MOVING DEVICE AND MOVING CONTROL METHOD THEREOF

• US 20140054099A1
• Filed: 07/08/2013
• Published: 02/27/2014
• Est. Priority Date: 08/22/2012
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Ho, Yu-Lun, Pu, Yueh-Ju, Chen, Chun-Wei, Wang, Wei-Han
• Granted Patent: US 9,043,070 B2
• Time in Patent Office: Days
• US Class Current: 180/168
• 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 1/0263 using magnetic strips
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

A moving device and a moving control method thereof are provided. The moving control method comprises the following steps. Firstly, a first magnetic field and a second magnetic field are sensed by a moving device within a moving region. A first magnetic stripe generating the first magnetic field is arranged along an outer border of the moving region, and a second magnetic stripe generating the second magnetic field is arranged along an inner border of the moving region. Then, a motion mode is determined and a corresponding motion is performed by the moving device according to an order in which the first magnetic field and the second magnetic field are sensed.

Claims

1. A moving device moved within a moving region, wherein a first magnetic stripe is arranged along an outer border of the moving region, a second magnetic stripe is arranged along an inner border of the moving region, the first magnetic stripe generates a first magnetic field, the second magnetic stripe generates a second magnetic field different from the first magnetic field, and the moving device comprises:

a body;

a magnetic sensing module disposed on the body for sensing the first magnetic field and the second magnetic field;

a driving mechanism disposed on the body for driving the body to move; and

a controller used for determining a motion mode of the driving mechanism driving the body according to an order in which the first magnetic field and the second magnetic field are sensed by the magnetic sensing module, and for controlling the driving mechanism to drive the body to perform a corresponding motion.

2. The moving device according to claim 1, wherein if the magnetic sensing module has sensed the first magnetic field for equal to or more than two consecutive times, the controller determines the motion mode as a first motion mode.

3. The moving device according to claim 2, wherein if the magnetic sensing module senses the second magnetic field when the magnetic sensing module has not yet sensed the first magnetic field for equal to or more than two consecutive times, the controller determines the motion mode as a second motion mode.

4. The moving device according to claim 2, wherein the motion corresponding to the first motion mode is a returning motion.

5. The moving device according to claim 3, wherein the motion corresponding to the second motion mode is a random motion.

6. The moving device according to claim 1, wherein if the magnetic sensing module has sensed the second magnetic field for equal to or more than two consecutive times, the controller determines the motion mode as a third motion mode.

7. The moving device according to claim 6, wherein if the magnetic sensing module senses the first magnetic field when the magnetic sensing module has not yet sensed the second magnetic field for equal to or more than two consecutive times, the controller determines the motion mode as a fourth motion mode.

8. The moving device according to claim 6, wherein the motion corresponding to the third motion mode is a spiral motion.

9. The moving device according to claim 7, wherein the motion corresponding to the fourth motion mode is a random motion.

10. The moving device according to claim 5, wherein the controller sets a turning angle of the first motion mode to be larger than that of the second motion mode.

11. The moving device according to claim 1, wherein a charger is located in the outer border, and when the moving device is in a low power state and the magnetic sensing module senses the first magnetic field, the controller controls the driving mechanism to drive the body to perform an edge-tracing motion for enabling the moving device to find the charger along the first magnetic stripe.

12. The moving device according to claim 1, wherein each of the first magnetic stripe and the second magnetic stripe is a closed or an open loop, or are composed of a plurality of sub-magnetic stripes.

13. The moving device according to claim 1, wherein the first magnetic stripe and the second magnetic stripe are separated from each other.

14. The moving device according to claim 1, wherein the first magnetic stripe and the second magnetic stripe are connected to each other.

15. A moving control method of a moving device, comprising:

driving a moving device to move within a moving region, wherein a first magnetic stripe is arranged along an outer border of the moving region, a second magnetic stripe is arranged along an inner border of the moving region, the first magnetic stripe generates a first magnetic field, and the second magnetic stripe generates a second magnetic field different from the first magnetic field;

determining whether the first magnetic field and the second magnetic field are sensed by the moving device using a magnetic sensing module; and

determining a motion mode by the moving device according to an order in which the first magnetic field and the second magnetic field are sensed and performing a corresponding motion if the moving device senses the first magnetic field and the second magnetic field.

16. The moving control method according to claim 15, wherein in the step of determining the motion mode by the moving device according to the order in which the first magnetic field and the second magnetic field are sensed, the method comprises:

determining by the moving device whether the moving device has sensed the first magnetic field for equal to or more than two consecutive times; and

determining the motion mode as a first motion mode by the moving device if the moving device has sensed the first magnetic field for equal to or more than two consecutive times.

17. The moving control method according to claim 16, wherein in the step of determining the motion mode by the moving device according to an order in which the first magnetic field and the second magnetic field are sensed by the magnetic sensing module, the method comprises:

determining by the moving device whether the moving device has entered the second magnetic field if the moving device has not yet sensed the first magnetic field for equal to or more than two consecutive times; and

determining the motion mode as a second motion mode by the moving device if the moving device senses the second magnetic field when the moving device has not yet sensed the first magnetic field for equal to or more than two consecutive times.

18. The moving control method according to claim 16, wherein the motion corresponding to the first motion mode is a returning motion.

19. The moving control method according to claim 17, wherein the motion corresponding to the second motion mode is a random motion.

20. The moving control method according to claim 15, wherein in the step of determining the motion mode by the moving device according to the order in which the first magnetic field and the second magnetic field are sensed by the magnetic sensing module, the method comprises:

determining by the moving device whether the moving device has sensed the second magnetic field for equal to or more than two consecutive times; and

determining the motion mode as a third motion mode by the moving device if the moving device has sensed the second magnetic field for equal to or more than two consecutive times.

21. The moving control method according to claim 20, wherein in the step of determining the motion mode by the moving device according to the order in which the first magnetic field and the second magnetic field are sensed by the magnetic sensing module, the method comprises:

determining by the moving device whether the first magnetic field is sensed if the moving device has not yet sensed the second magnetic field for equal to or more than two consecutive times; and

determining the motion mode as a fourth motion mode by the moving device if the moving device senses the first magnetic field when the moving device has not yet sensed the second magnetic field for equal to or more than two consecutive times.

22. The moving control method according to claim 20, wherein the motion corresponding to the third motion mode is a spiral motion.

23. The moving control method according to claim 21, wherein the motion corresponding to the fourth motion mode is a random motion.

24. The moving control method according to claim 17, further comprising:

setting a turning angle of the first motion mode to be larger than that of the second motion mode by the moving device.

25. The moving control method according to claim 15, further comprising:

determining whether the moving device is in a low power state;

in the step of performing the corresponding motion by the moving device according to the order in which the first magnetic field and the second magnetic field are sensed by the magnetic sensing module, the method comprises;

performing an edge-tracing motion by the moving device to find a charger along the first magnetic stripe if the moving device is in the low power state and the moving device senses the first magnetic field.