11). The self-propelled electronic device (1) is caused to rotate in the current position by the travel control unit, during which rotation the distance measurement unit (16) measures the distance to the target object (100) at a plurality of measurement points, and the direction determination unit (18) determines the direction in which the target object (100) is present, using the plurality of measurement distances measured at the plurality of measurement points and the rotation angle at each measurement point.

Description

Self-propelled e-machine

Technical field

This invention relates to self-propelled e-machine, particularly to have to the direction that the destination object thing such as cradle exists from The self-propelled e-machine of the function of dynamic ground movement.

Background technology

Now, the self-propelled robot sweeper cleared away of automatically walking in indoor is being used.Robot sweeper Possessing rechargeable battery, have has in the case that the residual volume of rechargeable battery becomes below setting, returns to fixed configurations Cradle on the position of indoor regulation, by the function being connected to be charged on cradle by rechargeable battery.

As the method returning cradle, for example, send infrared signal from cradle to the region of regulation, pass through machine In the case that the infrared receiver portion that people's sweeper is possessed receives above-mentioned infrared signal, the direction at detection cradle place is simultaneously Direction walking towards cradle.

Prior art literature

Patent document

Patent document 1：JP 2013-146302 publication

Patent document 2：JP 2004-275716 publication

Content of the invention

Problems to be solved by the invention

But, in the former return method to cradle, owing to infrared signal is the directive property with one fixed width Wireless signal, can not the region of receiving infrared-ray signal so existing.Robot sweeper be positioned at such can not receive red During the position of outside line signal, need by carrying out the walking (edge walking) along wall surface and random walk, energy of walking The position of enough receiving infrared-ray signals.

That is, owing to the presence of to the direction detecting cradle, carrying out the situation of useless walking, return so arriving Till cradle, the situation of relatively time-consuming is more.

Then, this invention considers that above such situation is made, and problem to be solved is to provide a kind of self-propelled E-machine, in the case that needs charge, improves the essence that the direction of the existence of the destination object thing to cradle etc. is detected Degree, reduces the useless movement returning to till cradle etc. as far as possible, can shorten till the moving about of cradle etc. Time.

For solution to problem

This invention provides a kind of self-propelled e-machine, automatically walks towards the position of destination object thing, it is characterised in that Possess：Travelling control portion, the rotation of control wheel makes to carry out straight line moving and spinning movement；Signal communication unit, receives from described The wireless signal that destination object thing sends；Range determination portion, according to the wireless signal of described reception, is measured to described destination object Distance till thing；Direction determining portion, the direction that there is described destination object thing judges；And control unit, described control Portion passes through described travelling control portion, makes described self-propelled e-machine carry out spinning movement in current location, in the spinning movement phase Between, the distance to described destination object thing is measured by described range determination portion at multiple measuring points；Described direction is sentenced Determine portion and use the multiple mensuration distance in the plurality of measuring point mensuration and the anglec of rotation at described each measuring point, determine described The direction that destination object thing exists.

And, it is characterised in that possess range estimation portion, among mensuration that the plurality of measuring point measures distance, Judge minimum mensuration distance, described direction determining portion in terms of the center of spinning movement by center and the mensuration of described spinning movement The straight line that the measuring point a of the mensuration distance of described minimum links up, the side that will extend to the direction at described measuring point a place To, it is determined that the direction existing for described destination object thing.

Accordingly, by making self-propelled e-machine rotation, survey minimum among the distance till destination object thing is obtained Set a distance, is capable of the direction of easily detected target object thing existence.

And, it is characterised in that possess range estimation portion, among mensuration that the plurality of measuring point measures distance, Judging the minimum mensuration distance measuring distance and maximum, described direction determining portion is to the mensuration distance determining described minimum The position of the 1st measuring point and the measuring point from the mensuration distance determining described maximum have carried out 180 degree of the 2nd mensuration rotating Mean place between the position of point calculates, in terms of the center of spinning movement, the center of described spinning movement is flat with described The straight line that equal position links up, the direction that will extend to the direction at described mean place place, it is determined that be described destination object The direction that thing exists.

Accordingly, owing to by still using maximum mensuration distance on the basis of minimum mensuration distance, calculating average bit Put thus judge the direction that destination object thing exists, it is possible to improve the accuracy of detection of the direction further.

And, it is characterised in that possess：Distance variable quantity calculating part, uses the mensuration measuring at the plurality of measuring point Distance, calculates the variable quantity of mensuration distance at described each measuring point；And distance variable quantity detection unit, calculate from described Among the variable quantity of multiple mensuration distances, it is determined that maximum variable quantity and minimum change, described direction determining portion is to calculating State putting down between the position of the 1st measuring point of maximum variable quantity and the position of the 2nd measuring point calculating described minimum change Equal position calculates, and links up the center of described spinning movement and described mean place in terms of the center of spinning movement Straight line, the direction that will extend to the direction at described mean place place, it is determined that the direction existing for described destination object thing.

Accordingly, due to maximum and the minimum of a value by calculating the variable quantity measuring distance, the average of measuring point is calculated Position, judges the direction that destination object thing exists, it is possible to improve the accuracy of detection of the direction further.

And, this invention provides a kind of self-propelled e-machine, automatically walks towards the position of destination object thing, its feature It is possess：Travelling control portion, the rotation of control wheel makes to carry out straight line moving and spinning movement；Signal communication unit, receive from The wireless signal that described destination object thing sends；Range determination portion, according to the wireless signal of described reception, is measured to described target Distance till object；Direction determining portion, the direction that there is described destination object thing judges；And control unit, described Control unit makes described self-propelled e-machine move on the path of regulation by described travelling control portion, in described movement In, the distance to described destination object thing is measured by described range determination portion at multiple measuring points, and described direction is sentenced Determine portion and use the multiple positional informations measuring distances and described each measuring point measuring at the plurality of measuring point, determine described mesh The direction that mark object exists.

And, it is characterised in that described control unit passes through described travelling control portion, makes described self-propelled e-machine, edge The circumference of the circle predetermined radius moves；The period that described direction determining portion circumferentially moves, use and survey the plurality of Fixed multiple mensuration distance and the angle at the center from described circle at described measuring point, determine what described destination object thing existed Direction.

Accordingly, owing to using the multiple mensuration distance measuring in revolution and the revolution angle at each measuring point, target is determined The direction that object exists, it is possible to the direction that easily and highly accurately detected target object thing exists.

And, it is characterised in that described wireless signal is the BLE signal being determined by the specification of bluetooth low energy consumption, according to institute State the receiving intensity of the BLE signal that signal communication unit receives, till described range determination portion is measured to described destination object thing Distance.

Accordingly, owing to according to the BLE signal receiving, being measured to the distance till destination object thing, so regardless of whether having Hinder the barrier of walking, as long as self-propelled e-machine is in the distance being able to receive that BLE signal, it becomes possible to calculate and come from Walk the air line distance between formula e-machine and destination object thing.

And, it is characterised in that described control unit makes described self-propelled e-machine directed through described direction determining portion The straight movement in direction that the destination object thing determining exists.

And, it is characterised in that described self-propelled e-machine is to possess rechargeable battery and the self-propelled of cleaning function is swept Except machine, described destination object thing is cradle, and described control unit makes described self-propelled sweeper directed through described direction determining Advancing in the direction that the cradle that portion determines exists, performs the function returning to described cradle.

Accordingly, owing to measuring from distance to cradle for the self-propelled sweeper, make self-propelled sweeper towards basis Advance, it is possible to shorten self-propelled cleaning in the direction that the cradle as destination object thing of the decisions such as this mensuration distance exists Machine processes spent time to the return of cradle.

Invention effect

According to this invention, owing to being measured to destination object thing at multiple measuring points till distance, use at each measuring point Mensuration distance and the anglec of rotation, determine the direction that destination object thing exists, it is possible to improve side to destination object thing To the precision detecting, make self-propelled e-machine in the case of moving about of destination object thing, nothing can reduced Movement, this traveling time can be shortened.

Brief description

Fig. 1 is the composition block diagram of an embodiment of the self-propelled sweeper of this invention.

Fig. 2 is the stereogram of the summary of an embodiment of the self-propelled sweeper illustrating this invention.

Fig. 3 is the explanatory diagram of the relation with mensuration distance for the anglec of rotation of the self-propelled sweeper of this invention.

Fig. 4 is the summary description figure of the Return-ing direction determination processing of this inventive embodiment 1.

Fig. 5 is the flow chart of the Return-ing direction determination processing of this inventive embodiment 1.

Fig. 6 is the summary description figure of the Return-ing direction determination processing of this inventive embodiment 2.

Fig. 7 is the summary description figure of the Return-ing direction determination processing of this inventive embodiment 2.

Fig. 8 is the flow chart of the Return-ing direction determination processing of this inventive embodiment 2.

Fig. 9 is the summary description figure of the Return-ing direction determination processing of this inventive embodiment 3.

Figure 10 is the flow chart of the Return-ing direction determination processing of this inventive embodiment 3.

Figure 11 is the summary description figure of the Return-ing direction determination processing of this inventive embodiment 4.

Figure 12 (a) is the flow chart of the Return-ing direction determination processing of this inventive embodiment 4.

Figure 12 (b) is the flow chart of the Return-ing direction determination processing of this inventive embodiment 4.

Figure 13 is the summary description figure of the Return-ing direction determination processing of this inventive embodiment 5.

Figure 14 is the flow chart of the Return-ing direction determination processing of this inventive embodiment 5.

Detailed description of the invention

Hereinafter, the embodiment according to figure, illustrates to this invention.

Further, this invention is not thus limited.

The self-propelled e-machine of this invention, is the e-machine automatically walked to the position of destination object thing.

Hereinafter, the embodiment of self-propelled e-machine as this invention, to possessing rechargeable battery and cleaning function The composition of " self-propelled sweeper " illustrates.And, in this case, above-mentioned destination object thing is cradle.

But, this invention is to have to carry out automatic travelling control, moves to the work(till the near zone of destination object thing The e-machine of energy, is not limited to self-propelled sweeper.And, destination object thing is also not necessarily limited to cradle.

For example, in self-propelled e-machine, also include that carrying out air attracts certainly to walk what the air having cleaned was discharged Formula air cleaning machine, the self-propelled ion generation machine that ion occurs, perform to point out user function and the user of the information of needs The self-propelled robot etc. of the function requiring.As destination object thing, comprising have all of signal communication unit described later has body Thing.

The composition block diagram of one embodiment of the self-propelled sweeper of this invention shown in Fig. 1.

In FIG, the self-propelled sweeper (following, also referred to as sweeper or dust catcher) of this invention, mainly possesses control Portion's the 11st, rechargeable battery the 12nd, battery remaining surplus test section the 13rd, signal communication unit the 14th, ultrasonic sensor the 15th, range determination portion is the 16th, The 18th, infrared receiver portion of the 17th, direction determining portion of range estimation portion the 19th, travelling control portion the 21st, wheel the 22nd, distance variable quantity calculating part 25th, distance variable quantity detection unit the 26th, air entry the 31st, exhaust outlet the 32nd, dust collecting part the 33rd, obstacle detection portion the 34th, input unit the 35th, cradle Connecting portion 41 and storage part 51.

And, the position of the regulation in the room etc. cleared away is fixedly installed cradle 100.By connecting cradle 100 and self-propelled sweeper 1, self-propelled sweeper 1 accepts the confession of the electric power from cradle with the state contacting with cradle Give, the rechargeable battery 12 of self-propelled sweeper 1 is charged.And, self-propelled sweeper 1 leaves cradle 100 certainly Dynamic walking is while performing cleaning function.

The self-propelled sweeper 1 of this invention is while certainly walking on the ground in set place, sucks and contains ground On the air of dust, the air that will eliminate dust gets rid of, thus to the cleaning robot cleared away on ground.This invention Self-propelled sweeper 1 have when cleaning at the end of, independently return cradle 100 function.

The summary stereogram of one embodiment of the self-propelled sweeper of this invention shown in Fig. 2.

In fig. 2, the self-propelled sweeper 1 of this invention possesses discoidal framework 2, in the inside and out of this framework 2, Wheel the 22nd, the signal communication unit be provided with rotating brush, side brush the 10th, dust collecting part the 33rd, electric blowing machine, being made up of multiple driving wheels is the 14th, Infrared receiver portion the 19th, other inscapes shown in Fig. 1.

In fig. 2, the part configuring infrared receiver portion 19 is referred to as front part, will configure after driven pulley The part of wheel is referred to as rear portion, and the part configuring signal communication unit the 14th, dust collecting part 33 inside framework is referred to as pars intermedia.

Framework 2 possesses：Plane regards circular base plate, has air entry 31；Top board 2b, has at middle body and works as and will house Dust collecting part 33 in framework 2 carries out the cap 3 of opening and closing when putting into taking-up；And plane regards the side plate 2c of annular, along base plate And the peripheral part of top board 2b is arranged.And, base plate forms the bottom making pair of driving wheels and trailing wheel in framework 2 to outside Prominent multiple hole portion, the border between the front part and pars intermedia of top board 2b is formed about exhaust outlet 32.Further, side plate 2c is divided into before and after's two parts, and the function of buffer is played in side plate front portion.

The pair of driving wheels dextrorotation in the same direction of self-propelled sweeper 1 transfers to advance, reverse rotation in the same direction And retreat, circle round (hereinafter referred to as rotation) by mutually rotating in the reverse direction with static state.For example, sweeper 1 exists Reaching the situation of the circumferential edges in cleaning region and situation about conflicting with the barrier on route, driving wheel stops, making a pair to drive Driving wheel mutually rotates in the opposite direction and changes direction.Thus, sweeper 1 is all in setting place or desired scope all Avoiding obstacles is while certainly walking.

And, self-propelled sweeper 1 as described later, by signal communication unit 14, receives the signal communication from cradle 100 The wireless signal pair of portion 102 injection is measured with the distance of cradle 100, such as at the end of cleaning, rechargeable battery 12 The situation that charging residual volume tails off, or in the case of have passed through the setting time of set cleaning timer, to measure distance The mode shortening, is automatically oriented the direction close to the cradle as destination object thing, walking and the rotation of straight line is repeated Rotate and make and advance, return the near zone of cradle 100.

But, if there being barrier, then avoiding obstacles, while moving to the direction of cradle 100.

In the invention, the direction in order to find the cradle as destination object thing to exist, with static in current location State rotation, at multiple measuring points, the anglec of rotation of rotation and the air line distance to cradle are measured.

Or, revolve round the sun as describing circular arc with the radius R of regulation, at multiple measuring points, measure the anglec of rotation of revolution Degree and the air line distance to cradle.

The result of this mensuration, as described later, for example, the distance to cradle being determined as measuring is minimum measuring point The direction of the anglec of rotation, is the direction that cradle exists.

Hereinafter, each inscape shown in Fig. 1 is illustrated.

The control unit 11 of Fig. 1 is the part that the action to each inscape of self-propelled sweeper 1 is controlled, and mainly leads to Cross the microcomputer being made up of CPU, ROM, RAM, I/O controller, timer etc. to realize.

CPU, according to the control program being stored in advance in ROM etc., makes the organically action of each hardware, perform this invention from Walk the cleaning function of formula sweeper 1, walking function, return function etc..

For example, control unit 11 controls travelling control portion 21, in order to make self-propelled e-machine with static in current location State rotation.

And, directed through the direction of the destination object thing existence that direction determining portion 18 determines, make self-propelled e-machine Straight movement.

Particularly, when self-propelled e-machine is self-propelled sweeper, directed through the charging of direction determining portion 18 decision The direction that seat exists, makes self-propelled sweeper advance, and performs the function returning to cradle.

Rechargeable battery 12 is the part of the supply electric power of each functional imperative to sweeper 1, is mainly to supply for sweeping Part except function and the electric power of travelling control.For example, the charged electricals such as lithium ion battery, Ni-MH battery, Ni-Cd battery are used Pond.

The charging of rechargeable battery 12 is carried out in the state of being connected to sweeper 1 and cradle 100.

The connection of sweeper 1 and cradle 100 is by making the mutual charging exposed as connecting portion (41,101) Terminal contacts with each other and carries out.

Battery remaining surplus test section 13 is the part that the remaining capacity to rechargeable battery (battery remaining surplus) detects, For example, to full-charge state, output represents the numerical value of current residual capacity with percentage (%).Here, according to the electricity being detected Pond residual volume (%), it is determined whether should return cradle 100, when needing to return, detects the side that cradle exists as described later To and perform return process.

Travelling control portion 21 is by the part of the control of the autonomous of self-propelled sweeper 1, is to above-mentioned wheel The rotation of 22 is controlled, by mainly making its straight line moving and spinning movement, and the part automatically moving.

By driving wheel, carry out the advance of sweeper 1, retrogressing, rotation, the action such as static.

It as described above, the action circled round in current location is referred to as rotation, is round center by the basic point with regulation Point, moves, as describing circular arc on the circumference of the circle of the radius R of regulation, the action rotating and is referred to as revolution.

Dust collecting part 33 is carried out the part of the cleaning function collecting indoor rubbish and dust, mainly possesses and does not schemes The covering part in the dust collecting container, filter portion, covering dust collecting container and the filter portion that show.

And, there is the inflow path connecting with air entry 31 and the discharge path connecting with exhaust outlet 32, will be from air-breathing The air that mouth 31 sucks export in dust collecting container via inflow path, by the air after dust via discharge path from exhaust outlet 32 release to outside.

Air entry 31 and exhaust outlet 32 are by the part of the air-breathing of air for cleaning and exhaust respectively, be formed at as Upper described position.

Obstacle detection portion 34 be to sweeper 1 in walking with the bar contact or close such as indoor desk or chair The part that situation detects, for example, use by connecing that microswitch, ultrasonic sensor, infrared distance measuring sensor etc. are constituted Touch sensor or non-contact sensor or obstacle sensor, the front portion of the side plate 2C in framework 2 for the configuration.

CPU is identified according to the signal exporting from obstacle detection portion 34, the position that there is barrier.According to being identified The positional information of barrier, avoid the direction that this barrier determines next should walk.

Input unit 35 is the part of the action that user inputs instruction sweeper 1, on the framework surface of sweeper 1, as behaviour Make panel or operation button is arranged.

Or, as input unit 35, it is also possible to separate with sweeper body, RCU is set, user is by by dividing into Put the operation button on this RCU, send infrared ray or radio wave signal, carried out the finger of action by radio communication Show input.

As input unit 35, for example, arrange power switch, firing switch, main power switch, charge request switch, other Switch (operation mode switchs, timer switch) etc..

The signal communication unit 14 of Fig. 1 is to send to from the signal communication unit 102 of the cradle 100 as destination object thing Wireless signal is received the part of (detection).Element as signal communication unit 14, it is possible to use be able to receive that and sent The general communicator of wireless signal.

Below in an example, as the wireless signal sending from cradle 100, for example, use with bluetooth low energy consumption (BLE:Bluetooth (registration mark) Low Energy) specification determine signal.Hereinafter, this signal is referred to as BLE signal.

In the case that cradle sends BLE signal, signal communication unit 14 also uses can carry out the communication based on BLE Receive device.In the invention, it is characterized by the letter according to sending side contained in the BLE signal receiving for the signal communication unit 14 Number send level and by the receiving intensity receiving the BLE signal that side is an actually-received, the distance to destination object thing is surveyed Fixed.

BLE is the new spec of the bluetooth extensions specification that the communication mode currently as one of wireless near field communication uses, Employ the radio communication of the ultralow electric power that the electric wave of 2.4GHz frequency band is carried out.

The maximum communication speed of BLE is 1Mbps, communication potential range from 2.5cm to 50m about, be electrically characterized to save.

In the invention, by being received from the signal communication being made up of the dispensing device of BLE signal by signal communication unit 14 The wireless signal of portion 102 output, is measured to distance d of signal communication unit 102 and signal communication unit 14.

For example, send intensity according to the set in advance of the BLE signal exporting from signal communication unit 102 and led to by signal The receiving intensity of the BLE signal that letter portion 14 receives, obtains the attenuation rate of signal, according to the attenuation characteristic of electric wave, calculates and decay Corresponding above-mentioned distance d of rate.

And, BLE signal is different from the infrared ray with directive property, is to have radioparent electric wave, so leading to from signal Letter portion 102 sends to all directions of 360 degree.

Therefore, even if blocking ultrared barrier between cradle 100 and self-propelled sweeper 1, it is also possible to receive BLE signal, can measure the distance between both (1,100).

Ultrasonic sensor 15 is the component detecting the distance to the object such as the wall in room or desk, By the transmission sender of ultrasonic wave and being constituted by ripple device that the back wave from object is received.

The mensuration of the distance that ultrasonic sensor 15 is mainly used in the barriers such as wall.

Range determination portion 16 is according to the wireless signal being received, to the cradle 100 as destination object thing The part that is measured of distance.Specifically, the BLE signal being received by signal communication unit 14 is used, detection BLE signal Receiving intensity, calculates the distance of self-propelled sweeper 1 and cradle 100.

In the invention, as illustrate below in an example, range determination portion 16 is at self-propelled sweeper 1 certainly Turn or during revolution, at multiple measuring point P, measure distance dp between self-propelled sweeper 1 and cradle 100, by this mensuration Distance dp and from anglec of rotation θ p to measuring point for the initial rotational position as benchmark, is stored in storage part 51.

Range estimation portion 17 is that the magnitude relationship to the multiple mensuration distances being calculated by range determination portion 16 is judged Part.

For example, be in 1 rotation of self-propelled sweeper the period carrying out 1 rotation, from multiple measuring points measure many Among individual mensuration distance, it is determined that the part of the mensuration distance of minimum mensuration distance or maximum.

Direction determining portion 18 is the part in the direction judging the existence of destination object thing.

In order to judge the direction that this destination object thing exists, main use is surveyed at multiple measuring points by range determination portion 16 Fixed multiple mensuration distance and in the anglec of rotation of each measuring point.

For example, when destination object thing is cradle 100, make self-propelled sweeper 1 in the state of current location is static from Turn, in the period carrying out 1 time rotating from the initial rotational position of regulation, be measured at multiple measuring points by range determination portion 16 Distance d till cradle, determines among multiple mensuration distances d being measured, measurement to the measuring point a of minimum distance da The anglec of rotation θ a of corresponding rotation is the direction of the existence of cradle 100.

Determine cradle exist direction in the case of, the direction that this anglec of rotation θ a is represented, be set as The direct of travel that cradle returns, self-propelled sweeper 1 is as principle, to the direct of travel of this setting, starts straight movement.

In the decision method in the direction based on direction detection unit 18, embodiment as described later is shown with all changes Change.

It for example, it is also possible to make self-propelled e-machine, not rotation as above, but as the circle of the radius in regulation Circumference on mobile such revolution, in the period carrying out 1 time rotating by revolution, use multiple measuring points measure multiple Measure distance and the revolution angle at each measuring point, determine the direction that destination object thing exists.

Furthermore, it is also possible to make self-propelled e-machine, move on the path of regulation, in this moves, in multiple surveys Fixed point is measured to the distance till destination object thing, uses the positional information of the multiple mensuration distances being measured and each measuring point, Determine the direction that destination object thing exists.

Here, as the path of regulation, be not limited on the circumference of above-mentioned revolution, it is also possible to be circle, polygon, straight line etc. Path.

Infrared receiver portion 19 is the part of the infrared signal receiving infrared ray sending part 106 output from cradle, Infrared signal processes in the return of self-propelled sweeper and uses to the connection process of cradle.

Distance variable quantity calculating part 25 be used in multiple measuring point P measure the mensuration to destination object thing away from From calculating the part of variable quantity dk of mensuration distance dp at each measuring point.

Self-propelled sweeper 1 under static state rotation, when having carried out the situation that 1 time rotates, the survey to cradle Set a distance dp changes between minimum of a value da and maximum db continuously.Now, the anglec of rotation θ p of rotation and be to cradle The relationship graph measuring between distance dp only is the curve of substantially sinusoidal wave change.Here, by the curve at each measuring point P Slope, calculates as the variable quantity dk measuring distance dp.

Distance variable quantity detection unit 26 is the variable quantity of mensuration distance dp at each measuring point P calculated as above Among dk, it is determined that the part of minimum change dkf and maximum variable quantity dkg.

Distance variable quantity calculating part 25 and distance variable quantity detection unit 26, use as described later in example 4.

In this embodiment 4, obtain and minimum change and the maximum corresponding anglec of rotation of variable quantity, direction determining portion 18 Determine the direction existing as the cradle of destination object thing.

Cradle connecting portion 41 is the terminal for inputting the electric power for making rechargeable battery 12 charge.

By making sweeper connecting portion 101 physical contact of this cradle connecting portion 41 and cradle 100, will be from cradle The electric power that the power feeding section 104 of 100 gives, is supplied to rechargeable battery 12 and is charged.

Cradle connecting portion 41 is in order to contact with sweeper connecting portion 101, and exposes with the side at sweeper 1 body State is formed.

Self-propelled sweeper 1 is after returning near cradle, and use is infrared by infrared receiver portion 19 reception Line, in the way of making cradle connecting portion 41 and sweeper connecting portion 101 contact, is attached processing.

Storage part 51 is to store to realize the various function of self-propelled sweeper 1 and the portion of the information of necessity and program Point, use the storage device such as semiconductor memory component, HDD, SSD, other storage mediums such as ROM, RAM, flash memory.

In storage part 51, the mensuration information that main storage is made up of anglec of rotation θ p and mensuration distance dp is the 52nd, by minimum Distance da and the measuring point a determining this minimum range da anglec of rotation θ a constitute minimal information the 53rd, by ultimate range Db and maximum information the 54th, the direct of travel angle of rotation constituting at the anglec of rotation θ b of the measuring point b determining this ultimate range db The 56th, degree θ m55, distance variable quantity information revolve round the sun mensuration information the 57th, direct of travel revolution angle θ A58 etc..

Mensuration information 52 is self-propelled sweeper 1 under static state rotation, and the period carrying out 1 time rotating is in multiple mensuration The information that point measures, using the anglec of rotation θ p of the rotation at each measuring point P with to the cradle as destination object thing Measure distance dp to be mapped storage.

The explanatory diagram of the relation of the anglec of rotation of the self-propelled sweeper of this invention shown in Fig. 3 and mensuration distance.

It in Fig. 3 (a), is shown in the room R that self-propelled sweeper 1 is cleared away, at left direction fixed configurations cradle 100, self-propelled sweeper 1 right direction moves, in the position centered on an O, and the state of rotation.With an O as rotation center.

Here, illustrate that self-propelled sweeper 1 is in angle (zero degree) on the basis of the P0 of right direction in terms of rotation center O, rotation Turn the situation of the state of the measuring point P of anglec of rotation θ p.

The signal communication unit 14 of self-propelled sweeper 1, in terms of the O of center, is in the direction of OP.

In this condition, receive, by signal communication unit 14, the BLE letter sending from the signal communication unit 102 of cradle 100 Number, mensuration distance dp at measuring point P is measured.

Measure distance dp be equivalent to the signal communication unit 102 of cradle and self-propelled sweeper 1 signal communication unit 14 it Between distance, by this mensuration distance dp, as the anglec of rotation θ p of the current position with self-propelled sweeper 1 corresponding away from From.

To measuring the measuring point P that distance d is measured, can arrange multiple between 1 rotation, it is also possible to every rotation The certain value of the anglec of rotation, for example, often rotate 1 degree, or often rotation 10 degree, measuring point P be set.

In order to improve the precision in the direction judging cradle, the quantity of preferably as far as possible many measuring points.

Measure the measuring point a that distance becomes minimum shown in Fig. 3 (b), shown in Fig. 3 (c), measure what distance became maximum Measuring point b

And, minimum range da of measuring point a and the anglec of rotation θ a of rotation are minimal information 53, the maximum of measuring point b The anglec of rotation θ b of distance db and rotation is maximum information 54.

Here, by obtaining among mensuration distance dp of all measuring point P in rotating at 1 time, as Fig. 3 (b), Determine the anglec of rotation θ a of the measuring point a of mensuration distance da of minimum it is known that the direction of position of cradle 100 existence.

Or, 2 mensuration distance (da, db) of Fig. 3 (b) and Fig. 3 (c), if using the corresponding anglec of rotation to have substantially 180 The difference of degree, then as described later as embodiment 2 explanation, can more precisely judge the direction that cradle exists.

Direct of travel rotation angle, θ m55, is the rotation of the rotation in the direction representing cradle existence obtained as described above Gyration.

For example, the anglec of rotation θ a at the measuring point a determining minimum range da is judged to the direction that cradle exists When, direct of travel rotation angle, θ m is equal to anglec of rotation θ a.

Distance variable quantity information 56, it is meant that the variable quantity information being calculated by distance variable quantity calculating part 25, or by The information that distance variable quantity detection unit 26 uses.

For example, the variable quantity (dkn, dkf, dkg) of the mensuration distance using in embodiment 4 as described later, or become with these The corresponding angles of change amount (θ f, θ g, θ h, θ h2) etc., are equivalent to distance variable quantity information 56.

Revolution mensuration information 57 is the information using in embodiment 5 as described later, it is meant that self-propelled sweeper 1 is with certain In the case of rotating walking (revolution) on the circumference of the circle of the radius R of the regulation of some central point for circle, the information being measured.

For example, mensuration distance dp to the cradle as destination object thing and the corresponding revolution of minimum range dA Anglec of rotation θ A etc., be equivalent to revolve round the sun mensuration information 57.

Direct of travel revolution angle θ A58, it is meant that represent the anglec of rotation of the revolution in the direction of cradle existence.

When returning cradle, towards the direction of this direct of travel revolution angle 58 expression, in principle, start straight movement.

The self-propelled sweeper 1 of this invention also can above such constitute beyond, possess other desired constitute and Function.

For example, it is also possible to possess in cleaning or under inactive state, there is the composition (ion generator) of ion, kill Bacterium and deodorizing (or deodorization).

Furthermore, it is also possible to arrange the timer switch being set the time performing cleaning process, at timer switch In the case of being closed (ON) operation, start the time set in advance the timing of (such as 60 minutes), until through this setting Cleaning process is performed till between.

Also can stop cleaning process, automatically return cradle after have passed through this setting time.

In FIG, cradle 100 mainly possesses sweeper connecting portion the 101st, signal communication unit the 102nd, control unit the 103rd, electric power Supply unit 104 and infrared ray sending part 106, accept the AC coming from the socket of the source power supply 105 configuring at indoor wall etc. The supply of electric power.

Power feeding section 104 is the alternating electromotive force accepting from source power supply 105, is transformed into and can carry out sweeper 1 The direct current power of charging, is given to the part of sweeper connecting portion 101.

Infrared ray sending part 106 is the part sending infrared signal.

Signal communication unit 102 is the part sending (transmission) wireless signal.For example, use transmission based on BLE specification signal The dispensing device of BLE.

The control unit 103 of cradle 100 is the part of the various functions realizing cradle, is substantially carried out BLE signal or red The transmission of outside line signal is processed and the supply of charging power controls.Control unit 103 can be by by CPU, ROM, RAM, I/O control The microcomputer that device processed, timer etc. are constituted realizes.

Hereinafter, illustrate to return as self-propelled sweeper 1 side of the existence position of the cradle 100 of destination object thing To the embodiment of the process that (referred to as Return-ing direction) judges.

In the accompanying drawing of below example, symbol m is denoted as the position of the cradle 100 of destination object thing, symbol o Represent the initial position of the signal communication unit 14 of self-propelled sweeper 1.

Initial position is denoted as measuring the direction of the benchmark of anglec of rotation θ p, by being somebody's turn to do in terms of the center of rotation or revolution The anglec of rotation in direction is as zero degree.

When signal communication unit 14 is positioned at initial position, by air line distance d of concatenation character m and symbol o, as cradle The distance of the signal communication unit 14 of signal communication unit 102 and self-propelled sweeper.

And, in the case of self-propelled sweeper 1 rotation, by the distance between the center of rotation and signal communication unit 14 As r.

In the case that self-propelled sweeper 1 revolves round the sun, if the radius R of revolution is fully big, then can be by the center of revolution and letter Distance between signal communication portion 14, is considered as the radius R of revolution.

(embodiment 1)

In embodiment 1, illustrate self-propelled sweeper in current location spinning movement (rotation), by cradle Measure the anglec of rotation θ a of the measuring point a determining minimum range da among distance d, as the feelings of direct of travel rotation angle, θ m Condition.

Here, direction determining portion 18 in terms of rotation center by the center (rotation center) of spinning movement with determine minimum Measure the straight line that the measuring point a of distance da links up, the direction that will extend to the direction at measuring point a place, it is determined that be conduct The direction that the cradle of destination object thing exists.

The summary description figure of the determination processing of the Return-ing direction of this inventive embodiment 1 shown in Fig. 4.

The flow chart of the Return-ing direction determination processing of this inventive embodiment 1 shown in Fig. 5.

In Fig. 4 (a), illustrate that self-propelled sweeper 1 performs the state of the initial position that direction determining is processed.

Now, the position at symbol o has signal communication unit 14, in terms of the rotation center of self-propelled sweeper 1, and right direction It is the direction of the zero degree of the anglec of rotation.

First, at this initial position, range determination portion 16 uses the BLE signal being received by signal communication unit 14, to work It is measured for mensuration distance d between the signal communication unit 102 of cradle of destination object thing and signal communication unit 14.

Anglec of rotation θ (zero degree) of this mensuration distance d and initial position is mapped, as measuring information 52, stores In storage part 51.

Afterwards, in step S1 of Fig. 5, self-propelled sweeper 1 drives wheel by certainly walking control unit 21, in current location In the state of static, start to rotate (rotation).

Then, in step s 2, rotate to next measuring point P, to the anglec of rotation θ p of this measuring point P with arrive Mensuration distance dp till as the cradle of destination object thing is measured, and is stored in storage part 51.

The position of measuring point can be arbitrary position, but as the method for this positioning, for example, it is possible to often rotate certain angle Degree (for example, 10 degree) just sets measuring point, or, it is also possible to often measuring point is just set through certain time.

Fig. 4 (b) illustrates the position of the measuring point a measuring minimum mensuration distance da, using the anglec of rotation now as θ a.

So, at multiple measuring point P, measure by anglec of rotation θ p and measure the mensuration information 52 that distance dp is constituted, and depositing Storage.

In step s3, as shown in Fig. 4 (c), after having carried out 1 time rotating to initial rotational position, terminate to rotate, knot The mensuration of bundle information (dp, θ p).

Now, be equivalent to the mensuration information 52 of the quantity of measuring point, be stored in storage part 51.

From the anglec of rotation 0 degree to 360 degree of rotation shown in Fig. 4 (e), carry out the change measuring distance d when rotating 1 time Chart.

According to this chart, in the case of being shown in the measuring point a that the anglec of rotation is θ a, measuring distance d becomes minimum of a value da Situation.

And, knowable to Fig. 4 (b), when signal communication unit 14 reaches the position of minimum range da, i.e. only have rotated During corresponding anglec of rotation θ a, cradle is present in the extending direction of the measuring point a in terms of rotation center.

Therefore, in order to determine the direction that cradle exists, minimum range da is obtained.

In step s 4, range estimation portion 17 detects distance da of minimum among multiple mensuration distances dp of storage.

Then, direction determining portion 18 is from being stored among the mensuration information 52 of storage part 51, obtains corresponding to minimum range The anglec of rotation θ a of da, and store.

In embodiment 1, it by this anglec of rotation θ a, is set as representing the anglec of rotation in the direction of cradle existence.

In step s 5, as shown in Fig. 4 (d), self-propelled sweeper 1 in current location rotation, only rotation angles degree θ a.

From the center of rotation, on the extending direction of the straight line that the direction of the measuring point a of anglec of rotation θ a extends, only Leaving the position measuring distance da, there is cradle 100, so by the direction of this anglec of rotation θ a, being set as self-propelled cleaning The direct of travel of machine.

That is, it by anglec of rotation θ a, is set as direct of travel rotation angle, θ m.

In step s 6, start to the straight movement of direct of travel set as above.

That is, self-propelled sweeper 1 returns towards the direction that cradle exists.

Accordingly, only by carrying out the rotation of 1 rotation to the minimum range to the cradle as destination object thing It is measured, the direction that cradle exists can be easily determined by.

And, self-propelled sweeper 1 automatically finds the direction of the cradle existence as destination object thing and by the party To as direct of travel, so useless movement will not be made from current location away from the direction of cradle, can shorten and return Return to the time till cradle.

Further, in the present embodiment after having carried out 1 time to initial position and having rotated, distance da of minimum is carried out Detection but it also may in spinning movement, compares measuring distance with measurement result so far, one seriatim While the angle of this minimal point is judged to θ a by the time point at the minimal point having differentiated distance d, it is not necessary to complete the dynamic of 1 rotation Make.

(embodiment 2)

In example 2, show the under static state rotation of self-propelled sweeper, obtain the mensuration till cradle Minimum range da among distance d and ultimate range db, use the anglec of rotation (θ a, θ b) of respective measuring point, determines to advance The situation of direction rotation angle, θ m.

Here, the position of the 1st measuring point that direction determining portion 18 is to mensuration distance da determining minimum and from determining Mean place between the position of the 2nd measuring point that the measuring point of maximum mensuration distance db have rotated 180 degree calculates, from Rotation center sees the straight line linking up rotation center and mean place, the side that will extend to the direction at mean place place To, it is determined that for the direction existing as the cradle of destination object thing.

So-called above-mentioned mean place, is equivalent to and the corresponding measuring point of direct of travel rotation angle, θ m described later in Fig. 6 (e) Position.

If determining Return-ing direction by the method for this embodiment 2, though then noise etc. heavy in BLE signal, Measure and there occurs error in distance d, it is also possible to the impact reducing this error improves the decision precision of Return-ing direction.

The summary description figure of the determination processing of the Return-ing direction of this inventive embodiment 2 shown in Fig. 6.

The anglec of rotation of this inventive embodiment 2 shown in Fig. 7 and the relationship graph measuring distance.

The flow chart of the Return-ing direction determination processing of this inventive embodiment 2 shown in Fig. 8.

Fig. 6 (a), as Fig. 4 (a), illustrates the state of initial position.

Fig. 6 (b), as Fig. 4 (b), illustrates the measuring point a of the anglec of rotation θ a determining minimum range da.

Fig. 6 (c) illustrates the measuring point b of the anglec of rotation θ b determining ultimate range db.

Fig. 6 (d), as Fig. 4 (d), illustrates that carrying out 1 time rotates, and has returned to the shape till the initial position of Fig. 6 (a) State.

In example 2 also in the same manner as in Example 1, from Fig. 6 (a) to Fig. 6 (d), in static current location from initial bit Put beginning rotation, to the period carrying out 1 rotation, measure distance dp at multiple measuring point P, distance dp will be measured and be somebody's turn to do The anglec of rotation θ p of measuring point is mapped, and is stored in storage part 51 as mensuration information 52.

In the flow chart of figure 8, the step of identical to the step of the flow chart carrying out with Fig. 5 process, gives same step Rapid number.

In fig. 8, from step S1 to S4, the process as Fig. 5 is carried out.

After step S4, in step s 11, among multiple mensuration distances dp that range estimation portion 17 detection is stored Big distance db.

Then, direction determining portion 18 is among the mensuration information 52 being stored in storage part 51, obtain corresponding to maximum away from From the anglec of rotation θ b of db, and store.

In step s 12, the angle, θ ba having carried out 180 degree of rotations from the anglec of rotation θ b obtaining are calculated.That is, θ is obtained Ba=(θ b+180) mod360.

Now, θ ba is the numerical value with the anglec of rotation θ a approximation corresponding to minimum range da.

Fig. 6 (f), as Fig. 4 (e), illustrates the anglec of rotation and measures the relationship graph of distance.For example, if anglec of rotation θ a Being about 140 degree, anglec of rotation θ b is about 320 degree, then anglec of rotation θ ba is about 320-180=140 degree.

In step s 13, the mean value θ m of anglec of rotation θ a and θ ba is calculated.

For θ m=(θ a+ θ ba)/2.

Obtain mean value, be to reduce the error measuring distance d.

Fig. 7 (a) illustrates the chart identical with Fig. 6 (f), but illustrates and the mensuration distance nothing obtained from the BLE signal receiving The preferable chart of error.

In this case, angle, θ ba is to have deducted the angle of 180 degree from maximum angle θ b, when error free, is θ a=θ ba, Mean value θ m also becomes equal to θ a.

But, in fact, measured value becomes the composition of source of error containing noise contribution etc., so such as Fig. 7 (b) institute Show, anglec of rotation θ and the relationship graph measuring distance d, although be similar to sinusoidal waveform on the whole, but be local figure devious Table.

Therefore, the angle, θ ba of 180 degree has been deducted from the anglec of rotation θ b corresponding to ultimate range db, not with anglec of rotation θ The identical situation of a is more.

Then, in this embodiment 2, it is considered to the deviation of measured value, by the mean value θ m of anglec of rotation θ a and θ ba, as The direction that cradle exists uses.

In step S14, as shown in Fig. 6 (e), self-propelled sweeper 1 in current location rotation, only rotation angles degree θ m.

And, it in terms of rotation center, by the direction of rotation of anglec of rotation θ m, is set as the traveling side of self-propelled sweeper 1 To.

That is, the mean value by anglec of rotation θ a and θ ba, is set as direct of travel rotation angle, θ m.

Afterwards, in step s 6, as the flow chart of Fig. 5, to the direct of travel setting, straight movement is started.

Hereby it is possible to be easily determined by the direction that cradle exists.And then, due to will be from minimum range da and ultimate range Anglec of rotation θ a that db obtains and the mean value of θ ba, the direction existing as cradle, it is possible to reduce the shadow of noise etc. Ring, it is possible to increase the decision precision in the direction that cradle exists.

(embodiment 3)

In embodiment 3, illustrating and performing repeatedly rotation, the range determination repeatedly carrying out carrying out in embodiment 2 processes and surveys The storage process of anglec of rotation θ of set a distance d and this measuring point.

That is, the rotation in the current position of self-propelled sweeper, is not only to carry out 1 time and be by n times (N:More than 2 Integer), be also carried out acquirement and the storage of the mensuration information 52 of n times same measured point.

Thus, ratio embodiment 2, also reduces the impact of the error measuring distance, improves the direction that cradle exists further Decision precision.

The summary description figure of the determination processing of the Return-ing direction of this inventive embodiment 3 shown in Fig. 9.

The flow chart of the Return-ing direction determination processing of this inventive embodiment 3 shown in Figure 10.

In the flow chart of Figure 10, also to the step carrying out the process identical with the flow chart of Fig. 5, give identical with Fig. 5 Step number.

Fig. 9 (a), as Fig. 6 (a), illustrates the initial position of rotation.

Fig. 9 (b1), (c1), (d1) illustrate rotation for the first time, correspond respectively to Fig. 6 (b), (c), (d).

Here, owing to being to rotate for the first time, so for example, as shown in Fig. 9 (b1), the survey of minimum range da1 will be determined The anglec of rotation of fixed point a1 is set to θ a1.

And, as shown in Fig. 9 (c1), the anglec of rotation determining the measuring point b1 of ultimate range db1 is set to θ b1.

Fig. 9 (b2), (c2), (d2) illustrate second time rotation, correspond respectively to Fig. 6 (b), (c), (d).

The such rotation of n times repeatedly, mensuration distance dp at measuring point P when making each rotation is corresponding with anglec of rotation θ p, It is stored in storage part 51.

In the flow chart of Figure 10, first, in step S21, initial setting number of revolutions N.

Then, it in step S22, in the variable n representing current rotation number, is initially set 1.

Afterwards, as the flow chart of Fig. 5, when n-th rotates, the process identical with step S1, S2 and S3 is carried out.

In step S23, obtain the corresponding storage of minimum range da among mensuration distance dp of storage in n-th rotates Anglec of rotation θ an, stores as minimal information 53.

In step s 24, the corresponding storage of ultimate range db among mensuration distance dp of storage in n-th rotates is obtained Anglec of rotation θ bn, stores as maximum information 54.

In step s 25, calculate and carried out 180 degree from the anglec of rotation θ bn that the n-th that obtains in step S24 rotates The angle, θ ban rotating, is stored in storage part 51.

For θ ban=(θ bn+180) mod360.

The θ ban being calculated by this n time tropometer, near with the anglec of rotation θ an of the n-th rotation obtaining in step S23 As numerical value.

In step S26, add 1 to variable n.

In step s 27, check whether as variable n>N.

Variable n>During N, enter into step S28, be not as now, return to step S 1, carry out at rotation next time Reason, the process as from step S1 to S25 repeatedly.

In step S28, carry out the result of n times rotation, to from the N number of anglec of rotation θ ak being stored in storage part 51 Whole mean value θ m of the anglec of rotation obtained with N number of anglec of rotation θ bak uses following formula to calculate.

θ m=Σ (θ ak+ θ bak)/2N

Here, variable k is the integer from 1 to N, at kth time time rotational, to from acquirement in step S23 and step S25 The mean value (θ ak+ θ bak)/2 that θ ak and θ bak obtains carries out N number of add operation, and is all flat divided by the numerical value obtained by N Average θ m.

The anglec of rotation (direct of travel rotation angle) in the direction that this whole mean value θ m exist for representing cradle.

Then, in step S14, as shown in Fig. 8, the only rotation angles degree θ m in current location.

And, it by the direction of this anglec of rotation θ m, is set as the direct of travel of self-propelled sweeper.

And then, shown in step S6 with Fig. 5 as, to set direct of travel, start straight movement.

That is, the direction that self-propelled sweeper 1 exists towards cradle returns.

Accordingly, owing to the mensuration of n times embodiment 2 repeatedly is processed and direction determining process, it is possible to more precisely determine Determine the direction that cradle exists.

Further, can be generally considered as measuring distance dp short, the intensity of receipt signal is difficult to greatly be affected by noise, by This measurement accuracy uprises.Therefore, when calculating the mean value θ m of the anglec of rotation, it is also possible to be not to obtain merely anglec of rotation θ ak Average with θ bak, but calculate weighted average, this weighted average has been by than obtaining corresponding to ultimate range dbk Anglec of rotation θ bak, more payes attention to the weighted average of the weighting of the anglec of rotation θ ak corresponding to minimum range dak.

(embodiment 4)

In example 4, after illustrating and having carried out processing based on the range determination of the rotation shown in embodiment 1 and 2, calculate each The variable quantity dk of the mensuration distance at measuring point, the minimum change dkf among use and this distance variable quantity dk and maximum change The corresponding anglec of rotation of change amount dkg (θ f, θ g), determines the situation of direct of travel rotation angle, θ m.

Here, the variable quantity that direction determining portion 18 is to the multiple mensuration distances being calculated by distance variable quantity calculating part 25 Among, the position of the 1st measuring point that calculates maximum variable quantity and calculate minimum change the 2nd measuring point position it Between mean place calculate, in terms of rotation center, center (rotation center) and the mean place of spinning movement are linked up Straight line, will to mean place place direction extend direction, it is determined that for as destination object thing cradle exist side To.

Above-mentioned mean place is equivalent to and the corresponding measuring point h of direct of travel rotation angle, θ m described later in Figure 11 (e) Position.

The summary description figure of the determination processing of the Return-ing direction of this inventive embodiment 4 shown in Figure 11.

The flow chart of the Return-ing direction determination processing of this inventive embodiment 4 shown in Figure 12 (a) and Figure 12 (b).

Near minimum range da usually measuring in obtaining embodiment 2 and the measuring point of ultimate range db, with rotation The variable quantity dk of angle corresponding mensuration distance is little.

Accordingly, because the variable quantity dk measuring distance is little, so being easily subject to the impact of evaluated error, easily at cradle The decision in the direction existing produces deviation.

On the other hand, in rotation, Figure 11 (b) becoming maximum at the absolute value of variable quantity measuring distance and Figure 11 The measuring point in the wiring direction shown in (c) (f, g), the impact of evaluated error is smaller, if so use this measuring point (f, g) Mensuration information 52, then precision can determine well the direction that cradle exists.

Then, as shown below, use the variable quantity dk of mensuration distance, determine the direction that cradle exists.

Figure 11 (a), as Fig. 4 (a) etc., illustrates the initial position of rotation.

Figure 11 (b) illustrates the variable quantity measuring distance d measuring point f for minimum distance df on positive direction.To survey The variable quantity of mensuration distance d of fixed point Pn is set to dkn, and the minimum change of measuring point f is set to dkf.

And, the corresponding anglec of rotation will be set to θ f with measuring point f.

The so-called variable quantity measuring distance d is minimum situation on positive direction, it is meant that in contrary negative direction For maximum, if considering with the absolute value of variable quantity, be equivalent to the absolute of the variable quantity measuring distance d that variable quantity is negative region Value is maximum position.

Figure 11 (c) illustrates the variable quantity measuring distance d measuring point g for maximum distance dg on positive direction.

The maximum variable quantity of measuring point g is set to dkg, the corresponding anglec of rotation will be set to θ g with measuring point g.

Figure 11 (d), as Fig. 4 (c) and Fig. 6 (d), has carried out 1 postrotational shape till illustrating initial rotational position State, to becoming this state, at multiple measuring point P, measures anglec of rotation θ p and distance dp to cradle, and deposits Storage.

Figure 11 (f) illustrates self-propelled sweeper rotation, has carried out the anglec of rotation under 1 rotational case and has measured distance Relationship graph.

It as this chart and Fig. 4 (e) etc., is substantially sinusoidal wave curve, measure distance d and there is minimum of a value and maximum Value, the chart between minimum of a value and maximum, slope changes.

The slope of chart represents the variable quantity dkn measuring distance relative to each anglec of rotation (measuring point Pn).

For example, in place of the anglec of rotation that mensuration distance d represents minimum of a value and maximum, slope is zero.

And, measure distance from minimum of a value to maximum to the right on raise curved portion in, slope has positive Value, during the anglec of rotation to θ g be gradually increased, afterwards to mensuration distance for during maximum, slope gradually decreases.

That is, when the anglec of rotation is θ g, slope becomes maximum, and the variable quantity dk measuring distance d becomes maximum.

If according to same consideration method, when the anglec of rotation is θ f, slope has negative value, and this absolute value at slope is Negative region is maximum.That is, the variable quantity dk measuring distance d is minimum.

When being measured to the distance till cradle, although in fact, think and comprise evaluated error, but as the anglec of rotation is θ f With in the big part of the absolute value that measures the variable quantity dk of distance near θ g like that, ratio is minimum of a value and as measuring distance d The little part of the absolute value of the variable quantity dk measuring distance like that near big value, it is not easy to affected by this evaluated error.

Therefore, use Figure 11 (b) and measuring point shown in Figure 11 (c) (f, the situation of angle information (θ f, θ g etc.) g), The direction that cradle exists can be obtained further accurately.

In the step S1～S3 of Figure 12 (a), carry out the process as illustrated in fig. 5 process.

Thus, the mensuration information 52 (θ p, dp) at multiple measuring points of 1 rotation amount, determined and store.

Then, in step S31, use stored mensuration information 52, calculate and store the mensuration of each measuring point Pn away from From variable quantity dkn.

In step s 32, compare each variable quantity dkn measuring distance being stored, obtain minimum change dkf from which With maximum variable quantity dkg, and store.

Minimum change dkf is to measure at the measuring point f shown in Figure 11 (b), and maximum variable quantity dkg is at Figure 11 (c) Shown measuring point g measures.

In step S33, obtain and store with determine minimum change dkf measuring point f corresponding anglec of rotation θ f, And with determine the measuring point g corresponding anglec of rotation θ g of maximum variable quantity dkg.

In step S34, calculated the anglec of rotation θ h of the centre of anglec of rotation θ f and θ g by following formula.

For θ h=(θ f+ θ g)/2

In step s 35, the anglec of rotation θ h2 having carried out 180 degree of rotations from middle anglec of rotation θ h are calculated.

For θ h2=(θ h+180) mod360.

In step S36, use the mensuration information 52 measuring in step S2, obtain and store corresponding with anglec of rotation θ h Measure distance dh and mensuration distance dh2 corresponding with anglec of rotation θ h2.

Then, compare these 2 and measure distance dh and dh2.

In step S37, select the distance of 2 medium and small sides measuring distance (dh, dh2), by with a little side's It apart from the corresponding anglec of rotation, is set as anglec of rotation θ m, and stores.

This anglec of rotation θ m is equivalent to direct of travel rotation angle 55.

Thus, the direction that cradle exists is determined.

Further, the decision of θ m also can not use dh, dh2, and according to the magnitude relationship of θ f and θ g as the flow process of Figure 12 (b) Carry out as shown in figure.

Figure 12 (b) is the flow chart of other computational methods illustrating anglec of rotation θ m.

In Figure 12 (b), the difference is that only the process replacing step S34 to the S37 from Figure 12 (a), carry out step This point of the process of S41, other process are identical with Figure 12 (a).

In step S41, use following arbitrary numerical expression, calculate anglec of rotation θ m according to θ f and θ g.

θ m=-(θ f+ θ g)/2 (θ f≤θ g)

θ m=(θ f+ θ g)/2 (θ f>θg)

(wherein, 0 °≤θ f, θ g≤360 °.)

Then, the process as shown in step S14 of Fig. 8 is carried out, in current location, only rotation angles degree θ m, It by the direction of anglec of rotation θ m, is set as the direct of travel of self-propelled sweeper.

And then, carry out the process as shown in the step 6 of Fig. 5, to the direct of travel setting, start straight movement, Return to cradle.

So, by using the variable quantity measuring distance, precision the direction that cradle exists can preferably be determined.

And, it is also possible to combination Figure 12 (a) or Figure 12 (b) shown in process and embodiment 2 shown in calculating mensuration away from From maximum and the process averagely determining direction that cradle exists of minimum of a value.

And then, it is also possible to as shown in embodiment 3, the repeatedly process of Figure 12 (a) or Figure 12 (b) repeatedly.

So, by when and combine the process of several embodiment, when and repeatedly perform same process, can carry further The precision that the high direction that there is cradle is detected.

(embodiment 5)

In embodiment 5, different from above-described embodiment 1～4, it is shown through self-propelled sweeper 1 and revolves round the sun, obtain charging Distance d between seat and self-propelled sweeper 1 is minimum revolution angle θ A, is determined as the direction shown in this revolution angle θ A The situation in the direction that cradle exists.

Figure 13 illustrates the summary description figure of the Return-ing direction determination processing of this inventive embodiment 5.

Figure 14 illustrates the flow chart of the Return-ing direction determination processing of this inventive embodiment 5.

Figure 13 (a) shows that self-propelled sweeper 1 starts the initial rotational position of revolution.

Curve shown in figure dotted line represents the circumference that self-propelled sweeper 1 revolves round the sun, and self-propelled sweeper 1 is on this circumference Rotate 1 time from initial rotational position.

And, symbol O represents the center of the circle of the circumference of revolution, and symbol R represents the revolution-radius of this circle.

That is, the circumference of the circle at distance revolution center O radius R for the self-propelled sweeper 1 carries out 1 time to rotate.

Here, the position of revolution-radius R and revolution center O can be arbitrary.

But, the radius R of circle is more big more precision can determine well the direction that cradle exists.

And, the period of self-propelled sweeper 1 revolution, it is not necessary to carry out the rotation as shown in embodiment 1 grade.

In step S51 of Figure 14, set revolution-radius R.

It although revolution-radius R can be arbitrary, but is set as the current location than cradle and self-propelled sweeper 1 Measure the also short value of distance d.

Then, in step S52, in order on the circumference of the circle of revolution-radius R walking, with only leave from current location away from From the form that the position of R is revolution center O, start revolution from current location.

In step S53, in the period of revolution, at multiple measuring point P, measure the anglec of rotation θ p of revolution and arrive cradle Till distance dp, as revolution mensuration information 57, be stored in storage part 51.

Public affairs have been carried out the position measuring the measuring point A for minimum for distance d to cradle shown in Figure 13 (b) State when turning.

Will with this measuring point A corresponding revolution angle as θ A.

Then, in step S54, after having carried out 1 time rotating to initial rotational position, terminate to rotate (revolution).

Figure 13 (c) illustrates that self-propelled sweeper 1 revolves round the sun, by carry out 1 time rotate return to initial rotational position till State.

In step S55, minimum range dA among distance dp that measures of storage in step S53 is detected, takes With the measuring point A corresponding revolution angle θ A determining this minimum range dA, and must store.

In this embodiment 5, direct of travel revolution angle will be set as with minimum range dA corresponding revolution angle θ A 58.

That is, on the extended line that the center O and measuring point A of the circle of revolution are linked up, exist as destination object thing Cradle.

In step S56, self-propelled sweeper 1, from the current location shown in Figure 13 (c), only rotates (revolution) revolution angle θA.

And, it by the direction of this revolution angle θ A, is set as the row that self-propelled sweeper 1 returns to the direction of cradle Enter direction.

Figure 13 (d) illustrates the state of the revolution angle θ A that only revolved round the sun.

In step S57, static in the position of the revolution angle θ A that only revolved round the sun, with direct of travel towards revolution angle θ A's The mode in direction, carries out rotation.

That is, signal communication unit 14 is in the way of the direction existing towards cradle, only rotation anglec of rotation θ A.

Only rotation anglec of rotation θ A, be in order to using the direction of advance of self-propelled sweeper 1 as the direction towards cradle.

Figure 13 (e) illustrates the state from Figure 13 (d), self-propelled sweeper 1 only rotation anglec of rotation θ A, and becoming can be to filling The situation of the state of the straight movement in direction that electricity seat exists.

Afterwards, as step S6 of Fig. 5, self-propelled sweeper 1, to set direct of travel, starts straight movement.

As above, revolved round the sun by making self-propelled sweeper 1, obtain minimum range dA till cradle, can It is easily determined by the direction that cradle exists.

And, by making the revolution on the circumference of regulation of self-propelled sweeper 1, measure revolution mensuration information 57, make survey Revolve round the sun the measuring point A of minimum range dA determined to cradle, and in order to make direct of travel be towards filling The electricity direction of seat and rotation, can reduce the useless walking of returns to cradle and the walking leaning on wall, promptly return Cradle.

Further, in the case of making self-propelled sweeper 1 revolve round the sun, it is also possible to as embodiment 2 and 3, including and maximum Apart from corresponding revolution angle, range determination multiple measuring point at is repeated.

Furthermore, it is also possible to as described in Example 4, the variable quantity of distance d being measured when calculating revolution, carries out employing this The decision in the direction of variable quantity.

And then, it is also possible in embodiment 5, the direction determining method of any one of combination embodiment 2 to 4, determine The direction that cradle exists.

In such manner, it is possible to more precisely determine the direction that cradle exists.

Description of reference numerals

11 control units, 12 rechargeable batteries, 13 battery remaining surplus test sections, 14 signal communication units, 15 ultrasonic sensors, 16 Range determination portion, 17 range estimation portions, 18 direction determining portions, 19 infrared receiver portions, 21 travelling control portions, 22 wheels, 25 away from From variable quantity calculating part, 26 distance variable quantity detection units, 31 air entries, 32 exhaust outlets, 33 dust collecting part, 34 obstacle detection portions, 35 Input unit, 41 cradle connecting portions, 51 storage parts, 52 mensuration information, 53 minimal information, 54 maximum information, 55 direct of travels are certainly Gyration θ m, 56 distance variable quantity information, 57 revolution mensuration information, 58 direct of travel revolution angle θ A, 100 cradles, 101 sweep Except machine connecting portion, 102 signal communication units, 103 control units, 104 power feeding section, 105 source power supplies, 106 infrared ray sending parts.

Claims

1. a self-propelled e-machine, walks automatically towards the position of destination object thing, it is characterised in that possess：

Travelling control portion, the rotation of control wheel makes described self-propelled e-machine carry out straight line moving and spinning movement；

Signal communication unit, receives the wireless signal sending from described destination object thing；

Range determination portion, according to the wireless signal of described reception, is measured to the distance till described destination object thing；

Direction determining portion, the direction that there is described destination object thing judges；And

Control unit,

Described control unit passes through described travelling control portion, makes described self-propelled e-machine carry out spinning movement in current location, During spinning movement, the distance to described destination object thing is surveyed by described range determination portion at multiple measuring points Fixed；

Described direction determining portion uses the multiple mensuration distance in the plurality of measuring point mensuration and the rotation at described each measuring point Gyration, determines the direction that described destination object thing exists.

2. self-propelled e-machine according to claim 1, it is characterised in that

Possessing range estimation portion, this range estimation portion is among the mensuration distance that the plurality of measuring point measures, it is determined that minimum Mensuration distance；

Described direction determining portion in terms of the center of spinning movement by the center of described spinning movement and the survey determining described minimum The straight line that the measuring point a of set a distance links up, the direction that will extend to the direction at described measuring point a place, it is determined that be described The direction that destination object thing exists.

3. self-propelled e-machine according to claim 1, it is characterised in that

Possessing range estimation portion, this range estimation portion is among the mensuration distance that the plurality of measuring point measures, it is determined that minimum Measure distance and the mensuration distance of maximum；

The position of the 1st measuring point to the mensuration distance determining described minimum for the described direction determining portion and described from determining The mean place that the measuring point of maximum mensuration distance has been carried out between the position of 180 degree of the 2nd measuring points rotating calculates, The straight line linking up the center of described spinning movement with described mean place in terms of the center of spinning movement, will put down to described The direction that the direction at equal place, position extends, it is determined that the direction existing for described destination object thing.

4. self-propelled e-machine according to claim 1, it is characterised in that possess：

Distance variable quantity calculating part, uses the mensuration distance measuring at the plurality of measuring point, calculates at described each measuring point The variable quantity of mensuration distance；And

Distance variable quantity detection unit, among the variable quantities of the described multiple mensuration distances calculating, it is determined that maximum variable quantity and Minimum change,

Described direction determining portion is to the position of the 1st measuring point calculating described maximum variable quantity and calculates described minimum become Mean place between the position of the 2nd measuring point of change amount calculates, by described spinning movement in terms of the center of spinning movement The straight line that links up with described mean place of center, the direction that will extend to the direction at described mean place place, it is determined that The direction existing for described destination object thing.

5. a self-propelled e-machine, walks automatically towards the position of destination object thing, it is characterised in that possess：

Control unit,

Described control unit makes described self-propelled e-machine move on the path of regulation by described travelling control portion, in institute Stating in moving, the distance to described destination object thing is measured by described range determination portion at multiple measuring points, described Direction determining portion uses the multiple positional informations measuring distances and described each measuring point measuring at the plurality of measuring point, determines The direction that described destination object thing exists.

6. self-propelled e-machine according to claim 5, it is characterised in that

Described control unit makes described self-propelled e-machine by described travelling control portion, along the circumference shifting of the circle of predetermined radius Dynamic；

The period that described direction determining portion circumferentially moves, use in the plurality of multiple mensuration distance measuring with in institute State the angle at the center from described circle of measuring point, determine the direction that described destination object thing exists.

7. the self-propelled e-machine according to any one in claim 1 to 6, it is characterised in that possess：

Described wireless signal is the BLE signal being determined by the specification of bluetooth low energy consumption, the BLE receiving according to described signal communication unit The receiving intensity of signal, described range determination portion is measured to the distance till described destination object thing.