Traveling device
View Patent ↗A vacuum cleaner includes a charging unit including first and second light emitting parts arranged in positions separated from each other. The light emitting parts transmit respective guide signals to guide a vacuum cleaner body. The charging unit includes a charging unit controller to make the light emitting parts transmit the respective guide signals that are same guide signals and transmitted according to respective timings. The vacuum cleaner body includes a third light emitting part to transmit a demand signal. The vacuum cleaner body includes a light receiving part capable of receiving the respective guide signals transmitted from the first and second light emitting parts. A controller makes the body case travel toward the charging unit depending on respective receiving statuses at the light receiving part of the two guide signals transmitted from the first and second light emitting parts and according to the respective timings.
1. A traveling device comprising an autonomous traveling unit capable of traveling autonomously and a beacon unit to guide the autonomous traveling unit,
the beacon unit comprising:
a case;
a beacon unit-side receiving part capable of receiving a demand signal from the autonomous traveling unit;
one beacon unit-side transmitting part and a different beacon unit-side transmitting part arranged in positions separated from each other in the case, the beacon unit-side transmitting parts transmitting respective guide signals to guide the autonomous traveling unit; and
a transmission controller to make the one beacon unit-side transmitting part and the different beacon unit-side transmitting part transmit the respective guide signals that are same guide signals and transmitted according to respective timings based on a timing when the beacon unit-side receiving part receives the demand signal,
the autonomous traveling unit comprising:
a body case;
a drive wheel to allow travel of the body case;
a controller to make the body case travel autonomously by controlling drive of the drive wheel;
a transmitting part to transmit the demand signal; and
a receiving part capable of receiving the respective guide signals transmitted from the one beacon unit-side transmitting part and the different beacon unit-side transmitting part,
wherein, based on timing of transmission of the demand signal from the transmitting part, the controller distinguishes the two guide signals transmitted from the one beacon unit-side transmitting part and the different beacon unit-side transmitting part according to their time differences from the timing, and makes the body case travel toward the beacon unit depending on respective receiving statuses at the receiving part of the distinguished guide signals.
2. The traveling device in accordance with claim 1 , wherein
the one beacon unit-side transmitting part and the different beacon unit-side transmitting part are arranged in positions where the guide signals transmitted therefrom overlap each other at least at one part,
the controller controls drive of the drive wheel so that the body case travels toward a direction where the guide signal transmitted from the different beacon unit-side transmitting part can be received by the receiving part in case only the guide signal transmitted from the one beacon unit-side transmitting part is received by the receiving part;
the controller controls drive of the drive wheel so that the body case travels toward a direction where the guide signal transmitted from the one beacon unit-side transmitting part can be received by the receiving part in case only the guide signal transmitted from the different beacon unit-side transmitting part is received by the receiving part, and
the controller controls drive of the drive wheel so that the body case travels along a region where the guide signals overlap each other, in case the guide signals transmitted from the one beacon unit-side transmitting part and the different beacon unit-side transmitting part is received by the receiving part respectively.