4 3446 8 A7 B7 五、發明說明（1 ) 登明領域 本發明有關用以決定在一區域中之一體部位置之光 偵測設備，且有關裝有此光偵測設備之一有獨立機能之載 具(autonomous vehicle)(通常為機械臂清潔裝置）。 5 發明背景 1998年出版的“RAM為基礎之中立網路”在頁166-Π3中名為“簡單機械臂昆蟲用之複合眼部’’一文件(ISBN 981-02-3253-5)描述在一截角二十面體頂面裝設有光從屬 電阻且採用一辨別網路以估計室中昆蟲位置之一機器，該 10 辨別網路需要訓練。 發明概要 本發明企圖提供一改良的光偵測設備，其適用於一 有獨立機能之載具上。 本發明的一第一觀點係提供光偵測設備以決定在一 15 區域中之一鱧部的位置，該設備包含至少兩個光偵測裝置 以裝設在體部上且能夠由置有體部的環境接收光線，該等 裝置位於繞一垂直轴線呈角度分開之一各別偵測點上；用 以供應代表各偵測點上接收之至少兩不同光型值的資訊之 機構；及用以比較由光偵測設備接收的資訊與先前由光偵 20 測設備接收並儲存在一記憶體中的資訊以判別光偵測設備 所偵測的光線何時與先前由光偵測設備所偵測的光線相同 或概呈相同之機構。 本發明之另一觀點提供一具有獨立機能之載具，其 中包含動力作業機構以使載具在一區域周圍移動，及一導 本紙張尺度適用t關家標準<CNS)A：1規格⑵Q心7公餐） (請先閱讀背面之沈意事項再填寫本頁> --------訂---------線 經濟部智慧財彦局員工消費合作社印製 經濟部智慧財產局員工消費合作社印製 4 3446 8 A7 —__ B7 五、發明說明（2 ) 航系統以辨識載具位置，該導航系統包括上述光偵測設備 以使載具決定何時已回到該區域中之一類似位置。 藉由獲得代表各偵測位置處所接收的至少兩不同光 型的資訊，裝置可更佳判別在一區域中的位置處與該區域 5 另一位置處所取之一組光測量值。譬如，一特定方向中之 整體光值可能相似，但構成類似值的光型可有相當不同之 相對量。光型可為環境光線及人造光，譬如白熱光及螢 光。有關不同光型之資訊可得自過濾或處理各光偵測裝置 接收的訊號，以獲得固定（自然光）與時變（人造）光型的值 10 之相關資訊。該設備尤可有效用於一室内環境，其中常有 自然與人造光之混合，各光源係不同地位於一房間内。 光"f貞測裝置可為光電晶體或光二極體，另可為.一 CCD陣列。 較佳，接收光線的點係繞垂直轴線作等角間隔，使 15 該裝置呈旋轉對稱性。 較佳’光偵測裝置皆支撐於一水平平面中。 較佳，至少有四個、更佳有八個光偵測裝置。 光偵測裝置可支撑在可安裝在一具有獨立機能之載 具上之一殼體内。 20 具有獨立機能之載具可為一機械臂地板清潔裝置， 譬如機械臂真空清潔器。 較佳，光偵測設備係支撐在體部的一最上部上，其 中係支撐光偵測裝置，使其可在自水平往上延伸的一垂直 平面中的一入射光束角上接收光線。 -4- 本紙張尺度適用中國國家標準（CNS)A4 ^ (210 x 297公羞) ------ (請先閱讀背面之注意事項再填寫本頁) 裝- ------訂---------線* A7 4 34 468 五、發明說明（3 ) 具有數種提議以提供機械臂或具有獨立機能之真空 清潔裝置，其可清潔一地板區域而不需要使用人員沿地面 推或拉.動清潔裝置》—般係由隨機或返復進行—地板區域 覆蓋型（pattern of coverage of the floor area)而運作。部份 5 的這些清潔裝置需要導航信號以安裝在一房間中使得清潔 裝置決定其位置並沿地板區域作導航。但是，因為其需要 安裝在使用者想要使用清潔裝置之各房間中故為不良的。 因此，本發明的另一觀點提供用以清潔一地板區域 之一具有獨立機能之地板清潔裝置，包含： 10 -動力作業機構，用以沿地板區域移動該載具，及一 導航系統，用以辨識載具位置且用以控制清潔裝置之移 動，其中導航系統包括一光偵測設備，包含： -至少兩個光偵測裝置，係安裝在一體部上且能夠自 置放清潔裝置之環境接收光線，讓偵測裝置位於繞一垂直 15 軸線呈角度間隔之各光偵測點處， -用以供應代表各光偵測裝置所偵測光線值的資訊之 機構，及 -用以比較自光偵測設備接收的資訊舆先前由光偵測 設備所接收且儲存在一記憶體中的資訊之機構，以辨識光 20偵測k備所偵測的光線何時與先前由光偵測設備所彳貞測的 光線相同或概呈相同，表示清潔裝置回到區域中之一類似 位置。 採用光偵測設備可不再需要導航信號，光偵測設備 在清潔裝置進行一地板區域的螺狀覆蓋型（spiralling 本紙張尺度洎用中國國家標準(CNS)A4規格（21〇 X 297公室) ·^--------訂---------線 (請先閱讀背面之;1意事項再填寫本頁) 經濟部智慧財彦局員工消費合作社印製 4 34 4 6 84 3446 8 A7 B7 V. Description of the invention (1) Field of the invention The invention relates to a light detection device for determining the position of a body in an area, and one of the light detection devices equipped with an independent function. Autonomous vehicle (usually a robotic arm cleaning device). 5 BACKGROUND OF THE INVENTION A document entitled "RAM-Based Neutral Network" published in 1998 entitled "Complex Eyes for Simple Robotic Arm Insects" (ISBN 981-02-3253-5) on pages 166-Π3 is described in A truncated icosahedron is equipped on its top surface with a light dependent resistor and a discrimination network that estimates the position of insects in the room. The 10 discrimination network requires training. SUMMARY OF THE INVENTION The present invention seeks to provide an improved light detection A detection device is suitable for a vehicle with independent functions. A first aspect of the present invention is to provide a light detection device to determine the position of a crotch in a 15 area. The device includes at least two light detection devices. The measuring devices are installed on the body and can receive light from the environment in which the body is placed. These devices are located on a separate detection point angularly separated around a vertical axis; and are used to supply representative detection points. A mechanism for receiving at least two pieces of information of different light type values; and for comparing the information received by the light detection device with the information previously received by the light detection device and stored in a memory to identify the light detection device When the detected light is different from the previous The same or nearly the same mechanism is detected by the light detection device. Another aspect of the present invention provides a vehicle with independent functions, which includes a power operation mechanism to move the vehicle around an area, and a guide The standard of this paper is applicable to the standard of housekeeping < CNS) A: 1 size ⑵ Q heart 7 meals) (Please read the conscientious matters on the back before filling this page > -------- Order ---- ----- Printed by the Consumers 'Cooperative of the Smart Finance Bureau of the Ministry of Economic Affairs Printed by the Consumers' Cooperative of the Intellectual Property Bureau of the Ministry of Economics 4 3446 8 A7 —__ B7 V. Description of the invention (2) Navigation system to identify the vehicle position, the The navigation system includes the light detection device described above to enable the vehicle to determine when it has returned to a similar location in the area. By obtaining information representing at least two different light types received at each detection location, the device can better determine whether A set of light measurements taken at a location in one area and at another location in the area 5. For example, the overall light value in a particular direction may be similar, but the light patterns that constitute similar values may have quite different relative amounts. Light type can be ambient light and artificial light For example, incandescent light and fluorescent light. Information about different light types can be obtained by filtering or processing the signals received by each light detection device to obtain information about a fixed (natural light) and time-varying (artificial) light type value of 10. The The device can be effectively used in an indoor environment, where there is often a mixture of natural and artificial light, and each light source is located in a room differently. The light " f measurement device can be a photoelectric crystal or a photodiode, and the other can be. A CCD array. Preferably, the points receiving light are equiangularly spaced around the vertical axis, so that the device is rotationally symmetrical. Preferably, the light detection devices are supported in a horizontal plane. Better, at least There are four, and more preferably eight light detection devices. The light detection device can be supported in a case that can be mounted on a carrier with independent functions. 20 A stand-alone vehicle can be a robotic arm floor cleaning device, such as a robotic vacuum cleaner. Preferably, the light detecting device is supported on an uppermost part of the body, wherein the light detecting device is supported so that it can receive light at an incident beam angle in a vertical plane extending from horizontal to upward. -4- This paper size applies to Chinese National Standard (CNS) A4 ^ (210 x 297 male shame) ------ (Please read the precautions on the back before filling this page) --------- Line * A7 4 34 468 5. Description of the invention (3) There are several proposals to provide a robotic arm or a vacuum cleaning device with independent functions, which can clean a floor area without the need for personnel Pushing or pulling along the ground. Moving the cleaning device "—generally by random or back-and-forth—the pattern of coverage of the floor area operates. These cleaning devices of Part 5 require navigation signals to be installed in a room so that the cleaning device determines its position and navigates along the floor area. However, it is not good because it needs to be installed in each room where the user wants to use the cleaning device. Therefore, another aspect of the present invention provides a floor cleaning device with independent functions for cleaning a floor area, including: 10-a power operating mechanism for moving the vehicle along the floor area, and a navigation system for Identifies the position of the vehicle and controls the movement of the cleaning device. The navigation system includes a light detection device including:-at least two light detection devices, which are installed on the integrated part and can receive the environment of the cleaning device. Light, so that the detection device is located at each light detection point at an angular interval around a vertical 15 axis,-a mechanism for supplying information representing the light value detected by each light detection device, and-for comparing self-light The information received by the detection device is a mechanism previously received by the light detection device and stored in a memory to identify when the light detected by the light detection device 20 is different from the light previously detected by the light detection device. The same or nearly the same light indicates that the cleaning device is returning to a similar location in the area. The use of light detection equipment can eliminate the need for navigation signals, and the light detection equipment performs a spiral covering on the floor area in the cleaning device (spiralling This paper standard uses the Chinese National Standard (CNS) A4 specification (21〇X 297 rooms)) ^ -------- Order --------- line (please read the back; please fill in this page before filling out this page) Printed by the Staff Consumer Cooperative of the Wisdom Finance and Economics Bureau of the Ministry of Economic Affairs 4 34 4 6 8
經濟部智慧財產局員工消費合作社印製 pattern)尤其有效。在地扳區域之各巡迴之後，清潔裝置 回到區域中之一相似位置，並使得清潔裝置向内走（若螺 旋呈内螺狀）一步的距離或向外走（若螺旋呈内螺狀）一步 的距離°此一步的距離可為固定，譬如清潔裝置之一個或 5大致一個寬度，或可由一使用者所選擇》 本發明之其他觀點提供一導航系統及軟體以使一導 航系統中之-控制處理器運作，使得一具有獨立機能之載 具以上述方式運作。本發明之其他觀點提供一種利用光偵 測設備決定在一區域内之體部位置之方法，及一種利用自 10光偵測設備所接收的資訊來控制清潔裝置作業之方法。 現僅由範例參照圖式來特別描述本發明’其中： 囷式之簡單說明 圖ΙΑ、IB、1C顯示根據本發明第一觀點的光偵測 裝置之不同實施例之示意圖； 15 圖1D為光偵測設備之分解圖； 圖1E為光偵測設備之側視圖； 圖2為圖1的光偵測設備之各光偵測裝置相關的一 過濾網路之電路圖： 圖3為圖1中之一光偵測裝置所送回之一訊號的範 20 例； 圖4為用以處理自圖丨的光偵測裝置接收之訊號之 另一設備； 圖5A及5B顯示如何轉換來自光偵測裝置之光測量 值； 本紙張尺度適用中囤周家標準（CNS)A4規格（210 X 297公爱） 1 ^ --------i I ------, (請先閱讀背面之注意事項再填寫本頁) 434468 A7 B7 五、發明說明（ 體圖 圖6顯示儲存光測量值的一方法； 圖7顯示比較兩組光測量值之—範例； 圖8顯示比較光測量值的一方法； 圖9為採用光制設備之—機械臂真空清潔器之立 經濟部智慧財產局員工消費合作杜印製 圖10為圖3所示的機械臂真空清潔器所用之一動力 管理系統與一導航系統之電路圖； 圖11A及11B顯示一典型房間中之清潔裝置及裝置 上的感測器所產生之測量值； 圖丨2顯示清潔裝置可沿一房間導航之方式； 圖13顯示控制清潔裝置以圖12方式沿—房間導航 之方法的流程圖； 圖14為根據本發明之光偵測設備的第四實施例之示 意圖。 15圖式之詳細説明 首先參照圖1A，所示的光偵測設備包含八個光偵測 袭置1〇($為光電晶體或光二極體），其環繞一中央軸線8 4角隔開且安裝在一塑膠殼體11中。塑膠般體11可安裝 在譬如一具有獨立機能之載具之一體部或其他待決定位置 之裝置上。光偵測裝置10係配置在一共同平面中（通常為 使用中之一水平平面）’以測量在光偵測設備周圍的八個 不同羅盤點（compass points)所接收的光線。光偵測裝置 10係從中央軸線8朝向外部。較佳地，隔離構件5位於 相鄰的光偵測裝置10之間。隔離構件5作用係限制各裝 10 20 本紙張尺度通用中國國家標準（CNSM4蜆格（2】0 X 297公釐） -----------—一 · I I I I I — .— — — — ·ιι· · (諳先閲讀背面之注意事項再填寫本頁)The pattern printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs is particularly effective. After each tour of the floor area, the cleaning device returns to a similar position in the area, and makes the cleaning device go inward (if the spiral is in the shape of a spiral) one step or outward (if the spiral is in the shape of a spiral) The distance of one step ° The distance of this step can be fixed, such as one or five of the width of the cleaning device, or can be selected by a user. Other aspects of the present invention provide a navigation system and software to make a navigation system- The control processor operates so that a vehicle with independent functions operates in the manner described above. Other aspects of the present invention provide a method for determining a body position in a region using a light detection device, and a method for controlling a cleaning device operation using information received from a light detection device. The present invention will now be specifically described by way of example and with reference to the drawings. Among them: Brief description of the formulas Figures IA, IB, and 1C show schematic diagrams of different embodiments of the light detection device according to the first aspect of the invention; 15 Figure 1D is a light Exploded view of the detection device; Figure 1E is a side view of the light detection device; Figure 2 is a circuit diagram of a filter network related to each light detection device of the light detection device of Figure 1: Figure 3 is a Example 20 of a signal sent by a light detection device; Figure 4 is another device for processing signals received from the light detection device of Figure 丨 Figures 5A and 5B show how to convert from a light detection device Light measurement value; This paper size is applicable to CNS A4 specification (210 X 297 public love) 1 ^ -------- i I ------, (Please read the back first Note for refilling this page) 434468 A7 B7 V. Description of the invention (Figure 6 shows a method for storing light measurement values; Figure 7 shows an example of comparing two sets of light measurement values; Figure 8 shows the comparison of light measurement values One method; Figure 9 is the intellectual property of the Ministry of Economic Affairs of the vacuum cleaner of the robotic arm using optical equipment Employee consumption cooperation Du printed Figure 10 is a circuit diagram of a power management system and a navigation system used in the robotic arm vacuum cleaner shown in Figure 3; Figures 11A and 11B show a cleaning device in a typical room and the sensing on the device Figure 2 shows the way the cleaning device can navigate along a room; Figure 13 shows the flowchart of the method for controlling the cleaning device to follow the room in Figure 12; Figure 14 is a light detection method according to the present invention; The schematic diagram of the fourth embodiment of the testing device. 15 Detailed description of the drawings First, referring to FIG. 1A, the light detection device shown includes eight light detection devices 10 ($ is a photoelectric crystal or a photodiode). Spaced around a central axis 84 at four corners and installed in a plastic housing 11. The plastic body 11 can be mounted on, for example, a body part of a carrier with independent functions or other devices to be determined. Light detection device The 10 series is arranged in a common plane (usually one of the horizontal planes in use) to measure the light received by eight different compass points around the light detection device. The light detection device 10 series The central axis 8 faces the outside. Preferably, the isolating member 5 is located between the adjacent light detecting devices 10. The function of the isolating member 5 is to limit the installation of each 10 20 The paper standard is generally Chinese national standard (CNSM4 蚬 格 (2) 0 X 297 mm) -----------— I · IIIII —. — — — — (Read the notes on the back before filling in this page)
4 34 46 B 經濟部智慧財產局員工消費合作杜印製 A7 B7 五、發明說明（6 ) 置10的視野’當隔離構件5接著對於光偵測裝置的視野 形狀具有一較大影響時，將偵測裝置10從殼體11周邊在 徑向往内安裝也是較佳的，如圖1A所示。 較佳地’各光偵測裝置10在與中央抽線8相垂直之 5 一第一使用中的水平平面中’遍及或大致遍及一概呈45 度角的入射光束角i(實際介於40與50度角之間）處接收 光線。各光偵測襞置10亦在通過中央軸線8且通過各偵 測裝置10之第二垂直平面以至少5度（通常為25度）之一 半錐角上接收光線。各光偵測裝置1〇在該第二平面中接 10收光線之入射光束角通常從水平往上延伸。光偵測器係從 包圍支撐有光偵測設備的載具之環境接收光線。 圖1B所示的另一設備中，其中設有三個光偵測裝置 10’ ’光偵測裝置10,係以非等角方式配置，但仍然環繞垂 直軸線8。光偵測裝置係能在約12〇度的一入射光束角上 15接收光線’使得接近殼體11的大部份光線係由至少一悄 測器10,所偵測。 圖ic顯示另一設備，此設備中，光偵測器係形成— 電荷1¾合裝置(CCD) ’包含數個（此例中為六個）光接收器 10”，其藉由光導體10a將接收的光線導往偵測光線之光 20偵測器10b之一中央陣列。如此係與上述設備不同，其中 在任何一個偵測器10、10,入射的光線係在相同位置受接 收及偵測。 圏1D為光偵測設備之分解圖。一印刷電路板31係 支揮該光偵測裝置10的陣列。引線30從板31承栽訊 本紙張尺度i§用家標準（CNS)A4規格（210 X 297公g ) (請先閱讀背面之注意事項再填寫本I)4 34 46 B Intellectual Property Bureau, Ministry of Economic Affairs, Consumer Cooperation Du printed A7 B7 V. Description of the invention (6) Set a field of view of 10 'When the isolation member 5 then has a large impact on the shape of the field of view of the light detection device, It is also preferable that the detection device 10 is installed radially inward from the periphery of the casing 11, as shown in FIG. 1A. Preferably, 'each light detection device 10 is in a first horizontal plane of use 5 which is perpendicular to the central drawing line 8' throughout or approximately throughout an incident beam angle i (actually between 40 and 50 degrees). Each light detection device 10 also receives light at a half cone angle of at least 5 degrees (typically 25 degrees) through the central axis 8 and through the second vertical plane of each detection device 10. The incident beam angle of each light detecting device 10 receiving light received in the second plane usually extends from horizontal to upward. The light detector receives light from an environment surrounding a vehicle supporting the light detection device. In another apparatus shown in FIG. 1B, three light detecting devices 10 'are provided therein, which are arranged in a non-equidangular manner, but still surround the vertical axis 8. The light detection device is capable of receiving light at an incident beam angle of about 120 degrees 15 so that most of the light close to the housing 11 is detected by at least one detector 10. Figure ic shows another device. In this device, the photodetector system is formed-a charge 1 ¾ device (CCD) 'contains several (six in this example) light receivers 10 ", which are connected by a photoconductor 10a The received light is directed to a central array of the light detecting light 20 detector 10b. This is different from the above device, in which the incident light is received and detected at the same position in any of the detectors 10 and 10.圏 1D is an exploded view of the light detection device. A printed circuit board 31 is an array supporting the light detection device 10. The lead 30 is carried from the plate 31 to the paper standard i§ User Standard (CNS) A4 specification. (210 X 297g) (Please read the notes on the back before filling in this I)
I 裝·------—訂 -----I---I 經濟部智慧財產局員工消費合作社印製 A7 B7 五、發明說明（7 ) 號，偵測裝置10固持在一嵌部32與一外環33之間的位 置。外環33的肋部34係配合於相鄰的光偵測裝置1〇之 間，肋片34作為圖1A的隔離構件5之功能且幫助界定 偵測器的觀察角度，使得各偵測器提供代表僅由本身所見 5光線之一測量值。一半球型透明塑膠元件35係配合於外 環及裝置上且遮蔽該等敦置。以此配置，光價測器可從一 完整360度角視野接收光線，該設備為小型且堅固並可容 納於-具有獨立機能之載具上，尤適置於一具有獨立機能 之載具的一上面上。 10 « 1E為谓測設備之側視圖，光偵測裝置以對於 水平呈一角度被支撐，使得裝置的視野從水平枉上延伸於 垂直平面中’裝置10係由外環33及鼓部32(未圖示）固定 在此位置。 於測量時，對體部所在之特定地點取得一組不同的 15訊號是报重要的。可由獲得代表各位置所制之不同型光 線（自然光、白熱、螢光）訊號或光色而達成。一種達成此 效果的方式係在各傾測位置提供-組各別的摘測器，各偵 測器係回應於不同型光線。 -更佳配置係提供在各偵測位置回應於完整範圍的 20預期光型之-俄測器。接著處理各偵測器之訊號輸出以獲 得代表各光髮之訊號。—種處理型式係從各债測器過濾輸 出。來自各光偵測裝置10、的訊號係如圖2進 給入一過濾網路，過濾網路包含一低通濾器12(常在約 10Hz運作下）、及一帶通濾器13(常在約7〇Hz下運作）。 本紙張尺度適用中國國家標舉（CNS)A4規格（210 x的7公釐） -------------. t---I----訂---I---- (請先閲讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消费合作社印製 -434468I equipment ----------- Order ----- I --- I Printed by A7 B7, Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs V. Invention Description (7) No., the detection device 10 is held in a built-in The position between the portion 32 and an outer ring 33. The ribs 34 of the outer ring 33 are fitted between adjacent light detection devices 10, and the ribs 34 function as the isolation member 5 of FIG. 1A and help define the observation angle of the detectors, so that each detector provides Represents the measured value of only one of the 5 rays seen by itself. The semi-spherical transparent plastic element 35 is fitted on the outer ring and the device and shields the anchors. With this configuration, the light price detector can receive light from a complete 360-degree field of view. The device is small and sturdy and can be accommodated on a vehicle with independent functions, especially suitable for a vehicle with independent functions. One on top. 10 «1E is a side view of the measuring device. The light detection device is supported at an angle to the horizontal, so that the field of view of the device extends from the horizontal to the vertical plane. 'The device 10 is composed of the outer ring 33 and the drum 32 ( (Not shown) is fixed in this position. During the measurement, it is important to obtain a different set of 15 signals for the specific location where the body is located. This can be achieved by obtaining different types of light (natural light, incandescent, fluorescent) signals or light colors made on behalf of each location. One way to achieve this effect is to provide a separate set of pickers at each tilting position, each detector responding to a different type of light. -A better configuration is provided at each detection position, which responds to the full range of 20 expected light patterns. Then, the signal output of each detector is processed to obtain a signal representing each light emission. A type of processing is filtering output from each debt detector. The signal from each light detection device 10 is fed into a filter network as shown in Figure 2. The filter network includes a low-pass filter 12 (usually operating at about 10 Hz) and a band-pass filter 13 (usually at about 7). 〇Hz operation). This paper size applies to China National Standards (CNS) A4 specification (210 x 7 mm) -------------. T --- I ---- Order --- I- --- (Please read the notes on the back before filling out this page) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs -434468
I A7 , _____B7_ 五、發明說明（8 ) 低通濾器12係可使一代表所偵測的環境或自然光之訊號 通過’且帶通濾器13使代表人工光線（亦即，所偵測之白 熱及螢光）的一訊號通過。 但是，可有兩個帶通濾器（通常在約50Hz及100Hz 5 下作業）以分別使代表所偵測白熱與螢光的訊號通過。濾 器12及13的輸出係進給入類比至數位轉換器14及15， 且儲存已數位化的值。 另一處理型式係將訊號轉換成數位形式並在一時間 間隔中監測已數位化的訊號，以獲得代表不同光型之值。 10 由一光偵測器10所送回之訊號顯示於圖3中。所接收的 訊號具有兩個成份’具有正常光線(如日光）所造成之一固 定或d.c.量47及人工光源(如白熱光及螢光)造成之一時變 量。白熱光依照通過之主要供電頻率而有亮度的變化。當 然自然光雖不具有頻率，因為光偵測裝置使所接收光線平 15緩成為一平均值而未偵測到光線的變化振幅。在1〇毫秒 期間的監測已知是有效的。圖4顯示用以實行此方法之裝 置。自各光偵測器10之輸出係基於時間多工而進給至處 理電路22。一多工器18係將來自光偵測器1〇的輸出耦 合至一類比至數位轉換器2〇及處理電路22 ^處理電路22 20在所監測時間中尋找所接收訊號之最小（45，圖3)及最大 值(46，圖3)。由最大及最小值，處理電路可獲得光線的 時變部之峰值至峰值範圍，此為最大與最小值之間的差 距。光線的d_c.值等於最小值45。可由FpGA、ASIC形 式之數位邏輯電路或在微處理器運作之軟體來進行處理。 10- 本紙張尺度適用中關家標準（CNS)A伐格（210 X 297公餐 1--- — — —— — —--------------^ ·11111---*5^， k (請先閱讀背面之注意事項再填寫本頁) 4 34 4 6 8 Α7 Β7 五、發明説明（9 ) 多工器18的作業係自各光偵測器1〇依序接收一訊猿。 上述光偵測設備分別具有八、三及六個光偵測裝置 10、10’、10”，但是，可能提供少到兩個光伯測裝置（其 限制條件為：其環繞軸線8大致等角分隔）或超過八個光 5偵測裝置。但是，較佳應有偶數個光偵測裝置且較佳環繞 一中央軸線呈等角分隔，以對於體部或殼體提供旋轉的對 稱性。須知旋轉對稱性之優點隨著所提供的光偵測製置數 量增多而減少。各光偵測裝置較佳於一使用中水平平面中 在一入射光束角（以360度角除以所提供的備測裝置數量 10 而大約計算）上接收光線。再次地，較佳特徵之優點隨著 光偵測裝置數量增多而減少。 光偵測裝置10、10’、10”係偵測可見光與紅外光。 但是’可想見對於可見光與紅外線提供較佳位於各彳貞測器 位置處之各別偵測器，以提供更易與其他位置所取者分辨 15之訊號及所存讀數。亦知可由適當濾器將進入的可見光分 離成為數個可分辨的顏色而由各別偵測器所接受。若遽器 使入射可見光分離成為紅、藍及綠光，則此會特別有效， 而可取得各基色的個別讀數。同樣地，確實可使用作為其 他組顏色（未必為三個顏色）的深紅、黃、藍綠色的互補 20 色，此其他組顏色允許可被偵測並被儲存之不同訊號。如 此可增加任一訊號或所存讀數與另一者之區別、且有助於 能夠使該設備精確地分辨於兩不同位置所取之讀數。 圖5Α及5Β顯示光偵測設備所進行之一轉換程序。 一光偵測器10所接收的光線係與對於—固定照度之固定 -11- 本紙張尺度適用中國國家標準（CNS ) Α4規格（2Ι0Χ297公釐） _____ (請先閱讀背面之注意事項再填寫本頁) ，1Τ 經濟部智慧財產局員工消費合作社印製 4 34 4 6 8 經濟部智慧財產局員工消費合作社印製 A7 B7 五、發明說明（1G) 源的距離呈指數變化。接近一光源處，偵測器之一小量位 置變化導致光測量值具有一大幅變化。但是，當偵測器遠 離一光源時，偵測器之一小變化僅造成光測量值之一小變 化。由於根據與一光源的距離，光偵測器測量值彼此相比 5較時有大幅變化，此指數關係難以作線性比較。圖5A顯 示實際光強度（垂直軸線）如何隨著與一光源的距離（水平 軸線）而變化。處理電路22係將一光偵測器10送回之實 際光強度測量值轉換成一個與光源的距離更呈線性變化之 新值。這是一個對數型轉換，可採用處理電路22所存之 10 —查閱表（圖5B)進行此轉換。當偵測器以相等間距由光 源移動時，可經由檢查一光偵測器所送回之光值範圍來編 排查閱表。為簡化起見，一光偵測器所送回之實際光測量 值係轉換成0.. 100範圍之一值，如圖5B所示。 圖6顯示由圖4的光偵測設備進行的步驟以儲存測 15量值。首先，在步驟27〇中，設備在偵測器陣列中自一光 偵測益I 〇接收一波形。為求取測量值，其中需要步驟 (272)，如上述者，且儲存測量值之前係利用查閱表而轉 換dc測量值。對於各光偵測器（步驟278)重覆上述方式。 現在描述一種用於配合兩組光測量值以決定產生該 2〇等’則量值之位置是否相同之程序。圖7顯示光羅盤17所 送回之兩組讀數。組750顯示對於清潔裝置的一第一位置 之讀數，752 4清潔裝置的一第二位置之讀數。數字係在 環繞清潔裝置之各個八方向中對應於光偵測器所送回之已 轉換的測量值。圖8顯示比較兩組光羅盤測量值之方法中 -12· 本紙張尺度適財國國家標準（CNSM4規格⑽χ 297公餐） {請先閱讀背面之注音？事項再填寫本頁) 裝--------訂--------線一 434468 Α7 Β7 五、發明説明（u) 之步驟，對於各偵測器方向在偵測器測量值之間計算出一 差距’此差距在圖7中顯示為754，獲得兩組讀數之間的 一總差距（圖7範例中，5+10+0+0+0+5+0+0=20)，然後除 以偵測器數量（圓7中為八個偵測器）以獲得一誤差計量。 5光偵測裝器可利用此方式獨立地考量所接收光線之dc(自 然光)與ac(人造光）成份。但是’因為測量值常小於測 量值且轉換會將其不良地扭曲，故較佳並未利用查閱表來 轉換ac光的測量值。此比較程序之結果為代表在兩位置 所取之兩組讀數的類似性之一誤差計量β對於兩組測量值 10之各可能定向（共8個）’獲得一誤差計量。在不同定向中 比較兩組測量值的原因是因為：雖然可能在載具位於相同 位置時取得兩組測量值，但載具可能未在相同方向中指 向。藉由在不同定向中比較測量值，可在這些狀況下發現 一適當的匹配。 15 可根據各種判別標準來衡量誤差計量之結果組合， 並最後與一低限值相比較以決定兩組測量值的一特定定向 是否夠好而能代表一匹配結果。 上述光偵測設備之一特定應用為幫助定位一具有獨 立機能之載具（通常為一機械臂清潔裝置，如機械臂真空 20 清潔器），而在一房間中辨別設備所憤測光線何時與先前 由光設備所偵測的光線相同或大致相同。由光偵測設備所 接收的資訊及由障礙避開感測器所接收的資訊接著可用以 在一房間内導航該具有獨立機能之載具。 圖9顯示具有機械臂真空清潔器1〇〇型式之一機械 -13- 本紙張尺度適用中國國家標準（CNS ) Α4規格（2丨〇'〆297公釐） (請先閱讀背面之注意事項再填寫本頁) 訂_ 經濟部智慧財產局員工消費合作社印製 4 34 4 〇 〇 經濟部智慧財產局員工消費合作社印製 Α7 Β7 五、發明說明（12 ) 臂、或具有獨立機能的地板清潔裝置，其中包含一主體部 或支擇機殼102、兩個從動輪104、一刷桿殼體122 '兩 個可充電電池161及162、一個在EP-A-0042723詳述之 雙旋風分離器152型式之隔塵裝置、一使用者介面144及 5 如下詳述之各種感測器202、204、206、208、210、 220、230、240、250。光偵測設備或光羅盤π安裝在清 潔裝置100之上面。此位置中之光偵測裝置17在清潔裝 置周圍具有一未受阻的視野，光偵測設備内部之偵測裝置 係如圖1E所示配置’其視野在垂直平面中從水平往上延 10伸’使得偵測裝置未受清潔裝置的元件所阻礙。 圖10顯示圖9的清潔裝置所用之一控制電路，電路 包含兩個可充電電池161、162、一個電池及馬達管理系 統41、一個用以驅動一吸風機之馬達5〇、用以驅動真空 清潔器之左與右側輪104之牽引馬達43、一用以驅動真 15空清潔器的刷桿與處理電路23之馬達28，該處理電路23 包括一微處理器及場可程式化閘陣列（FPGa)。一使用者 介面板29提供多數使用者開關75以供使用者控制清潔裝 置，及多數指示燈70以供清潔裝置對於使用者提供指 不。使用者介面板亦耦合至光偵測器17，而清潔裝置的 20上面對於光偵測器提供一未受阻的環境視野。一導通匯流 排70將處理電路23耦合至電池及馬達管理系統41與使 用者介面板2 9。在光侦測設備17内來自各光偵測裝置i 〇 的冽量值係沿匯流排70載至進行上述所有處理之處理電 路23。光測量值之組合係儲存於記憶體97中，而查閱表 -14- 本紙張反度適國家標準（CNS)A4規格（210 X -- ------------ 丨 * 裝— ί—！1τ·ί-----線， {請先閱讀背面之注意事項再填寫本頁} 4 34 4 6 8 經濟部智慧財產局員工消費合作社印製 A7 B7 五、發明說明（） (圖5B)儲存於一非揮發記憶體96中。用以進行光偵測裝 置所作的光測量值處理、用以比較測量值、且用以控制清 潔裝置的導航之控制軟體係儲存於記憶體96中而由處理 電路23所執行。 5 機械臂真空清潔器亦裝有多數紅外線發送器21 Oa、 220、226、230a及紅外線接收器225、多數超音波發送器 202a、204a、206a、208a 及超音波接收器 202b、204b、 206b、208b、低限值偵測器（95 ,圖1〇)(其用以偵測譬如 置於一房間入口或一樓梯邊緣之一可攜式低限值定位 10器）、及一或多個熱電或被動紅外線(PIR)偵測器240a、 240b以偵測接近清潔裝置之熱源（譬如動物及火广四個主 要超音波接收器202b、204b、206b、208b係朝向機械臂 真空清潔器之前側、後側、及相對側。這些接收器所接收 的訊號不但提供代表與房間的一特徵的距離或與房間中一 15物體的距離之資訊，並且所接收訊號的振幅及寬度係根據 物體材料的感測器尺寸、形狀及類型而變化。 圖11A及11B顯示裝置從其感測器接收何種資訊， 這些圖顯示房間中的清潔裝置1〇〇包含一桌4〇〇與沙發 402之障礙。清潔裝置係用其光羅盤17測量自八個不同 20 方向（LI、L2、L3、L4、L5、L6、L7、L8)中接收的光 線。此測量之組合一般發現在一已知房間中（或於機械臂 裝置的數個寬度區域内）是獨特的。圖丨丨中的房間係由來 自一窗702與一人造源700的自然光的組合所照明。來自 光源的光線在到達清潔裝置上的光羅盤17之前，係由物 -15- 本紙張尺度適用中®國家標準（CNSM4規格（210 X 297公餐） J .裝*-------訂---------線- (請先閱讀背面之注意事項再填寫冬頁) 434468 經濟部智慧財產局員工消費合作社印製 A7 B7 五、發明說明（14 ) 體400、402及房間壁所反射。除了光羅盤17之外，清潔 裝置亦有在圖中位於清潔裝置之前、左、右、後方上之超 音波感測器202、204、206、208組。圖11B顯示超音波 感測器產生之測量值。各超音波感測器提供指示物體與清 5潔裝置的距離之一訊號US1、US2、US3、US4。超音波 感測器資料US1..US4及光羅盤資料L1..L8的組合可使清 潔裝置獨特地辨識其在房間内之位置。 圖12及13顯示操作機械臂真空清潔器以清潔房間 之一方法，該方法可使清潔器以概呈螺旋方式橫越房間。 10清潔器通常沿一壁相傍配置或在房間中自由配置（圖12， 位置W)。首先找到一房間特徵(步驟3〇〇; A，圖12)，較 佳此係為一房間壁或房間中之主要物體或特徵。一但已經 找到一房間特徵，清潔裝置則沿房間邊緣往前移動，此期 間係稱為“周邊掃瞄’’，其中機器盡量接近地順應房間的周 15邊，機器係使壁（或其他障礙）接近機器的左側。如圖12 中之點A-Η所tf。機器係使壁接近機器左側（因為此側係 為清潔器頭部22突出之側）。清潔器上的各種感測器係偵 測房間中之障礙及其他房間特徵，譬如一房間的角落及壁 爐，且處理電路23係導航該機械臂真空清潔器，以避免 20任何此等障礙並當抵達一房間特徵時改變方向。在抵達房 間特徵所造成之各改向時，處理電路23係儲存自光偵測 器Π及從记憶體97的四個主要超音波接收器2〇2b、 204b、20讣、20Sb所接收的資訊。此係為圖nA、11β 所示之資訊，這些點係稱為“方向點（way point)，，(B、c、 •16- t請先閱讀背面之注意事項再填寫本頁)I A7, _____B7_ V. Description of the invention (8) The low-pass filter 12 allows a signal representing the detected environment or natural light to pass through, and the band-pass filter 13 enables artificial light (ie, the detected white heat and (Fluorescent). However, there may be two band-pass filters (usually operating at about 50 Hz and 100 Hz 5) to pass signals representing the detected white heat and fluorescent light, respectively. The outputs of the filters 12 and 13 are fed into the analog-to-digital converters 14 and 15 and the digitized values are stored. Another processing type converts the signal into a digital form and monitors the digitized signal at a time interval to obtain values representing different light types. 10 The signal returned by a light detector 10 is shown in FIG. 3. The received signal has two components. It has a fixed or d.c. quantity 47 caused by normal light (such as sunlight) and a time-varying quantity caused by artificial light sources (such as incandescent light and fluorescent light). The incandescent light changes its brightness according to the frequency of the main power supply passing through it. Of course, although natural light does not have a frequency, the light detection device makes the received light level gradually become an average value without detecting the change amplitude of the light. Monitoring during 10 milliseconds is known to be effective. Figure 4 shows the device used to implement this method. The output from each photodetector 10 is fed to the processing circuit 22 based on time multiplexing. A multiplexer 18 couples the output from the photodetector 10 to an analog-to-digital converter 20 and a processing circuit 22. The processing circuit 22 20 finds the minimum of the received signal in the monitored time (45, figure 3) and the maximum value (46, Figure 3). From the maximum and minimum values, the processing circuit can obtain the peak-to-peak range of the time-varying part of the light, which is the difference between the maximum and minimum values. The d_c. Value of the light is equal to a minimum of 45. Processing can be performed by digital logic circuits in the form of FpGA, ASIC or software running on a microprocessor. 10- This paper size is applicable to Zhongguanjia Standard (CNS) A Fauge (210 X 297 public meal 1 --- — — — — — — — — — — — 11 111- -* 5 ^, k (Please read the precautions on the back before filling this page) 4 34 4 6 8 Α7 Β7 V. Description of the invention (9) The operation of the multiplexer 18 is sequentially from each light detector 10 Receive a message from the ape. The above-mentioned light detection equipment has eight, three, and six light detection devices 10, 10 ', and 10 ", respectively. However, it may provide as few as two light detection devices (the limitation is: its surrounding Axis 8 is roughly equiangularly spaced) or more than eight light 5 detection devices. However, preferably there should be an even number of light detection devices and preferably equiangularly spaced around a central axis to provide rotation to the body or housing It should be noted that the advantages of rotational symmetry decrease as the number of light detection devices provided increases. Each light detection device is preferably an incident beam angle (divided by 360 degrees in a horizontal plane in use) Receiving light on the basis of the number of test devices provided (approximately 10). Again, the advantages of better features increase with the number of light detection devices It is reduced. The light detection devices 10, 10 ', 10 "detect visible light and infrared light. However, it is conceivable to provide separate detectors for visible light and infrared light that are preferably located at the positions of the various sensors. Provides signals and stored readings that are more easily distinguished from those taken from other locations. It is also known that the incoming visible light can be separated into several distinguishable colors by appropriate filters and accepted by individual detectors. It becomes particularly effective for red, blue, and green light, and individual readings of each primary color can be obtained. Similarly, it is possible to use the complementation of deep red, yellow, and cyan as other groups of colors (not necessarily three colors) 20 This other set of colors allows different signals that can be detected and stored. This can increase the difference between any signal or stored reading and the other, and help to make the device accurately distinguish between two different locations. The readings are taken. Figures 5A and 5B show a conversion procedure performed by a light detection device. The light received by a light detector 10 is related to the fixed-fixed illuminance. Using the Chinese National Standard (CNS) Α4 specification (2Ι0 × 297 mm) _____ (Please read the notes on the back before filling out this page), printed by the Intellectual Property Bureau Employee Consumer Cooperative of the Ministry of Economic Affairs 4 34 4 6 8 Intellectual Property Bureau of the Ministry of Economic Affairs Printed by employee consumer cooperatives A7 B7 V. Invention description (1G) The distance of the source changes exponentially. Near a light source, a small change in the position of one of the detectors causes a large change in the light measurement value. However, when the detectors When away from a light source, a small change in the detector causes only a small change in the light measurement value. Since the light detector measurement value changes greatly compared to each other according to the distance from a light source, this exponential relationship is difficult Make a linear comparison. Figure 5A shows how the actual light intensity (vertical axis) changes with distance from a light source (horizontal axis). The processing circuit 22 converts the actual light intensity measurement value sent back by a light detector 10 into a new value which changes more linearly with the distance from the light source. This is a logarithmic conversion, which can be performed using a 10-lookup table (Figure 5B) stored in processing circuit 22. When the detectors are moved by the light source at equal intervals, the lookup table can be arranged by checking the range of light values sent back by a photodetector. For simplicity, the actual light measurement value returned by a photodetector is converted to a value in the range of 0 .. 100, as shown in Figure 5B. FIG. 6 shows the steps performed by the light detection device of FIG. 4 to store the measured values. First, in step 27, the device receives a waveform in a detector array from a light detection device I0. To obtain the measurement value, step (272) is required, as described above, and the dc measurement value is converted by using a lookup table before storing the measurement value. This is repeated for each light detector (step 278). A procedure for matching two sets of light measurement values to determine whether or not the position where the 20th magnitude is generated is the same will now be described. Figure 7 shows the two sets of readings returned by the light compass 17. Group 750 displays readings for a first position of the cleaning device, and 752 4 readings for a second position of the cleaning device. The numbers correspond to the converted measurements returned by the photodetector in each of the eight directions surrounding the cleaning device. Figure 8 shows the method of comparing two sets of optical compass measurement values. -12 · This paper is suitable for the national standard of the rich country (CNSM4 specification ⑽χ 297 meals) {Please read the note on the back? Please fill in this page for more information.) Install -------- Order -------- Line 1 434468 Α7 Β7 V. Description of the invention (u) The steps for each detector are measured at the detector A gap is calculated between the values' This gap is shown in Figure 7 as 754, to obtain a total gap between the two sets of readings (in the example in Figure 7, 5 + 10 + 0 + 0 + 0 + 5 + 0 + 0 = 20), and then divide by the number of detectors (eight detectors in circle 7) to get an error measure. The 5 light detection device can independently consider the dc (natural light) and ac (artificial light) components of the received light in this way. However, since the measured value is often smaller than the measured value and the conversion may be distorted badly, it is better not to use a lookup table to convert the measured value of the ac light. The result of this comparison procedure represents one of the similarities between the two sets of readings taken at two positions. Error measure β obtains an error measure for each possible orientation (total 8) of the two sets of measurements 10 '. The reason for comparing the two sets of measurements in different orientations is that although it is possible to obtain two sets of measurements when the vehicle is in the same position, the vehicle may not be pointed in the same direction. By comparing measured values in different orientations, an appropriate match can be found in these situations. 15 The combination of results of the error measurement can be measured according to various criteria, and finally compared with a low limit to determine whether a particular orientation of the two sets of measurements is good enough to represent a matching result. One of the specific applications of the above-mentioned light detection equipment is to help locate a stand-alone vehicle (usually a robotic arm cleaning device, such as a robotic arm vacuum 20 cleaner), and to identify in a room when the light detected by the device is related to The light previously detected by the optical device is the same or approximately the same. The information received by the light detection device and the information received by the obstacle avoidance sensor can then be used to navigate the independently functioning vehicle in a room. Figure 9 shows one of the 100 types of vacuum cleaners with a mechanical arm. Mechanical 13- This paper size applies to the Chinese National Standard (CNS) A4 specification (2 丨 〇'〆297 mm) (Please read the precautions on the back before (Fill this page) Order _ Printed by the Employees 'Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 4 34 4 〇 Printed by the Employees' Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 Β7 V. Description of the Invention (12) Arm, or floor cleaning device with independent function It includes a main body or optional housing 102, two driven wheels 104, a brush rod housing 122, two rechargeable batteries 161 and 162, and a dual cyclone separator 152 detailed in EP-A-0042723. The type of dust-proof device, a user interface 144 and 5 are various sensors 202, 204, 206, 208, 210, 220, 230, 240, 250 as detailed below. A light detecting device or a light compass π is mounted on the cleaning device 100. The light detection device 17 in this position has an unobstructed field of view around the cleaning device. The detection device inside the light detection device is configured as shown in FIG. 1E, and its field of view extends 10 degrees from horizontal to vertical in a vertical plane. 'Make the detection device unobstructed by the components of the cleaning device. FIG. 10 shows a control circuit used in the cleaning device of FIG. 9. The circuit includes two rechargeable batteries 161, 162, a battery and motor management system 41, a motor 50 for driving a suction fan, and a vacuum cleaning device. The traction motor 43 of the left and right wheels 104 of the device, a motor 28 for driving a brush rod of a true 15 air cleaner and a processing circuit 23, the processing circuit 23 includes a microprocessor and a field programmable gate array (FPGa ). A user interface panel 29 provides a plurality of user switches 75 for the user to control the cleaning device, and a plurality of indicators 70 for the cleaning device to indicate to the user. The user interface panel is also coupled to the light detector 17, and the top of the cleaning device 20 provides an unobstructed view of the environment for the light detector. A conducting bus 70 couples the processing circuit 23 to the battery and motor management system 41 and the user interface panel 29. The magnitude of the light from each light detection device i 0 in the light detection device 17 is carried along the bus bar 70 to the processing circuit 23 which performs all the above processes. The combination of the light measurement values is stored in the memory 97, and refer to Table-14- The reflectance of this paper conforms to the national standard (CNS) A4 specification (210 X------------- 丨 *装 — ί—! 1τ · ί ----- line, {Please read the notes on the back before filling out this page} 4 34 4 6 8 Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the invention ( ) (Figure 5B) is stored in a non-volatile memory 96. The control soft system for processing the light measurement values made by the light detection device, comparing the measurement values, and controlling the navigation of the cleaning device is stored in the memory It is executed by the processing circuit 23 in the body 96. 5 The robotic vacuum cleaner is also equipped with most infrared transmitters 21 Oa, 220, 226, 230a and infrared receiver 225, most ultrasonic transmitters 202a, 204a, 206a, 208a And ultrasonic receiver 202b, 204b, 206b, 208b, low limit detector (95, Figure 10) (which is used to detect, for example, a portable low limit placed at the entrance of a room or on the edge of a staircase) 10 devices), and one or more thermoelectric or passive infrared (PIR) detectors 240a, 240b to detect proximity cleaning Placed heat sources (for example, the four main ultrasonic receivers 202b, 204b, 206b, and 208b of Animal and Fire Radio) are facing the front, rear, and opposite sides of the robotic vacuum cleaner. The signals received by these receivers not only provide representatives Information about the distance to a feature of the room or the distance to a 15 object in the room, and the amplitude and width of the received signal vary according to the size, shape and type of the sensor of the material of the object. Figures 11A and 11B show the display device from What kind of information is received by its sensors, these diagrams show that the cleaning device 100 in the room includes a table 400 and a sofa 402. The cleaning device uses its light compass 17 to measure from eight different 20 directions (LI, L2, L3, L4, L5, L6, L7, L8). The combination of this measurement is generally found to be unique in a known room (or within several width areas of a robotic arm device). Figure 丨The room in 丨 is illuminated by a combination of natural light from a window 702 and an artificial source 700. Before the light from the light source reaches the light compass 17 on the cleaning device, the material is -15. ® National Standard (CNSM4 Specification (210 X 297 Meals) J. Packing * ------- Order --------- Line- (Please read the precautions on the back before filling in the winter page) 434468 Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economy A7 B7 V. Description of the invention (14) Reflected by the body 400, 402 and the wall of the room. In addition to the light compass 17, the cleaning device is also located in front of the cleaning device, left, Ultrasonic sensors 202, 204, 206, 208 on the right and rear. Fig. 11B shows the measurement values produced by the ultrasonic sensor. Each ultrasonic sensor provides signals US1, US2, US3, and US4, which indicate the distance between the object and the cleaning device. The combination of the ultrasonic sensor data US1..US4 and the light compass data L1..L8 allows the cleaning device to uniquely identify its position in the room. Figures 12 and 13 show one method of operating a robotic vacuum cleaner to clean a room, which allows the cleaner to traverse the room in a generally spiral manner. 10 Cleaners are usually arranged along a wall or freely in the room (Figure 12, position W). First find a room feature (step 300; A, Figure 12), preferably this is the wall or the main object or feature in the room. Once the characteristics of a room have been found, the cleaning device moves forward along the edge of the room. This period is called "peripheral scanning", in which the machine conforms as closely as possible to the 15 sides of the room. ) Close to the left side of the machine. As shown by point A-Η tf in Figure 12, the machine is to make the wall close to the left side of the machine (because this side is the protruding side of the cleaner head 22). The various sensors on the cleaner are Detect obstacles in the room and other room features, such as a corner of a room and a fireplace, and the processing circuit 23 navigates the robotic vacuum cleaner to avoid 20 any of these obstacles and change direction when a room feature is reached. Upon reaching each redirection caused by the characteristics of the room, the processing circuit 23 stores the information received from the photodetector Π and the four main ultrasonic receivers 202b, 204b, 20 讣, and 20Sb of the memory 97. . This is the information shown in Figures nA and 11β. These points are called "way points," (B, c, • 16- t Please read the notes on the back before filling this page)
--I-----訂- ------i I 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297 公t) 434^6 8 經濟部智慧財產局員工消費合作社印製 A7 B7 五、發明說明（15) D··圖12)。雖然上述實施例採用來自一光偵測器17及超 音波感測器之讀數，但可使用來自其他感測器之讀數。處 理電路亦可在清潔器在各改向時轉動之方向上儲存資訊。 每當抵達一方向點時，清潔器係監測自光偵測器17及超 5 音波接收器202b、204b、206b、208b接收的資訊，且使 其與先前儲存在記憶體97中所儲存的方向點資訊相比較 (步驟304)。當機械臂真空清潔器到達自光偵測器17與四 個超音波接收器202b、204b、206b、208b接收的資訊與 先前儲存的資訊相同或大致相同之一位置（囷12中之位置 10 I與位置B相同），處理電路23決定：機械臂真空清潔器 在房間内已經完全一次橫越或迴路（步驟3〇6)並且可設定 程式使得機械臂真空清潔器以大致一個清潔器的寬度向内 走。清潔裝置採取新的方向點I’以用於配合在第二迴路的 端點處，向右旋轉90度，並開始第二迴路。處理電路23 15繼續儲存方向點資訊且將從光偵測器π及四個主要接收 器202b、204b、206b、208b接收的資訊與先前儲存的資 訊相比較(步驟308)。在T處，清潔裝置係使位置τ處的 兩組光測量值與位置I’相配合並再度往内移動。清潔器以 大致往内螺旋方式在房間中前進。 20 右機械背真空清潔器起初置於房間中央，則將前進 直到發現一壁或障礙為止。若發現一壁，則順應上述路 徑。若發現一特徵（如一中央壁爐）或房間中心處的一障 礙，則環繞該特徵或障礙完成一迴路，然後順應一大致往 外的螺旋路徑。 -17· 本紙張尺度適用中國國家標準（CNS)A4規格（210x297公釐） ---!----l·-----j 裝--------訂---------線) (請先閱讀背面之注意事項再填寫本頁) 4 34468 A7 ---------B7_____ 五、發明說明（16 ) 藉由範例提供上述實施例，熟悉本技藝者瞭解可有 各種修改而不背離申請專利範圍中界定的本發明範圍。譬 如’當較佳偵測自沿光偵測設備周圍的至少八個羅盤點接 收的光線時，譬如可能採用兩個分離陣列，各四個光偵測 5裝置係繞一中央軸線等角分隔，且使一陣列相對另一陣列 呈角度偏移，同樣地，可由堆疊適當數量的偵測器陣列而 提供不同數量的光偵測裝置。本發明範圍内的另一修改 中，可提供光偵測器陣列’使得一第一陣列接收入射光直 到對於水平之一第一角度a(譬如5〇度）為止，且一第二陣 10列在第-角度與對於水平的一第二角度b(或許為8〇度)之 間接收入射光。此型配置示意顯示於圖14中。 (請先閱讀背面之注意事項再填寫本頁)--I ----- Order- ------ i I This paper size is applicable to China National Standard (CNS) A4 (210 X 297 g) 434 ^ 6 8 Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs System A7 B7 V. Description of the invention (15) D ·· Figure 12). Although the above embodiment uses readings from a light detector 17 and an ultrasonic sensor, readings from other sensors may be used. The processing circuit can also store information in the direction in which the cleaner rotates in each redirection. Whenever a direction point is reached, the cleaner monitors the information received from the photodetector 17 and the super 5 sonic receivers 202b, 204b, 206b, 208b, and matches the direction previously stored in the memory 97 The point information is compared (step 304). When the robotic vacuum cleaner reaches one of the positions where the information received from the photodetector 17 and the four ultrasonic receivers 202b, 204b, 206b, and 208b is the same as or approximately the same as the previously stored information (position 12 in position 12 I Same as position B), the processing circuit 23 decides: the robotic vacuum cleaner has completely crossed or looped once in the room (step 30) and a program can be set so that the robotic vacuum cleaner moves to approximately the width of one cleaner. Go inside. The cleaning device takes a new direction point I 'for fitting at the end point of the second circuit, rotates 90 degrees to the right, and starts the second circuit. The processing circuit 23 15 continues to store the direction point information and compares the information received from the photodetector π and the four main receivers 202b, 204b, 206b, 208b with the previously stored information (step 308). At T, the cleaning device matches the two sets of light measurements at position τ with position I 'and moves inward again. The cleaner advances around the room in a generally inward spiral manner. 20 The right mechanical back vacuum cleaner was initially placed in the center of the room and will advance until a wall or obstacle is found. If a wall is found, follow the path described above. If a feature (such as a central fireplace) or an obstacle is found in the center of the room, complete a loop around the feature or obstacle and follow a generally outward spiral path. -17 · This paper size applies to China National Standard (CNS) A4 (210x297 mm) ---! ---- l · ----- j Pack -------- Order ---- ----- line) (Please read the notes on the back before filling out this page) 4 34468 A7 --------- B7_____ V. Description of the invention (16) Provide the above-mentioned embodiments by examples, familiar with this The skilled artisan understands that various modifications are possible without departing from the scope of the invention as defined in the scope of the patent application. For example, 'when it is better to detect the light received from at least eight compass points around the light detection device, for example, two separate arrays may be used, and each of the four light detection 5 devices is equally spaced around a central axis, An array is angularly offset from another array. Similarly, different numbers of light detection devices can be provided by stacking a suitable number of detector arrays. In another modification within the scope of the present invention, a photodetector array can be provided so that a first array receives incident light until a first angle a (for example, 50 degrees) to a horizontal level, and a second array of 10 columns The incident light is received between the first angle and a second angle b (perhaps 80 degrees) for the horizontal. This type of configuration is shown schematically in FIG. 14. (Please read the notes on the back before filling this page)
J ---- I 訂·---— III— F 經濟部智慧財產局員工消費合作社印製 -18- 297公釐） 本紙張尺度適用中國國家標準（CNS)A4規格（21〇J ---- Order I ----- III- F Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs -18- 297 mm) This paper size applies to the Chinese National Standard (CNS) A4 specification (21〇