Active three-dimensional positioning device and control system for floor-cleaning robot thereof

Abstract

An active three-dimensional positioning device and a control system for floor-cleaning robot are provided in the present invention. The active three dimension positioning device includes a radio frequency (RF) receiver array, a radio frequency emitter and a control circuit. The RF receiver array includes a plurality of RF receivers for receiving a RF pulse. The RF emitter is used for emitting a RF pulse. The control circuit is coupled to the RF receivers. The control circuit transmits a transmission command to the RF emitter, after the RF emitter receives the enable RF signal, and the RF emitter emits the RF pulse. The control circuit calculates the position between the RF receiver array and the RF emitter according to the positions of the RF receivers and the time when each of the RF receivers receives the RF pulse.

What is claimed is: 
     
         1 . An active three-dimensional positioning device, comprising:
 a radio frequency (RF) receiver array, comprising a plurality of RF receivers, wherein each RF receiver is used for receiving a RF pulse;   a RF emitter, for emitting the RF pulse; and   a control circuit, coupled to the RF receivers,   wherein the RF emitter emits the RF pulse when the control circuit outputs a transmission command to the RF emitter and the RF emitter receives the transmission command,   wherein the control circuit calculates a relative position between the RF receiver array and the RF emitter according to positions of the RF receivers and receiving time when the RF receivers respectively receive the RF pulses.   
     
     
         2 . The active three-dimensional positioning device according to  claim 1 , wherein the control circuit is further used for performing a differential operation to calculate the relative velocity between the RF emitter and the RF receiver array. 
     
     
         3 . The active three-dimensional positioning device according to  claim 1 , wherein the control circuit is further used for performing a second order differential operation to calculate the relative acceleration between the RF emitter and the RF receiver array. 
     
     
         4 . The active three-dimensional positioning device according to  claim 1 , wherein a number of the RF receivers is at least four. 
     
     
         5 . The active three-dimensional positioning device according to  claim 1 , wherein a first RF receiver, a second RF receiver, and a third RF receiver of the RF receivers is disposed on a plane, and a fourth RF receiver of the RF receivers is disposed on upper side of the plane or on lower side of the plane. 
     
     
         6 . The active three-dimensional positioning device according to  claim 1 , wherein the control circuit comprises:
 a RF base station, for outputting the transmission command; and   a calculating circuit, for calculating the relative position between the RF emitter and the RF receiver array according to the positions of the RF receivers and the time when the RF receivers respectively receive the RF pulse.   
     
     
         7 . The active three-dimensional positioning device according to  claim 1 , further comprising:
 a second RF emitter, for emitting a second RF pulse;   wherein the second RF emitter emits the second RF pulse when the control circuit outputs a second transmission command and the second RF emitter emits receives the second transmission command,   wherein the RF receivers is for receiving the second RF pulse,   wherein the control circuit calculates a relative position between the RF receiver array and the second RF emitter according to time when the RF receivers respectively receive the second RF pulse and the positions of the RF receivers.   
     
     
         8 . A control system for floor-cleaning robot, comprising:
 an RF receiver array, comprising a plurality of RF receivers, wherein each RF receiver is used for receiving an RF pulse;   a floor-cleaning robot, comprising an RF emitter for emitting the RF pulse; and   a control circuit, coupled to the RF receivers,   wherein the RF emitter emits the RF pulse when the control circuit outputs a transmission command to the RF emitter and the RF emitter receives the transmission command,   wherein the control circuit calculates a relative position between the RF receiver array and the floor-cleaning robot according to positions of the RF receiver and receiving time when the RF receivers respectively receive the RF pulses,   wherein the control circuit continually records the relative position between the RF receiver array and the floor-cleaning robot to obtain a moving path of the floor-cleaning robot.   
     
     
         9 . The control system for floor-cleaning robot according to  claim 8 , further comprising:
 a charging interface, coupled to the control circuit;   wherein a case of the floor-cleaning robot having a charging contact corresponding to the charging interface,   wherein the floor-cleaning robot transmits a power feedback signal to the control circuit,   wherein the control circuit transmits a guiding signal to the floor-cleaning robot to control the floor-cleaning robot back to the charging interface to charge the floor-cleaning robot according to the moving path of the floor-cleaning robot.   
     
     
         10 . The control system for floor-cleaning robot according to  claim 8 , wherein the control circuit comprises:
 a RF base station, for outputting the transmission command; and   a calculating circuit, for calculating the relative position between the RF emitter and the RF receiver array according to the positions of the RF receivers and the time when the RF receivers respectively receive the RF pulse.