Mobile device and mobile device system therefor

• US 20050221840A1
• Filed: 03/24/2005
• Published: 10/06/2005
• Est. Priority Date: 03/24/2004
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Yamamoto, Daisuke, Ogawa, Hideki
• Application Number:
  US11/087,692
• Publication Number:
  US 20050221840A1
• Time in Patent Office: Days
• US Class Current: 455/456.300
• CPC Class Codes: G05B 2219/37029 Power supply position detector in common with drive motor
• CPC Class Codes: G05B 2219/40504 Simultaneous trajectory and camera planning
• CPC Class Codes: G05B 2219/40519 Motion, trajectory planning
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A mobile device system including an autonomously-movable mobile device and a supply device for supplying power to the mobile device, and a related method and computer program product. The mobile device includes a driving unit, a position measuring unit for measuring the position of the mobile device, a route generating unit for generating a route from the mobile device to the supply device, a controller for controlling the driving unit according to the route, and a battery. The supply device includes a recognizing unit for recognizing an object located within some range around the supply device, a calculator for calculating the relative position of the mobile device to the supply device on the basis of a recognition result of the recognizing unit, and a communicating unit for transmitting the relative position to the mobile device, and on the basis of the relative position, the mobile device moves to a position at which the supply device can supply power to a rechargeable battery.

Claims

1. A system having an autonomously-movable mobile device and a supply device configured to supply power or fuel to the mobile device, comprising:

a mobile device configured to move to a position at which a supply device can supply power or fuel to the mobile device including,

a driving unit configured to move the mobile device,

a position measuring unit configured to measure a position of the mobile device,

a route generating unit configured to generate a route from the position of the mobile device to a position of the supply device,

a controller configured to control the driving unit based on the route generated by the route generating unit,

a communicating unit configured to communicate with the supply device; and

a mobile device rechargeable power source disposed in the mobile device and configured to supply power to the mobile device; and

the supply device configured to supply power or fuel to the mobile device, the supply device including,

a recognizing unit configured to recognize an object located within a range around the supply device,

a calculator configured to calculate a position of the mobile device relative to the supply device based on a recognition result of the recognizing unit,

a communicating unit configured to transmit to the mobile device a position of the mobile device relative the supply device,

a supply device rechargeable power source configured to supply power to the mobile device battery; and

a charger configured to charge the supply device rechargeable power source.

2. The system according to claim 1, wherein the recognizing unit contains an image pickup unit configured to receive images of the range around the supply device, and the calculator is configured to calculate the position of the mobile device relative to the supply device and a direction of movement of the mobile device based on images received by the image pickup unit.

3. The system according to claim 1, wherein the calculator is configured to calculate a position of the mobile device relative to the supply device and a direction of movement of the mobile device based on a difference between plural images received by the recognizing unit.

4. The system according to claim 1, wherein the recognizing unit comprises plural ranging units configured to detect a distance between the supply device and an object separate from the supply device, and the calculator is configured to calculate a position of the mobile device relative to the supply device and a direction of movement of the mobile device based on a variation of distance measured by each of the ranging units.

5. The system according to claim 1, wherein the position measuring unit is configured to set the position of the supply device as a reference position or initial position in relation to position measurement of the mobile device.

6. A system having an autonomously-movable mobile device and a supply device configured to supply power or fuel to the mobile device, comprising:

a mobile device configured to move to a position at which a supply device can supply power or fuel to the mobile device based on a position of the mobile device relative to the supply device including,

a driving unit configured to move the mobile device,

a position measuring unit configured to measure the position of the mobile device,

a route generating unit configured to generate a route from the position of the mobile device to the position of the supply device,

a controller configured to control the driving unit based on the route generated by the route generating unit,

a communicating unit configured to communicate with the supply device; and

a mobile device rechargeable power source configured to supply power to the mobile device,

the supply device configured to supply power or fuel to the mobile device, the supply device including,

a recognizing unit configured to recognize an object located within a range around the supply device,

a communicating unit configured to transmit a recognition result of the recognizing unit to the mobile device,

a charging unit configured to supply power to the mobile device battery; and

a calculator disposed in the supply device and configured to calculate a position of the mobile device relative to the supply device based on the recognition result of the recognizing unit.

7. The system according to claim 6, wherein the recognizing unit comprises an image pickup unit configured to receive images of the range around the supply device, and the calculator is configured to calculate the position of the mobile device relative to the supply device and a direction movement of the mobile device based on the images received by the image pickup unit.

8. The system according to claim 6, wherein the calculator is configured to calculate a position of the mobile device relative to the supply device and a direction of movement of the mobile device based on a difference in plural images received by the recognizing unit.

9. The system according to claim 6, wherein the recognizing unit comprises plural ranging units configured to detect a distance between the supply device and another object, and the calculator is configured to calculate a position of the mobile device relative to the supply device and a direction movement of the mobile device based on a variation of distance measured by each of the ranging units.

10. The system according to claim 6, wherein the position measuring unit is configured to set the position of the supply device as a reference position or initial position in relation to position measurement of the mobile device.

11. A mobile device system, comprising:

an image pickup unit; and

an autonomously-movable mobile device including,

a driving unit configured to move the mobile device;

a position measuring unit configured to measure a position of the mobile device,

a route generating unit configured to generate a route from the position of the mobile device to a supply device configured to supply power or fuel,

a controller configured to control the driving unit based on the route generated by the route generating unit,

a calculator configured to calculate a position of the mobile device relative to the supply device and a direction of movement of the mobile device based on images of the mobile device or images of the supply device; and

a mobile device rechargeable power source disposed in the mobile device and configured to supply power to the mobile device.

12. The mobile device according to claim 11, wherein the image pickup unit is disposed in the supply device.

13. The mobile device according to claim 11, wherein the image pickup unit is disposed in the mobile device.

14. The mobile device according to claim 11, wherein the position measuring unit is configured to set a position of the supply device as a reference position or initial position in relation to position measurement of the mobile device.

15. An autonomously-movable mobile device, comprising:

a driving unit configured to move a mobile device;

a position measuring unit configured to measure a position of the mobile device;

a route generating unit configured to generate a route between the mobile device and a supply device;

a controller configured to control the driving unit based on the route generated by the route generating unit;

a communicating unit configured to communicate with the supply device; and

a mobile device rechargeable power source disposed in the mobile device configured to supply power to the mobile device, wherein the mobile device is configured to move to a position at which the supply device can supply power to the battery based on a position of the mobile device relative to the supply device calculated by the supply device.

16. The mobile device according to claim 15, wherein a recognizing unit comprises an image pickup unit configured to receive images of an area surrounding the supply device, and a calculator is configured to calculate a position of the mobile device relative to the supply device and a direction of movement of the mobile device based on the images received by the recognizing unit.

17. The mobile device according to claim 15, wherein a calculator is configured to calculate a position of the mobile device relative to the supply device and a direction of movement of the mobile device based on a difference between images received by the recognizing unit.

18. The mobile device according to claim 15, wherein a recognizing unit comprises plural ranging units configured to detect a distance between the supply device and another object, and a calculator is configured to calculate a position of the mobile device relative to the supply device and a direction movement of the mobile device based on variation of the distance measured by each of the ranging units.

19. The mobile device system according to claim 15, wherein the position measuring unit is configured to set a position of the supply device as a reference position or initial position related to position measurement of the mobile device.

20. A method of guiding a mobile device to a supply device to recharge the mobile device, comprising:

collecting first information regarding a location of the mobile device via measurement equipment disposed in the mobile device;

storing the location of a supply device in memory;

generating a first route from the mobile device to the supply device based on the first information and the location of the supply device;

moving the mobile device along the first route;

sensing second information regarding the location and direction of movement of the mobile device via at least one sensor located on the supply device;

processing the second information to determine the location and direction of movement of the mobile device;

generating a second route from the mobile device to the supply device based on the second information;

moving the mobile device along the second route;

joining the mobile device with the supply device; and

supplying power to the mobile device from the supply device.

21. The method according to claim 20, wherein the processing of the second information is performed in the mobile device.

22. The method according to claim 20, wherein the processing of the second information is performed in the supply device.

23. A computer program product which stores computer program instructions which, when executed by a computer system programmed with the computer program instructions, results in performing the steps comprising:

receiving first information regarding a location of a mobile device;

storing second information regarding the location of a supply device;

calculating a first route between the mobile device and the supply device based on the received first information and the stored second information;

generating drive signals to a drive unit of the mobile device to move the mobile device along the calculated first route;

receiving third information from at least one sensor located on the supply device;

processing the third information to determine the location and direction of movement of the mobile device;

calculating a second route from the mobile device to the supply device; and

generating drive signals to a drive unit of the mobile device to move the mobile device along the calculated second route.

24. A system having an autonomously-movable mobile device and a supply device configured to supply power or fuel to the mobile device, comprising:

a mobile device configured to move to a position at which a supply device can supply power or fuel to the mobile device including,

a driving unit configured to move the mobile device,

a mobile device power source disposed in the mobile device and configured to supply power to the mobile device; and

means for guiding the mobile device into an area where a supply device can sense the mobile device; and

the supply device configured to supply power or fuel to the mobile device, the supply device including,

a supply device battery or supply unit configured to supply power to the mobile device power source,

a charger configured to charge the supply device battery or supply unit; and

means for guiding the mobile device into a position where the supply device can supply power to the mobile device.