CN102480156B - Butt-joint method - Google Patents

Abstract

The invention relates to a butt-joint method for the butt joint of an automatic walking device and a charging station, wherein the automatic walking device comprises a first group of terminals and a first control unit; the first group of terminals at least comprise a first terminal and a second terminal; the first control unit comprises a signal transmission module and a signal receiving module, wherein the signal transmission module is electrically connected with the first terminal, and the signal receiving module is electrically connected with the second terminal; and the charging station comprises a second group of terminals which at least comprise a third terminal and a fourth terminal and can be electrically connected with the first group of terminals correspondingly. The butt joint method comprises: the signal transmission module transmits a preset detection signal; whether the signal receiving module receives a preset feedback signal corresponding to the preset detection signal is confirmed; when the preset feedback signal corresponding to the preset detection signal is received, the successful butt joint of the first group of terminals of the automatic device and the second group of terminals of the charging station is confirmed. The invention provides the butt-joint method of automatic butt joint of the automatic walking device and the charging station.

Description

Docking calculation

Technical field

The present invention relates to the docking calculation that a kind of automatic running device docks with charging station.

Background technology

Along with the development of science and technology, the automatic running device of intelligence is well known, the program that can automatically pre-set due to automatic running device performs the inter-related task pre-set, operation that need not be artificial and intervention, and the application therefore in commercial Application and family product widely.Industrial application is as performed the robot of various function, and the application on family product is as hay mover, dust catcher etc., and these smart machines dramatically saves on the time of people, all brings great convenience to industrial production and life staying idle at home.But these automatic running devices are powered owing to adopting energy storage unit, after the energy of energy storage unit is exhausted, these automatic running devices just cannot work, and now just artificially automatic running device must be moved to the charging station that can provide energy for it, be its makeup energy.In some cases, makeup energy may need the time spending a few hours, and people must wait for a few hours, until makeup energy completes, thus again open automatic running device, make it work on.

For overcoming the problems referred to above, a kind of docking calculation that can make automatic running device and charging station automatic butt must be developed.

Summary of the invention

The technical problem that the present invention solves is: the docking calculation providing a kind of automatic running device and charging station automatic butt.

For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of docking calculation, dock with charging station for realizing automatic running device, automatic running device comprises first group of terminal and the first control unit, described first group of terminal at least comprises the first terminal and the second terminal, described first control unit comprises the signal transmitting module be electrically connected with the first terminal and the signal receiving module be electrically connected with the second terminal, charging station comprises second group of terminal, second group of terminal at least comprises the 3rd terminal and the 4th terminal, can correspondingly with first group of terminal be electrically connected, described docking calculation comprises: signal transmitting module sends the detection signal preset, whether confirmation signal receiver module receives the feedback signal preset corresponding with default detection signal, when receiving the feedback signal preset corresponding with the detection signal preset, confirm that first group of terminal of automatic equipment docks successfully with second group of terminal of charging station.

Preferably, the detection signal preset and default feedback signal are the signal of rule change.Preferably, the feedback signal preset is the signal identical with the detection signal cycle of presetting.Preferably, the feedback signal preset is the square-wave signal identical with the detection signal cycle of presetting.

Preferably, automatic running device at least arranges one in the first signal conversion unit between signal transmitting module and the first terminal or the secondary signal converting unit between the second terminal and signal receiving module, and the first signal conversion unit and secondary signal converting unit change the electric parameter of the signal flowed through.

Preferably, the first signal conversion unit and secondary signal converting unit zoom in or out to the signal flowed through.Preferably, automatic running device arranges the first signal conversion unit and secondary signal converting unit, and the first signal conversion unit amplifies the signal flowed through, and secondary signal converting unit reduces the signal flowed through.Preferably, secondary signal converting unit isolates the signal between the second terminal and signal receiving module.

Preferably, confirm that first group of terminal of automatic running device docks successfully with second group of terminal of charging station, automatic running device stops walking.

Preferably, after automatic running device stops walking, signal transmitting module sends default detection signal again, and when signal receiving module receives the feedback signal preset corresponding with the detection signal preset, automatic running device keeps the state stopping walking; When signal receiving module does not receive the feedback signal preset corresponding with the detection signal preset, automatic running device starts walking.

Preferably, charging station arranges the bridge circuit between the 3rd terminal and the 4th terminal, and described bridge circuit is used for transmission of signal between the 3rd terminal and the 4th terminal.

Preferably, the second control unit controlling charging station operating state is set in described charging station, described second control unit detects the signal transmitted between the 3rd terminal and the 4th terminal, when the second control unit detects the enabling signal preset corresponding with the detection signal preset, the second control unit controls charging station and starts charging.

Preferably, the enabling signal preset is the square-wave signal of rule change.Preferably, the square-wave signal of the enabling signal preset to be the cycle be preset value.

Preferably, also arrange the 3rd signal conversion unit between the second control unit and the 3rd terminal, the 4th terminal in charging station, the second control unit detects the signal transmitted between the 3rd terminal and the 4th terminal by the 3rd signal conversion unit.

Preferably, the 3rd signal conversion unit changes the electric parameter of the signal flowed through.Preferably, the 3rd signal conversion unit reduces the signal flowed through.Preferably, the 3rd signal conversion unit isolates the signal transmitted between second group of terminal and the second control unit.

Preferably, also arrange in charging station and forbid or allow rechargeable energy to be applied to the second power control unit of the 3rd terminal and the 4th terminal, before starting charging, second control unit controls the second power control unit and forbids that rechargeable energy is applied to the 3rd terminal and the 4th terminal, the output of the 3rd terminal and the 4th terminal is zero, after starting charging, second control unit controls the second power control unit and allows rechargeable energy to be applied to the 3rd terminal and the 4th terminal, and the 3rd terminal and the 4th terminal export rechargeable energy.

Preferably, automatic running device also comprises stored energy detecting unit, for the energy state that detected energy memory cell is current, and detection signal is passed to the first control unit, when the energy of energy storage units is lower than preset value, the first control unit controls automatic running device and returns charging station.

Preferably, automatic running device also comprises forced charge device, and for selectively sending charging instruction to the first control unit, when forced charge device sends charging instruction, the first control unit controls automatic running device and returns charging station.

Preferably, automatic running device also comprises checkout gear of drenching with rain, described in checkout gear of drenching with rain detection signal is passed to the first control unit, when detect drench with rain time, the first control unit controls automatic running device and returns charging station.

Preferably, automatic running device is hay mover, comprises the cutting mechanism of cutting lawns.

Beneficial effect of the present invention is: automatic running device reliably docks without the need to human intervention ground with charging station, gives to produce and live and brings great convenience.

Accompanying drawing explanation

Above-described object of the present invention, technical scheme and beneficial effect by the detailed description that can realize specific embodiments of the invention below, can describe and clearly obtain simultaneously by reference to the accompanying drawings.

Identical label in accompanying drawing and specification and symbol are for representing identical or equivalent element.

Fig. 1 is the schematic diagram of a preferred embodiment of the present invention automatic running device and charging station;

Fig. 2 be automatic running device shown in Fig. 1 with charging station dock schematic diagram;

Fig. 3 is the circuit module figure of automatic running device shown in Fig. 1 and charging station;

Fig. 4 is the circuit block diagram of automatic running device shown in Fig. 1 and charging station;

Fig. 5 is the detection signal of the generation of automatic running device shown in Fig. 1 and the feedback signal shape of reception;

Fig. 6 is the workflow diagram that automatic running device docks with charging station.

10 charging station 60 the first terminals

12 power line 62 second terminals

14 second printed substrate 70 first signal conversion units

16 the 3rd terminal 72 secondary signal converting units

18 the 4th terminal 74 first energy detection unit

20 energy providing unit 76 first control units

24 the 3rd signal conversion unit 78 bridge circuits

26 second energy detection unit 80 rechargeable energy detecting units

28 second control unit 82 stored energy detecting units

30 second power control unit 88 first power control unit

50 automatic running device 92 signal transmitting module

52 motor 94 signal receiving modules

54 wheel 100 boundary lines

56 energy storage units 102 working regions

58 first printed substrates

Embodiment

Detailed description for the present invention and technology contents, coordinate accompanying drawing to be described as follows, appended accompanying drawing only provides reference and explanation, is not used for being limited the present invention.

Be illustrated in figure 1 the system of charging station 10 and automatic running device 50 composition, this system also comprises boundary line 100, boundary line 100 is for the formation of working region 102, charging station 10 is positioned on boundary line 100, automatic running device 50 is walking automatically in the working region 102 that boundary line 100 is formed, and is that the requirement pre-set is carried out working in working region 102 according to people.When automatic running device 50 need charging or work or the operating time to or detect the situation such as to drench with rain time, automatic running device 50 returns charging station 10 along boundary line 100, trial is docked with charging station 10.Automatic running device 50 docks successfully with second group of terminal of charging station 10 with first group of terminal of charging station 10 automatic running device 50, and automatic running device 50 stops walking, and charging station 10 starts the charging to automatic running device 50.The system that charging station 10 and automatic running device 50 form also can not comprise boundary line 100, and now, automatic running device 50 is guided by other wireless signals and returns charging station 10.

As shown in Figure 2 charging station 10 comprise power line 12, the second printed substrate 14 of being electrically connected with power line 12, second group of terminal being connected with the output of the second printed substrate 14, second group of terminal at least comprises the 3rd terminal 16 and the 4th terminal 18 (because the 3rd terminal 16 in angle cause chart and the 4th terminal 18 overlap).Automatic running device 50 comprises the selectively first group terminal, first printed substrate 58 that with first group terminal be electrically connected, the walking mechanism that by first printed substrate 58 control, the energy storage units 56 that for automatic running device 50 provide energy that are electrically connected corresponding to second group of terminal, and wherein first group of terminal at least comprises the first terminal 60 and the second terminal 62 (because the first terminal in angle cause chart 60 and the second terminal 62 overlap).The wheel 54 that walking mechanism comprises motor 52 further, drives by motor 52.When automatic running device 50 needs charging, walking mechanism drives automatic running device 50 to return charging station 10, attempts docking with charging station 10.

As shown in Figure 3, the second printed substrate 14 comprises energy providing unit 20, the 3rd signal conversion unit 24, second energy detection unit 26, second power control unit 30 and the second control unit 28 further.Energy providing unit 20 is suitably for for external ac power source or DC power supply being converted to the power supply that energy storage units 56 provides rechargeable energy, and can select to be applied to the 3rd terminal 16, the 4th terminal 18; 3rd signal conversion unit 24 and the 3rd terminal 16 are electrically connected, for detecting the signal transmitted between the 3rd terminal 16, the 4th terminal 18, and give the second control unit 28 by the signal transmission of detection, 3rd signal conversion unit 24 can change the electric parameter of the signal flowed through, as amplified, reduce signal amplitude, change signal frequency, change signal type, as the sine wave signal of reception is changed into square-wave signal etc.; Second energy detection unit 26 is applied to the rechargeable energy of the 3rd terminal 16 and the 4th terminal 18 for detected energy providing unit 20, and detection signal is passed to the second control unit 28; Second power control unit 30 is for controlling energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18 energy transferring, when the second power control unit 30 is in the state allowing energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18 energy transferring, 3rd terminal 16 and the 4th terminal 18 export rechargeable energy, when the second power control unit 30 be in forbid energy providing unit 20 to the state of the 3rd terminal 16 and the 4th terminal 18 energy transferring time, 3rd terminal 16 and the 4th terminal 18 no-output, namely the output of the 3rd terminal 16 and the 4th terminal 18 is zero; Second control unit 28 controls the second power control unit 30 operating state according to the detection signal of the 3rd signal conversion unit 24 and the second energy detection unit 26.Second printed substrate 14 also comprises the bridge circuit 78 be arranged between the 3rd terminal 16 and the 4th terminal 18, and bridge circuit 78 is for being communicated with the 3rd terminal 16 and the 4th terminal 18, transmission of signal and/or energy between the 3rd terminal 16 and the 4th terminal 18.

First printed substrate 58 comprises the first signal conversion unit 70, secondary signal converting unit 72, first energy detection unit 74, first power control unit 88 and the first control unit 76 further, wherein, first control unit 76 comprises signal transmitting module 92, signal receiving module 94 further, first signal conversion unit 70 is arranged between the first terminal 60 and signal transmitting module 92, and secondary signal converting unit 72 is arranged between signal receiving module 94 and the second terminal 62.Signal transmitting module 92 is for generation of the concurrent number of delivering letters, and signal flows through the first signal conversion unit 70 after sending; First signal conversion unit 70, for changing the electric parameter of the signal flowed through, as amplified, reduce signal amplitude, changes signal frequency, changes signal type etc., and by the signal transmission after conversion to the first terminal 60; Secondary signal converting unit 72 passes to signal receiving module 94 after changing for the signal that the external world received by the second terminal 62 transmits, and secondary signal converting unit 72 can change the electric parameter of the signal flowed through; The signal transmission of detection for detecting the rechargeable energy of the first terminal 60 and the second terminal 62 to energy storage units 56, and is given the first control unit 76 by the first energy detection unit 74; First power control unit 88 controls the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56; First control unit 76 sends according to the detection signal that secondary signal converting unit 72 and the first energy detection unit 74 provide the operating state that corresponding control signal controls the first energy detection unit 74.Wherein, first energy detection unit 74 comprises rechargeable energy detecting unit 80 and stored energy detecting unit 82 further, rechargeable energy detecting unit 80 is applied to energy on energy storage units 56 for detecting the first terminal 60 and the second terminal 62, and stored energy detecting unit 82 is for the energy of detected energy memory cell 56 current state.

In automatic running device 50 return course, signal transmitting module 92 sends the detection signal preset, and pass to the first terminal 60 through the first signal conversion unit 70, meanwhile signal receiving module 94 detects the signal that the second terminal 62 transmits to it through secondary signal converting unit 72, and judges whether the signal received is the feedback signal preset corresponding with the detection signal preset.When second group of terminal is corresponding with first group of terminal be electrically connected time, the detection signal preset that signal transmitting module 92 sends passes to the first terminal 60 through the first signal conversion unit 70, the signal transmission that the first terminal 60 is received gives the 3rd terminal 16, the signal that 3rd terminal 16 is received passes to the 4th terminal 18 through bridge circuit 78, the signal transmission that 4th terminal 18 is received gives the second terminal 62, the signal that second terminal 62 is received passes to signal receiving module 94 through secondary signal converting unit 72, the first signal conversion unit 70 is comprised through above-mentioned, the first terminal 60, 3rd terminal 16, bridge circuit 78, 4th terminal 18, second terminal 62, the transmission of the connected loop that secondary signal converting unit 72 is formed, the detection signal preset that signal transmitting module 92 sends is converted to the feedback signal preset corresponding with it and is passed to signal receiving module 94.Therefore, if when signal receiving module 94 receives the feedback signal preset corresponding with the detection signal preset, the first control unit 76 confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10.First control unit 76 confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, controls automatic running device 50 and stops walking, otherwise, when second group of terminal does not have corresponding electric connection with first group of terminal, above-mentioned connected loop is not formed between signal transmitting module 92 and signal receiving module 94, the detection signal preset causing signal transmitting module 92 to send cannot through above-mentioned connected loop inverse signal receiver module 94, therefore signal receiving module 94 does not receive the feedback signal preset corresponding with the detection signal preset, when signal receiving module 94 does not receive the feedback signal preset corresponding with the detection signal preset, first control unit 76 does not confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, signal transmitting module 92 continues to send the detection signal preset.

As previously mentioned, second group of terminal is corresponding with first group of terminal when being electrically connected, and the signal that the first terminal 60 transmits flows through the 3rd terminal 16, bridge circuit 78, the 4th terminal 18.When signal flows through bridge circuit 78,3rd signal conversion unit 24 detects this signal, and this signal is converted to preset detection signal corresponding preset enabling signal feed back to the second control unit 28, after second control unit 28 detects default enabling signal, confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10.

Second control unit 28 confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, start charging, send control signal and control the state that the second power control unit 30 is in the energy transferring allowed between energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18, the charging process of charging station 10 pairs of automatic running devices 50 starts.After charging starts, the rechargeable energy of the second energy detection unit 26 moment detected energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18, and detection signal is passed to the second control unit 28, once the second control unit 28 detects that rechargeable energy exceeds a certain preset range, control the second power control unit 30 to be in and to forbid the state of energy providing unit 20 to the energy transferring of the 3rd terminal 16 and the 4th terminal 18, thus stop charging process.While the second energy detection unit 26 pairs of energy providing unit 20 detect to the energy of the 3rd terminal 16 and the 4th terminal 18, the energy that the first energy detection unit 74 pairs of the first terminals 60 of automatic running device 50 and the second terminal 62 are applied on energy storage units 56 detects, and detection signal is passed to the first control unit 76.First control unit 76 is once detect that rechargeable energy exceeds a certain preset range, namely control the state that the first power control unit 88 is in the energy transferring forbidding the first terminal 60 and the second terminal 62 to energy storage units 56, thus stop the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56.Except being detected energy by energy detection unit, judge whether to stop outside the mode of energy transferring, all by arranging the mode of timer to judge whether the charging interval exceedes preset value in second control unit 28 and the first control unit 76, thus whether control stops energy transferring.In addition the first control unit 76 is also by the internal information of detected energy memory cell 56, judges whether to stop energy transferring, as the internal temperature etc. of detected energy memory cell 56.As, when the internal temperature of energy storage units 56 exceedes preset temperature range, the first control unit 76 stops the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56, thus stops the charging to energy storage units 56.After automatic running device 50 completes charging process, can again return to working region 102, work on.

In the process that first group of terminal of above-mentioned confirmation automatic running device 50 docks with second group of terminal of charging station 10, namely automatic running device 50 and charging station 10 are all docked by second group of terminal of the first group of terminal with charging station 10 that once confirm automatic running device 50 thinks that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, and starts charging.In actual conditions, due to feedback signal detected and control automatic running device 50 stop walking between life period poor, therefore after automatic running device 50 stops walking, second group of terminal and first group of terminal may be separated from each other again, for avoiding the appearance of above-mentioned situation, in first time, first control unit 76 confirms that first group of terminal of automatic running device 50 to dock successfully with second group of terminal of charging station 10 and to control after automatic running device 50 stops walking, signal transmitting module 92 sends default detection signal again, if signal receiving module 94 receives the feedback signal preset corresponding with the detection signal preset again, first control unit 76 confirms that automatic running device 50 docks successfully with second group of terminal of charging station 10 again with first group of terminal of charging station 10 automatic running device 50, first control unit 76 controls the state that walking mechanism keeps stopping walking, otherwise, signal receiving module 94 does not receive the feedback signal preset corresponding with the detection signal preset, first control unit 76 does not confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, first control unit 76 controls automatic running device 50 and starts walking.The detection signal preset that the detection signal preset that automatic running device 50 sends after stopping walking again sends before walking with stopping can be identical, also can not be identical.Confirming that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10 for twice with automatic running device 50 is successfully correspondingly, through twice, charging station 10 also confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10 and just starts charging, first time confirms that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10 and successfully stops first group of terminal of the confirmation automatic running device 50 before walking to dock successfully with second group of terminal of charging station 10 for foregoing automatic running device 50, second time confirms that first group of terminal of automatic running device 50 and second group of terminal of charging station 10 dock and successfully confirms that second group of terminal of first group of terminal and charging station 10 that first group of terminal of automatic running device 50 and second group of terminal of charging station 10 dock successfully corresponding confirmation automatic running device 50 docks successfully afterwards for stopping walking with automatic running device 50.Confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10 for automatic running device 50 by twice, just think that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10 successfully to arrange, charging station 10 also can be placed through and once confirm that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10 and successfully namely start charging, now confirming that first group of terminal of automatic running device 50 and second group of terminal of charging station 10 dock successful condition is that the second control unit 28 receives the enabling signal preset corresponding with the detection signal preset that signal transmitting module 92 second time sends.The mode that successfully namely starts charging is docked compared to simpler by confirming that first group of terminal of automatic running device 50 to dock the mode successfully just starting charging with second group of terminal of charging station 10 for twice by second group of terminal of the first group of terminal with charging station 10 that once confirm automatic running device 50, but stronger by the anti-interference confirming that first group of terminal of automatic running device 50 and second group of terminal of charging station 10 dock the mode successfully just starting charging twice.

Second group of terminal of first group of terminal and charging station 10 that confirmation automatic running device 50 and charging station 10 docking operation of above-mentioned announcement comprise twice confirmation automatic running device 50 docks successful step, wherein confirm that first group of terminal of automatic running device 50 docks successful step and all can comprise and repeatedly confirm that first group of terminal of automatic running device 50 docks successful sub-step with second group of terminal of charging station 10 with second group of terminal of charging station 10 each time, confirm that first group of terminal of automatic running device 50 docks in successful sub-step with second group of terminal of charging station 10 each time, signal transmitting module 92 all can send the different detection signals preset, correspondingly, signal receiving module 94 receives the feedback signal preset corresponding from the different detection signals preset and confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, second control unit 28 receives the enabling signal preset corresponding from the different detection signals preset and confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10.Considering simplifies procedures takes into account higher reliability simultaneously, preferred embodiment for taking to confirm each time that first group of terminal of automatic running device 50 to dock successful step and only comprise and once confirm that first group of terminal of automatic running device 50 docks successful sub-step with second group of terminal of charging station 10 with second group of terminal of charging station 10, confirm that first group of terminal of automatic running device 50 docks in successful step with second group of terminal of charging station 10 for twice, signal transmitting module 92 sends the different detection signals preset, correspondingly, signal receiving module 94 receives the feedback signal preset corresponding from the different detection signals preset and confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, second control unit 28 receives the enabling signal preset corresponding from the different detection signals preset and confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10.

In above-mentioned docking and charging process, the 3rd terminal 16, the 4th terminal 18, the first terminal 60, second terminal 62 both for the signal transmission in docking operation, again for the rechargeable energy transmission in charging process.The one of this programme is deformed into, the 3rd terminal 16, the 4th terminal 18, the first terminal 60, second terminal 62 all only for signal transmission, by arranging other the transmission of terminal for rechargeable energy in addition.Above-mentioned default detection signal is after signal transmitting module 92 sends, the first terminal 60 is passed to through the first signal conversion unit 70, the signal that second terminal 62 receives passes to signal receiving module 94 after secondary signal converting unit 72, no matter be the signal that signal transmitting module 92 sends, or the signal that signal receiving module 94 receives is all through the conversion of signal conversion unit, object through conversion is to be convenient to the transmission of subsequent conditioning circuit to signal, receive, identify, therefore can transmit signal meeting subsequent conditioning circuit, receive, under the primary condition identified, the signal that signal transmitting module 92 sends can transmit backward after the first signal conversion unit 70 again, also can without the first signal conversion unit 70 directly to rear transmission, the signal that second terminal 62 transmits to signal receiving module 94 can transmit backward after secondary signal converting unit 72 again, also can without secondary signal converting unit 72 directly to rear transmission.

For overcoming the deficiency needing human intervention, automatic running device 50 is provided with the mode that multiple startup returns, as the operating time to, worked, electricity is not enough, drench with rain, user's forced charge etc. all can return charging station 10 as automatic running device 50 condition, first control unit 76, when any above-mentioned condition being detected, controls automatic running device 50 and returns charging station 10.Operating time to and the detection that worked realize by arranging operating time timer in the first control unit 76.Preset Time arrives, then control automatic running device 50 and return charging station 10, specific implementation is known for those skilled in the art, does not repeat them here.The detection of electricity deficiency detects the dump energy situation of present energy memory cell 56 by stored energy detecting unit 82 moment, and the energy residual situation detected is fed back to the first control unit 76 realizes.When the energy of energy storage units 56 is reduced to predetermined threshold value, first control unit 76 controls automatic running device 50 and returns charging station 10, for energy storage units 56 charges, predetermined threshold value is considered to establish according to information summaries such as the chemical characteristic of energy storage units 56, the working conditions of automatic running device 50. puts, once can make full use of to ensure that energy storage units 56 charges, can avoid again occurring that energy storage units 56 energy drain causes automatic running device 50 cannot return charging station 10 returning in way simultaneously, drench with rain by arranging at the surface of shell of automatic running device 50 checkout gear realization of drenching with rain, drench with rain checkout gear and the first control unit 76 is electrically connected, when drenching with rain, checkout gear of drenching with rain produces corresponding signal transmission to the first control unit 76, first control unit 76 controls automatic running device 50 and returns charging, and which can effectively be avoided due to the damage caused automatic running device 50 of drenching with rain, user's forced charge realizes by arranging forced charge device at the surface of shell of automatic running device 50, this forced charge device and the first control unit 76 are electrically connected, when forced charge device detects user's forced charge demand, the form that user's request can be converted into the signal of telecommunication passes to the first control unit 76, first control unit 76 controls automatic running device 50 and returns charging station 10, which is mainly used in responding user's charge requirement fast, even if the energy of energy storage units 56 is higher, but user can send charging instruction by forced charge device to the first control unit 76, after first control unit 76 receives this charging instruction, control automatic running device 50 and return charging station 10, for energy storage units 56 charges.

Introduce composition and the working method of each functional unit of the second printed substrate 14 and the first printed substrate 58 below in conjunction with Fig. 4 in detail, first the functional unit of the first printed substrate 58 is introduced.

First control unit 76 comprises signal transmitting module 92 and signal receiving module 94, and therefore the first control unit 76 should have the function of the generation of signal, transmission, reception; First control unit 76 carries out correlated judgment according to the signal received, and sends corresponding control signal, and therefore the first control unit 76 should have identification, judges and produce the functions such as control signal according to the result that signal judges.Based on above-mentioned functions demand, the various ways that first control unit 76 can be set to analog circuit, digital circuit, analog circuit mix with digital circuit, in the present embodiment, the form that first control unit 76 have employed digital circuit realizes above-mentioned functions, being specially the form of micro controller, namely well known to those skilled in the artly can performing by writing preset program the integrated circuit unit that relevant action realizes corresponding function.Adopt the advantage of micro controller to be, micro controller can by the detection of signal, identification, judgement, the generation of signal, transmission, and the function such as timing, calculating rolls into one, and element simplifies.The model of micro controller has multiple, can select arbitrarily according to functional requirement, and the micro controller selected in the present embodiment has the detection of signal, identification, judgement, the generation of signal, transmission, and the function such as timing, calculating.When the first control unit 76 selects micro controller to realize its all functions, the function of signal transmitting module 92 and signal receiving module 94 is built in micro controller.For making clarity, the micro controller that the first control unit 76 comprises is micro controller MCU1.Micro controller MCU1 comprises first receiver port RX1, RX2, RX3, RX4, RX5 and first signal sending end mouth TX1, TX2 further, wherein, first receiver port RX1 and secondary signal converting unit 72 are electrically connected, for receiving the signal that secondary signal converting unit 72 is transmitted; First receiver port RX2 and rechargeable energy detecting unit 80 are electrically connected, for receiving the signal of rechargeable energy of the first terminal 60 that rechargeable energy detecting unit 80 transmits and the second terminal 62 to energy storage units 56; First receiver port RX3 and stored energy detecting unit 82 are electrically connected, for receiving the energy of the current energy storage units 56 transmitted from stored energy detecting unit 82; First receiver port RX4 and forced charge device are electrically connected, for receiving the signal transmitted from forced charge device; First receiver port RX5 is electrically connected with checkout gear of drenching with rain, for receiving the signal transmitted from checkout gear of drenching with rain; First signal sending end mouth TX1 and the first signal conversion unit 70 are electrically connected, for sending the detection signal preset that micro controller MCU1 produces; First signal sending end mouth TX2 and the first power control unit 88 are electrically connected, for transmitting control signal to the first power control unit 88 to control the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56.The signal of signal controlling first signal sending end mouth TX1, TX2 that the first control unit 76 receives according to first receiver port RX1, RX2, RX3, RX4, RX5 exports.

Automatic running device 50 is in the process returned, and micro controller MCU1 ceaselessly sends default detection signal, and default detection signal can be various ways, as sine wave, square wave, pulse signal etc.Compared to pulse signal, square-wave signal interference free performance is more excellent, compared to sine wave signal, square-wave signal is more easily generated by micro controller and identifies, based on above-mentioned advantage, the present embodiment adopts square-wave signal, square-wave signal can be pulse duration and cycle changeless square-wave signal, also can be immobilize in the cycle but the square-wave signal that increases gradually of pulse duration, or for pulse duration immobilizes but the square-wave signal that increases gradually of cycle, the square-wave signal that pulse duration and cycle increase all gradually, and pulse duration and cycle one increase the various ways such as another square-wave signal reduced gradually gradually, do not enumerate at this.In the present embodiment, have employed amplitude as shown in Figure 5, pulse duration and cycle all changeless square-wave signal as the detection signal preset, the amplitude of this detection signal preset is identical with the operating voltage amplitude Vcc of micro controller MCU1, the operating voltage of general micro controller MCU1 can be 3V-5V, adopt 5V in the present embodiment, therefore the amplitude of this detection signal preset is 5V.This detection signal preset, after the first signal conversion unit 70 is changed accordingly, passes to the first terminal 60, also can be directly passed to the first terminal 60 without the first signal conversion unit 70.

First signal conversion unit 70 carries out necessary conversion to the signal flowed through, this conversion comprises amplification, reduces, changes signal period, signal type etc., signal to zoom in or out realization easier, the cycle or the type that change signal then need special chip to realize, comparatively complicated, the object that first signal conversion unit 70 pairs signal is changed is convenient to the transmission of signal in follow-up loop and identification, and based on above-mentioned purpose, the first signal conversion unit 70 only amplifies the signal flowed through.Have multiple to the mode that signal amplifies, first signal conversion unit 70 can be set to the combination of resistance and switching transistor or the combination of resistance and operational amplifier, first signal conversion unit 70 is set to the combining form of resistance and switching transistor in the present embodiment, comprise resistance R8, R9 and switching transistor Q1, Q3, wherein the collector electrode of switching transistor Q1 and the positive pole of energy storage units 56 are electrically connected, the negative pole of switching transistor Q3 and energy storage units 56 is electrically connected, resistance R9 one end and the first signal sending end mouth are electrically connected, the base stage of the other end and switching transistor Q3 is electrically connected.When the detection signal preset is in high level state, the detection signal preset is through resistance R9 control switch transistor Q3 conducting, the base stage of switching transistor Q1 is made to be in low level through resistance R8, thus switching transistor Q1 is in conducting state, and then the positive pole of energy storage units 56 and the first terminal 60 are electrically connected, the signal be namely now applied on the first terminal 60 is high level.Otherwise, when the detection signal preset is in low level state, the detection signal preset disconnects through resistance R9 control switch transistor Q3, the base stage of switching transistor Q1 is made to be in high level through resistance R8, switching transistor Q1 is in off-state, do not have energy to be applied on the first terminal 60, thus make the signal be applied on the first terminal 60 be low level.After the conversion of the first signal conversion unit 70, the signal be applied on the first terminal 60 is and the detection signal cycle of presetting and the identical but square-wave signal that amplitude is different of pulse duration, and its amplitude equals the voltage of energy storage units 56.Because the voltage of energy storage units 56 is higher than the operating voltage Vcc of micro controller MCU1, therefore the amplitude of the first signal conversion unit 70 to the detection signal preset is amplified, beneficial effect is to strengthen default detection signal, avoid this signal being weakened further through subsequent conditioning circuit, and cause being detected unit inspection and arrive.The collector electrode of switching transistor Q1 also can be set to be electrically connected with for micro controller MCU1 working power Vcc, and under this state, the first signal conversion unit 70 can not carry out any change to the detection signal preset.The collector electrode of switching transistor Q1 also can be set to be electrically connected with lower than the power Vcc worked for micro controller MCU1, and under this state, the first signal conversion unit 70 reduces the detection signal preset.The detection signal preset is not amplified at the first signal conversion unit 70, or even under carrying out the state that reduces, also subsequent conditioning circuit can be made this detection signal preset to be detected, it should be noted that, the impedance of subsequent delivery and detecting unit need arrange less, to avoid the too much consumption to the detection signal preset, and too much weaken signal.

Identical with the first signal conversion unit 70, secondary signal converting unit 72 carries out necessary conversion to the signal flowed through, and is convenient to follow-up loop to the transmission of signal and identification.Because secondary signal converting unit 72 is arranged between the second terminal 62 and the receiver port of micro controller MCU1, the conversion of secondary signal converting unit 72 pairs of signals is for the ease of the identification of micro controller MCU1 to signal, and the first signal conversion unit 70 pairs of signals amplify, the signal that therefore secondary signal converting unit 72 is set to flowing through reduces.Based on above-mentioned functions requirement, secondary signal converting unit 72 can be set to the circuit that resistance and operational amplifier, resistance and switching transistor or the various ways such as resistance and optocoupler are formed.In addition, consider that the second terminal 62 is exposed to the housing outer surface of automatic running device 50, as easy as rolling off a logly touch electrostatic, for avoiding being applied to electrostatic on the second terminal 62 to the damage of internal component, secondary signal converting unit 72 have employed the circuit form of resistance and optocoupler, thus form mutually isolated two parts, Part I is the part be connected with the second terminal 62, Part II is the part be communicated with the first receiver port RX1, realize external circuit and internal circuit is mutually isolated, avoid electrostatic that the second terminal 62 may touch to the damage of internal circuit.Based on above-mentioned consideration, the concrete structure of secondary signal converting unit 72 is arranged as shown in Figure 4, comprise the resistance R6 be electrically connected with the second terminal 62, the resistance R5 that one end and the first receiver port RX1 are electrically connected, the working power Vcc of the other end and micro controller MCU1 is electrically connected, and by optocoupler U1 mutually isolated for R5 and R6.The luminous component of optocoupler U1 is connected with resistance R6, the receiving unit of optocoupler U1 is connected with resistance R5, when the signal flowing through resistance R6 is high level, the luminous component of optocoupler U1 is luminous, the receiving unit conducting of optocoupler U1, the signal that now the first receiver port RX1 receives is low level, when the signal flowing through resistance R6 is low level, the luminous component of optocoupler U1 is not luminous, the receiving unit of optocoupler U1 disconnects, the signal that now the first receiver port RX1 receives is high level, and the amplitude of this high level signal is the operational voltage value Vcc of micro controller MCU1.Secondary signal converting unit 72 to be carried out anti-phase to the signal flowed through, signal is converted into the signal that amplitude is Vcc simultaneously, namely secondary signal converting unit 72 to the signal flowed through carry out anti-phase, reduce, owing to have employed optic coupling element, signal is isolated again, therefore secondary signal converting unit 72 to the signal flowed through carry out anti-phase, reduce, isolate.Except above-mentioned form, resistance R5 also can not be electrically connected with the working power Vcc of micro controller MCU1, and be connected with other constant voltage sources, during as constant voltage source electric connections such as other 3V, 4V, 6V, the amplitude of the signal that the first receiver port RX1 receives is corresponding magnitude of voltage, does not repeat them here.

Rechargeable energy detecting unit 80 detects rechargeable energy in the process of charging at charging station 10 pairs of automatic running devices 50, and testing result is passed to the first control unit 76, for the function of rechargeable energy detecting unit 80, rechargeable energy detecting unit 80 can be set to detect electric current, detect voltage, and the functional circuit that current/voltage detects simultaneously, when the energy value that rechargeable energy detecting unit 80 detects exceedes a certain preset range, namely electric current is less than certain preset value or voltage when being greater than a certain preset value, signal controlling first power control unit 88 that micro controller MCU1 can detect according to rechargeable energy detecting unit 80 stops the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56, thus stop the charging process of charging station 10 pairs of automatic running devices 50.Only be provided with current detecting in the present embodiment, namely rechargeable energy detecting unit 80 detects the current signal of the first terminal 60 and the second terminal 62 to energy storage units 56.The form of current detecting has multiple, in the present embodiment, adopts the mode of micro-resistance well known to those skilled in the art and operational amplifier to realize.As shown in Figure 4, rechargeable energy detecting unit 80 comprises the micro-resistance R24 be arranged between the first terminal 60 to energy storage units 56 positive pole, amplifies and amplifying signal is passed to the operational amplifier A 1 of the first receiver port RX2 to the voltage be applied on resistance R24.Micro controller MCU1 carries out corresponding computing after detecting by the first receiver port RX2 the voltage be applied on resistance R24, judges the electric current flowing through resistance R24, can obtain the current value of the first terminal 60 and the second terminal 62 to energy storage units 56.When the current value that micro controller MCU1 detects is less than a certain pre-set current value, control the energy transferring that the first power control unit 88 stops energy providing unit 20 to the first terminal 60 and the second terminal 62, thus stop the charging process of charging station 10 pairs of automatic running devices 50.Pre-set current value is according to the featured configuration of energy storage units 56, and in the present embodiment, because energy storage units 56 is lead-acid battery, according to its characteristic, pre-set current value is 200mA.

First power control unit 88, in the process of charging at charging station 10 pairs of automatic running devices 50, according to the control signal that micro controller MCU1 sends, controls the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56.For the function of the first power control unit 88, first power control unit 88 at least can be set to drive circuit and add the mode that the mode of metal-oxide-semiconductor or drive circuit add relay, as shown in Figure 4, have employed drive circuit in the present embodiment and add metal-oxide-semiconductor mode, wherein metal-oxide-semiconductor Q5 is arranged between the positive pole of the first terminal 60 and energy storage units 56, drive circuit is arranged between the first signal sending end mouth TX2 and metal-oxide-semiconductor, drive circuit comprises resistance R10 and R11 for driven MOS pipe further, switching transistor Q4, and resistance R12 and R13 of driving switch transistor Q4.Under normal circumstances, micro controller MCU1 sends low level signal by the first signal sending end mouth TX2, and control switch transistor Q4 disconnects, and then controls metal-oxide-semiconductor Q5 disconnection, avoids control circuit to the energy ezpenditure of energy storage units 56.Feedback signal is received from the first receiver port RX1 once micro controller MCU1, micro controller MCU1 sends high level signal by the first signal sending end mouth TX2, control switch transistor Q4 conducting, and then control metal-oxide-semiconductor Q5 conducting, thus allow the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56, namely allow the charging of charging station 10 pairs of automatic running devices 50.After charging starts, the current delivery of rechargeable energy detecting unit 80 moment detection the first terminal 60 and the second terminal 62 to energy storage units 56, and detection signal is passed to micro controller MCU1 by the first receiver port RX2, detect that electric current is less than 200mA once micro controller MCU1, namely low level signal is sent by the first signal sending end mouth TX2, control switch transistor Q4 disconnects, and then control metal-oxide-semiconductor Q5 disconnection, thus stop the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56, namely the charging of charging station 10 pairs of automatic running devices 50 is stopped.

Stored energy detecting unit 82 is mainly used in working and the energy of moment detected energy memory cell 56 in charging process at automatic running device 50, and detection signal is passed to the first receiver port RX3, according to the signal that it receives, micro controller MCU1 judges whether the energy of energy storage units 56 exceeds a certain preset value, send corresponding control signal according to judged result, control the operating state of the first power control unit 88.In automatic running device 50 course of work, when micro controller MCU1 detects the energy of energy storage units 56 lower than a certain preset value, control automatic running device 50 and return charging station 10; In automatic running device 50 charging process, when micro controller MCU1 detects the energy of energy storage units 56 higher than a certain preset value, send to the first power control unit 88 and stop charging instruction controlling automatic running device 50 stopping charging.For the energy state that detected energy memory cell 56 is current, by detected energy memory cell 56 voltage status, the various ways such as the discharging current of detected energy memory cell 56 or the stored energy of charging current and electric discharge or charging interval calculating energy storage units 56 also can be passed through.In the present embodiment, have employed the mode measuring energy storage units 56 voltage status, the advantage of which is to realize simply.As shown in Figure 4, stored energy detecting unit 82 comprises resistance R15, R16, and resistance R15, R16 are composed in series the voltage of voltage divider to energy storage units 56 and detect.The voltage preset value of charging process and the voltage preset value of discharge process correspondingly set according to the characteristic of energy storage units 56, preferably, in automatic running device 50 course of work, this preset voltage value is generally higher than energy storage units 56 nominal voltage 90%, such setting both can ensure the abundant work of automatic running device 50, can ensure that again automatic running device 50 returned charging station 10 before the energy drain of energy storage units 56, be energy storage units 56 makeup energy; In automatic running device 50 charging process, this preset voltage value is traditionally arranged to be higher than energy storage units 56 nominal voltage 10%.In the present embodiment, because energy storage units 56 adopts lead-acid battery, the nominal voltage of this battery is 24V, therefore the preset voltage value in the course of work is set to 21.6V, but because lead-acid battery generally adopts the form judging charging current to determine whether stop charging, the signal of the stored energy detecting unit 82 therefore in the present embodiment is also not used in the condition judging whether to stop charging, is not construed as limiting the predeterminated voltage in charging process at this.

Forced charge device is used for the charge requirement of response user fast, its major function is the charge requirement of response user, and this demand is fed back to micro controller MCU1 as electronic signals, this function of implemented in many forms can be had, as responded to user voice, sensing user touch etc., compared to the form of induction user voice, the mode of sensing user touch is more easy, therefore the mode of sensing user touch is adopted in the present embodiment, based on this mode, forced charge device can be set to normal open switch or trigger switch form, is specially trigger switch form.As shown in Figure 4, interrupteur SW 1 one end and energy storage units 56 negative pole are electrically connected, first receiver port RX4 of one end and the first control unit 76 is electrically connected, under normal conditions, first receiver port RX4 is in high-impedance state, once user's push switch SW1 closes, first receiver port RX4 can receive low level, first control unit 76 responds low level that the first receiver port RX4 receives and namely controls automatic running device 50 and return charging station 10, for energy storage units 56 charges.

Drenching with rain, for detecting, whether rain drenches drops down onto automatic running device 50 to checkout gear, if detect and drench with rain, then give the first control unit 76 by the signal transmission that detects, first control unit 76 controls automatic running device 50 and returns charging station 10 and take shelter from rain, thus avoids rainwater to the erosion of automatic running device 50.Checkout gear of drenching with rain can be realized by two mutually isolated sheet metals, the first receiver port RX5 of a sheet metal and micro controller MCU1 is electrically connected, another sheet metal and the second terminal 62 are electrically connected, when there is no rainwater, two sheet metals keep separate state, first receiver port RX5 is in vacant state, when rain, two sheet metals are interconnected by rainwater, first receiver port RX5 receives low level signal, and micro controller MCU1 control automatic running device 50 returns charging station 10 and takes shelter from rain.The function of two sheet metals is equivalent to the effect of switch, and therefore in the diagram, checkout gear of drenching with rain is illustrated by interrupteur SW 2.

Foregoing is elaborated the concrete structure of each functional unit that the first printed substrate 58 comprises, working method and impact each other, the concrete structure of each functional unit comprised the second printed substrate 14, working method and impact is each other described in detail below.

The major function of the second control unit 28 is the signal that transmits of reception the 3rd signal conversion unit 24 and the second energy detection unit 26 and according to the working condition of this signal controlling second power control unit 30.Based on above-mentioned functions, the various ways that second control unit 28 can be set to analog circuit, digital circuit, analog circuit mix with digital circuit, in the present embodiment, second control unit 28 have employed the form of micro controller, namely well known to those skilled in the artly can perform by writing preset program the integrated circuit unit that relevant action realizes corresponding function, the model of micro controller has multiple, can select arbitrarily according to functional requirement, the micro controller selected in the present embodiment has the detection of signal, identification, judgement, transmission, and the function such as timing, calculating.For making clarity, the micro controller that the second control unit 28 comprises is micro controller MCU2.Micro controller MCU2 comprises secondary signal receiving port RX1, RX2 and secondary signal transmit port TX1 further, and wherein, secondary signal receiving port RX1 and the 3rd signal conversion unit 24 are electrically connected, for receiving the signal that the first converting unit is transmitted; Secondary signal receiving port RX2 and the second energy detection unit 26 are electrically connected, and the energy providing unit 20 transmitted for receiving the second energy detection unit 26 is applied to the energy signal of the 3rd terminal 16 and the 4th terminal 18; Secondary signal transmit port TX1 and the second power control unit 30 are electrically connected, for transmitting control signal to the second power control unit 30 to control the energy transferring of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18.The signal of the signal controlling secondary signal transmit port TX1 that micro controller MCU2 receives according to secondary signal receiving port RX1, RX2 exports.

3rd signal conversion unit 24 major function is detect the signal flowing through the 3rd terminal 16 and the 4th terminal 18, detection signal being passed to the second control unit 28 is the signal flowing through the 3rd terminal 16 and the 4th terminal 18 to be detected, and the 3rd signal conversion unit 24 must possess the signal transmission that is connected across test section between the 3rd terminal 16 and the 4th terminal 18 and the detected test section transmitting portions to micro controller MCU2.Consider that the 3rd terminal 16 and the 4th terminal 18 are all exposed to charging station 10 surface of shell, as easy as rolling off a logly touch electrostatic, for avoiding being applied to electrostatic on the 3rd terminal 16 and the 4th terminal 18 to the damage of internal component, test section and transmitting portions mutually isolated, isolated component adopts optocoupler.As previously mentioned, the function of bridge circuit 78 is connection the 3rd terminal 16 and the 4th terminal 18, this function is identical with the function that the test section of the 3rd signal conversion unit 24 has, based on the object simplifying circuit, by the function setting of the test section of the 3rd signal conversion unit 24 in bridge circuit 78, thus by the function of two circuit by a circuit realiration, as shown in Figure 4, bridge circuit 78 comprises the luminous component of resistance R2 and the optocoupler U2 be arranged in series between the 3rd terminal 16 and the 4th terminal 18, the transmitting portions of the 3rd signal conversion unit 24 comprises the receiving unit of resistance R1 and the optocoupler U2 be arranged in series between the working power and the 4th terminal 18 of micro controller MCU2, between the contact place of the receiving unit of resistance R1 and optocoupler U2 and the secondary signal receiving port RX1 of micro controller MCU2, guide line is set, detection signal is convenient to pass to micro controller MCU2.The receiving unit of resistance R1 and optocoupler U2 also can be arranged in series according to actual needs between other working powers and the 4th terminal 18.When there being signal to flow through the 3rd terminal 16, signal flows through the bridge circuit 78 of the illuminating part composition of resistance R2 and optocoupler U2 further, if when the magnitude of voltage of signal is enough to drive light from light source, and light from light source, as known to those skilled in the art, this magnitude of voltage is generally more than or equal to 0.6V.When the signal flowing through the 3rd terminal 16 is high level, the luminous component of optocoupler U2 is luminous, the receiving unit of optocoupler U2 receives light source and conducting simultaneously, micro controller MCU2 receives the low level signal transmitted by the 4th terminal 18 thus, when the signal flowing through bridge circuit 78 is low level, the luminous component of optocoupler U2 is not luminous, simultaneously the receiving unit of optocoupler U2 does not receive light source and thus disconnects, micro controller MCU2 receives the high level signal transmitted by resistance R1 thus, the voltage magnitude of this high level signal equals to be arranged at the supply voltage value on resistance R1, be the operating voltage VDD of micro controller MCU2 in the present embodiment, because VDD is generally lower than the voltage of energy storage units 56, therefore the 3rd signal conversion unit 24 is to having carried out through the first signal conversion unit 70 amplifying signal reducing and anti-phase.The operating voltage VDD of micro controller MCU2 can be identical with the operating voltage Vcc of micro controller MCU1, also can not be identical, and preferably, VDD and Vcc is identical.

Second energy detection unit 26 for detected energy providing unit 20 to the energy transferring of the 3rd terminal 16 and the 4th terminal 18, the second control unit 28 is given by the signal transmission of detection, when the energy value that the second energy detection unit 26 detects exceedes a certain preset range, micro controller MCU2 controls the second power control unit 30 and stops the energy transferring of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18, thus stops the charging process of charging station 10 pairs of automatic running devices 50.Generally can be set to detect electric current, detection voltage and current/voltage to the detection of energy and detect realization simultaneously, only be provided with current detecting in the present embodiment, i.e. the current signal of the second energy detection unit 26 detected energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18.The form of current detecting has multiple, in the present embodiment, adopts the mode of micro-resistance well known to those skilled in the art and operational amplifier to realize.As shown in Figure 4, second energy detection unit 26 comprises the micro-resistance R17 be arranged between energy providing unit 20 and the 4th terminal 18, amplifies and amplifying signal is passed to the operational amplifier A 2 of secondary signal receiving port RX2 to the voltage be applied on resistance R17.Micro controller MCU2 carries out corresponding computing after detecting by secondary signal receiving port RX2 the voltage be applied on resistance R17, judges the electric current flowing through resistance R17, can obtain the current value of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18.When the current value that micro controller MCU2 detects is less than a certain pre-set current value, control the second power control unit 30 and stop the energy transferring of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18, thus stop the charging process of charging station 10 pairs of automatic running devices 50.Pre-set current value is according to the featured configuration of energy storage units 56, and in the present embodiment, because energy storage units 56 is lead-acid battery, according to its characteristic, pre-set current value is 200mA.

The function of the second power control unit 30 is that the control signal sent according to micro controller MCU2 operationally allows or forbids the energy transferring of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18.At least can be set to drive circuit based on above-mentioned functions second power control unit 30 and add the mode that the mode of metal-oxide-semiconductor or drive circuit add relay.As well known to the skilled person, metal-oxide-semiconductor can disconnect the energy transferring of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18, but it still has micro-electric current to flow through the 3rd terminal 16 and the 4th terminal 18 after disconnecting, if energy providing unit 20 is the power supply of non-isolated, even if then only there is micro-electric current to flow through the 3rd terminal 16 and the 4th terminal 18, and contacted by human body, then still can cause to human body damage of getting an electric shock.For ensureing the reliable disconnection of energy between energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18, when avoiding automatic running device 50 not dock with charging station 10, exposed the 3rd terminal 16 at charging station 10 outer surface and the 4th terminal 18 may be damaged the electric shock that human body causes by human contact, and the second power control unit 30 is set to the mode that drive circuit adds relay.As shown in Figure 4, second power control unit 30 comprises the relay switch K2 being arranged at drive circuit between energy providing unit 20 positive pole and energy providing unit 20 negative pole and relay coil KM and the relay switch K1 be arranged between energy providing unit 20 positive pole and the 3rd terminal 16 and being arranged between energy providing unit 20 negative pole and the 4th terminal 18, and wherein drive circuit comprises resistance R3, R4, switching transistor Q2 and the sustained diode 4 in relay coil KM parallel connection further.Under normal conditions, K switch 1 and K2 are in off-state, and to ensure that the 3rd terminal 16 and the 4th terminal 18 do not export, avoiding may to the damage of human body.Enabling signal is received from secondary signal receiving port RX1 once micro controller MCU2, micro controller MCU2 is by secondary signal transmit port TX1 high level signal, control switch transistor Q2 conducting, relay coil KM makes K switch 1 and K2 close owing to there being electric current to flow through generation magnetic force, thus allow the energy transferring of energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18, namely allow the charging of charging station 10 pairs of automatic running devices 50.After charging starts, the current delivery of the second energy detection unit 26 moment detected energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18, and detection signal is passed to micro controller MCU2 by secondary signal receiving port RX2, detect that electric current is less than 200mA once micro controller MCU2, namely by secondary signal transmit port TX1 low level signal, control switch transistor Q2 disconnects, whether relay coil KM is owing to having electric current to flow through and losing magnetic force, K switch 1 and K2 disconnect, thus interrupt the energy transferring of energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18, namely the charging of charging station 10 pairs of automatic running devices 50 is stopped.

Energy providing unit 20 is for being be suitably for the power supply that automatic running device 50 charges by the Power convert of outside, external power source comprises AC power or DC power supply, the power supply being suitably for automatic running device 50 charging is determined according to the electrology characteristic of the energy storage units 56 in automatic running device 50, generally speaking being the power supply being suitably for automatic running device 50 charging is DC power supply, if therefore external power source is DC power supply, then energy providing unit 20 only needs to be suitably for the voltage that automatic running device 50 charges by the Voltage Cortrol of DC power supply, in the case, energy providing unit 20 can be designed as voltage-regulating circuit, as known to those skilled in the art, the form of voltage-regulating circuit has multiple, therefore not to repeat here.If external power source is AC power, external ac power source is converted to the DC power supply being suitably for automatic running device 50 and charging by the circuit that then energy providing unit 20 can be designed as Switching Power Supply pattern or transformer pattern, or also can be able to realize external ac power source being converted to the DC power supply being suitably for automatic running device 50 and charging by conventional step-down rectifying circuit, wherein Switching Power Supply pattern and transformer pattern are buffer circuits well known to those skilled in the art, conventional step-down rectifying circuit is non-isolated circuit, the advantage of non-isolated circuit is that cost is low, but shortcoming also clearly, namely heating problem is serious, and owing to not isolating with external ac power source, high to human body risk factor, easily cause damage of getting an electric shock.

When the 3rd terminal 16 and the 4th terminal 18 are electrically connected with the first terminal 60 and the second terminal 62 respectively, micro controller MCU1 sends the detection signal preset through the first signal sending end mouth TX1, the amplitude of the detection signal now preset is Vcc, the detection signal preset is after the first signal conversion unit 70, be converted to the signal that amplitude is the voltage at energy storage units 56 two ends, therefore detection signal is after the first signal conversion unit 70, amplitude is elevated, namely the first signal conversion unit 70 amplifies the signal flowed through, the signal be exaggerated passes to the first terminal 60 further, pass to the 3rd terminal 16 further, 3rd terminal 16 passes to the 4th terminal 18 further through bridge circuit 78, because bridge circuit 78 only comprises resistance element, energy flow only can produce consume through this bridge circuit 78, but its other characteristics can not be changed, 4th terminal 18 passes to the second terminal 62 further, second terminal 62 passes to secondary signal converting unit 72, its operating voltage of secondary signal converting unit 72 is Vcc, comprise optic coupling element simultaneously, signal is after secondary signal converting unit 72, be converted to that phase place is contrary and amplitude is the signal of Vcc, signal after secondary signal converting unit 72 is changed finally passes to the first receiver port RX1 of micro controller MCU1, after the conversion of above-mentioned connected loop, micro controller MCU1 is finally converted to the feedback signal contrary with detection signal cycle same phase by the detection signal preset that the first signal sending end mouth TX1 sends and is back to the first receiver port RX1.In above-mentioned transfer process, only signal amplified and reduce, do not change the type of signal, therefore, when the detection signal preset is the signal of rule change, the signal that the final feedback signal preset generated changes into rule after above-mentioned loop is changed, when the detection signal preset is square-wave signal, after above-mentioned loop is changed, the final feedback signal preset generated is square-wave signal, there is not any change in the electric parameter of signal, electric parameter comprises the amplitude of signal, cycle, duty ratio etc., through the conversion in above-mentioned loop, it is contrary that the difference of the default detection signal that the feedback signal and the micro controller MCU1 that preset that micro controller MCU1 finally receives send is only phase place.After first receiver port RX1 receives the feedback signal preset identical with the detection signal cycle of presetting, namely think the 3rd terminal 16 and the 4th terminal 18 respectively with the first terminal 60 with the second terminal 62 is corresponding is electrically connected, namely confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10; Otherwise, when the 3rd terminal 16 and the 4th terminal 18 are not electrically connected with the first terminal 60 and the second terminal 62 respectively, micro controller MCU1 can't detect the feedback signal preset identical with the detection signal cycle of presetting, then do not confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, micro controller MCU1 continues to send the detection signal preset.

When 3rd terminal 16 and the 4th terminal 18 are electrically connected with the first terminal 60 and the second terminal 62 respectively, the detection signal preset that micro controller MCU1 sends through the first signal sending end mouth TX1, through the first signal conversion unit 70, the first terminal 60 and the 3rd terminal 16, bridge circuit 78, 4th terminal 18 and the second terminal 62, the connected loop that secondary signal converting unit 72 is formed finally generates while default feedback signal returns the first receiver port RX1, the detection signal preset that first signal sending end mouth TX1 sends is through the first signal conversion unit 70, the first terminal 60 and the 3rd terminal 16, bridge circuit 78, the transmitting portions of the 3rd signal conversion unit 24 is converted to the enabling signal preset corresponding with the detection signal preset and is received by secondary signal receiving port RX1.The detection signal preset only is exaggerated after the first signal conversion unit 70, the first terminal 60 and the 3rd terminal 16, bridge circuit 78.Through amplifying signal through bridge circuit 78 time, be positioned at the luminous component of the optocoupler U2 of bridge circuit 78 according to the low and high level of signal, selectively luminous or not luminous, thus secondary signal receiving port RX1 is selectively disconnected with VDD or connects, the i.e. conversion of the 3rd signal conversion unit 24 pairs of signals as previously mentioned, it is that the signal feedback of VDD is to secondary signal receiving port RX1 that the signal flowing through bridge circuit 78 is the most at last converted to phase place opposite magnitude, because in the present embodiment, Vcc and VDD is identical, therefore the enabling signal preset is the signal that amplitude same phase is contrary with the detection signal preset.Only signal is first amplified based on above-mentioned transformation, after to reduce and anti-phase, therefore the signal that the enabling signal preset is identical with the detection signal type preset, when the detection signal preset is the signal of rule change, the signal that the final enabling signal preset generated changes into rule after above-mentioned loop is changed, when the detection signal preset is square-wave signal, after above-mentioned loop is changed, the final enabling signal preset generated is square-wave signal, in the present embodiment, because the detection signal preset is the square-wave signal fixed in the cycle, the square-wave signal of the enabling signal therefore preset to be the cycle be preset value.Micro controller MCU2 confirms after default enabling signal being detected that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10.Known based on foregoing description, micro controller MCU1 confirms that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10 successfully simultaneously, and micro controller MCU2 confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10.

Micro controller MCU1 confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, control automatic running device 50 and stop walking, micro controller MCU1 also can by repeatedly confirming that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, just control automatic running device 50 and stop walking, repeatedly confirm that first group of terminal of automatic running device 50 docks in successful process with second group of terminal of charging station 10, the detection signal preset of each transmission can be identical, also can not be identical, such as by changing the frequency of pulse signal, the forms such as duty ratio make each detection signal sent not identical, preferably, namely micro controller MCU1 successfully controls automatic running device 50 stop walking by once confirming that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10, after automatic running device 50 stops walking, micro controller MCU1 sends default detection signal again, if micro controller MCU1 detects the feedback signal preset corresponding with the detection signal preset again sent, namely confirm that first group of terminal of automatic running device 50 docks successfully again with second group of terminal of charging station 10, then control the state that automatic running device 50 continues to keep stopping walking, if micro controller MCU1 does not detect the feedback signal preset corresponding with the detection signal preset again sent, namely do not confirm that first group of terminal of automatic running device 50 docks successfully again with second group of terminal of charging station 10, then controlling automatic running device 50 stops stopping the state of walking to start walking.After automatic running device 50 stops walking, confirm that the default detection signal sent before first group of terminal of automatic running device 50 and second group of terminal of charging station 10 again dock the detection signal preset that sends in successful process and stop walking can be identical, also can be different, be preferably not identical, be convenient to micro controller MCU1 and identify.Confirm at above-mentioned micro controller MCU1 or do not confirm that first group of terminal of automatic running device 50 docks in successful process with second group of terminal of charging station 10, micro controller MCU2 also confirms simultaneously or does not confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, micro controller MCU2 confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, start charging, control the second power control unit 30 and be in the state allowing energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18 energy transferring.Namely micro controller MCU2 successfully can start charging by once confirming that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10, also successfully just charging can be started by confirming that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10 for twice corresponding with automatic running device 50, if successfully namely start charging by once confirming that first group of terminal of automatic running device 50 docks with second group of terminal of charging station 10, detect that the enabling signal preset corresponding with the detection signal preset that micro controller MCU1 second time sends confirms that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10 preferably by micro controller MCU2.

In the present embodiment, the detection signal preset finally is converted to the feedback signal preset corresponding with the detection signal preset through the first signal conversion unit 70, the first terminal 60, the 3rd terminal 16, bridge circuit 78, the 4th terminal 18, second terminal 62, secondary signal converting unit 72.In the transmittance process of above-mentioned signal, first signal conversion unit 70 amplifies the signal flowed through, bridge circuit 78 is not changed signal, secondary signal converting unit 72 reduces accordingly to the signal flowed through and anti-phase, and the feedback signal therefore preset is the signal that signal type is identical, amplitude is identical, the cycle is identical, only phase place is contrary with default detection signal.Automatic running device 50 is deformed into the one of present embodiment the first signal conversion unit 70 and secondary signal converting unit 72 are not set, the detection signal preset is converted to the feedback signal preset corresponding with the detection signal preset merely through the first terminal 60, the 3rd terminal 16, bridge circuit 78, the 4th terminal 18, second terminal 62, under this execution mode, the feedback signal preset is the signal that all parameters are all identical with the detection signal preset.One that automatic running device 50 arranges in the first signal conversion unit 70 and secondary signal converting unit 72 is deformed into the another kind of present embodiment, the detection signal preset is through the first terminal 60, 3rd terminal 16, bridge circuit 78, 4th terminal 18, second terminal 62, and first in signal conversion unit 70 and secondary signal converting unit 72 one be converted to the feedback signal preset corresponding with the detection signal preset, one in first signal conversion unit 70 and secondary signal converting unit 72 can to zoom in or out signal or to change signal type, under this execution mode, the conversion that the feedback signal preset can be carried out signal according in the first signal conversion unit 70 and secondary signal converting unit 72 and pre-setting, this mode is known for those skilled in the art, do not repeat them here.Other distortion more are also had to present embodiment, as automatic running device 50 had both arranged the first signal conversion unit 70, secondary signal converting unit 72 is set again, but the first signal conversion unit 70 pairs signal reduces, change other transformations such as type, secondary signal converting unit 72 pairs of signals also carry out corresponding conversion, also repeat no more at this.

In the present embodiment, the detection signal preset finally is converted to the enabling signal preset corresponding with the detection signal preset through the first signal conversion unit 70, the first terminal 60, the 3rd terminal 16, the 4th terminal 18, the 3rd signal conversion unit 24.Also various deformation can be had to present embodiment, as do not arranged the 3rd signal conversion unit 24 in charging station 10, or the 3rd signal conversion unit 24 changes the type flowing through signal, or the 3rd signal conversion unit 24 changes accordingly according to the distortion of the first signal conversion unit 70, its basic skills, with the variation of secondary signal converting unit 72 and the first signal conversion unit 70, does not repeat them here.

In the present embodiment, describe micro controller MCU1 sends signal, the second terminal 62 Received signal strength situation by the first terminal 60, below introduce micro controller MCU1 sends signal, the first terminal 60 Received signal strength situation by the second terminal 62, the change will done compared with the situation of foregoing description in the case is only the first signal conversion unit 70 and the second terminal 62 to be electrically connected, secondary signal converting unit 72 and the first terminal 60 are electrically connected, and the direction that the resistance of cross-over connection simultaneously 78 and the 3rd terminal 16 and the 4th terminal 18 are electrically connected is anti-phase.Except passing through except anti-phase for bridge circuit 78 connection, can also be realized by the form of setting up the 3rd signal conversion unit 24, this the 3rd signal conversion unit 24 set up is electrically connected to micro controller MCU2 equally, only be that the direction that bridge circuit 78 and aforementioned bridge circuit 78 and the 3rd terminal 16 and the 4th terminal 18 are electrically connected is anti-phase with the difference of aforesaid 3rd signal conversion unit 24, no matter signal the 3rd terminal 16 enters or enters charging station 10 through the 4th terminal 18 thus, all can be detected by micro controller MCU2, because which is well known to those skilled in the art, do not repeat them here.Known based on the above-mentioned distortion to scheme, 3rd terminal 16, 4th terminal 18 and the first terminal 60, the connection of the second terminal 62 can not have correspondence, namely the 3rd terminal 16 docks with the first terminal 60, 4th terminal 18 docks with the second terminal 62, micro controller MCU1 and micro controller MCU2 can confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, 3rd terminal 16 and the second terminal 62, 4th terminal 18 docks with the first terminal 60, micro controller MCU1 and micro controller MCU2 also can confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10.

Above combined circuit block diagram is described in detail the function of each functional unit of the second printed substrate 14 and the first printed substrate 58, concrete structure, mutual Collaboration, and the workflow diagram below in conjunction with micro controller MCU1 and micro controller MCU2 carries out overall detailed description to the docking operation of automatic running device 50 and charging station 10, charging process.

As shown in Figure 6, flow chart comprises two parts, and the left side is the workflow diagram of the micro controller MCU2 being positioned at charging station 10, and the right is for being positioned at the workflow diagram of the micro controller MCU1 of automatic running device 50.

After automatic running device 50 startup work, micro controller MCU1 enters step S0 and carries out initialization, and after initialization, micro controller MCU1 controls automatic running device 50 according to preset rules work in the working region 102 that boundary line 100 is planned, as shown in step S1, whether micro controller MCU1 enters step S2 sense switch SW1 and closes, judge whether user forces to send charging instruction by forced charge device, if the determination result is YES, then proceed to step S5, if judged result is no, then proceed to step S3, whether sense switch SW2 closes, judge whether to drench with rain, if the determination result is YES, then proceed to step S5, if judged result is no, whether then proceed to the magnitude of voltage of step S4 by stored energy detecting unit 82 detected energy memory cell 56 lower than 21.6V, namely whether the present energy of energy storage units 56 is lower than preset value, if judged result is no, then return step S1, if the determination result is YES, then proceed to step S5 startup to return, micro controller MCU1 controls automatic running device 50 and returns charging station 10, in return course, enter step S7 and send the detection signal preset, after the detection signal preset sends, micro controller MCU1 enters step S9 and judges whether to receive the feedback signal preset corresponding with the detection signal preset, if the result judged is no, then return step S5, if the result judged is yes, then enter step S10, confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, proceed to step S11 immediately and control automatic running device 50 stopping walking, proceed to step S12 subsequently and again send default detection signal, enter step S13, judge whether again to receive the feedback signal preset corresponding with the detection signal preset, if the result judged is no, then show that first group of terminal of automatic running device 50 does not dock successfully again with second group of terminal of charging station 10, micro controller MCU1 controls to return step S5, control automatic running device 50 and start walking, trial is docked again with charging station 10, if the result judged is yes, confirm that first group of terminal of automatic running device 50 docks successfully again with second group of terminal of charging station 10, enter step S14 and confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, entering step S15 keeps automatic running device 50 to stop the state of walking, wait for that charging station 10 starts charging.

After charging station 10 is connected with external power source, micro controller MCU1 initialization, as shown in step S20, enters step S22 and forbids the energy transferring of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18, enter step S23 and detect whether receive default enabling signal, when second group of terminal is corresponding with first group of terminal be electrically connected time, the detection signal preset that micro controller MCU1 sends while being received by micro controller MCU1 after the 3rd signal conversion unit 24, also received by micro controller MCU2, after micro controller MCU2 detects default enabling signal, confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10, as shown in step S24, now micro controller MCU2 does not do any action, continue to detect whether again receive default enabling signal, as shown in step S25, if the determination result is YES, then proceed to step S26, confirm that first group of terminal of automatic running device 50 docks successfully again with second group of terminal of charging station 10, proceed to step S27 subsequently, charging station 10 starts charging, controls the second power control unit 30, allows the energy transferring of energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18.If judged result is no, then proceed to step S23 to continue to detect whether receive default enabling signal, also can not comprise step S23, S24 in micro controller MCU2, set up step S23 at this, the object of S24 is the anti-interference that enhancing micro controller MCU2 startup is charged.

After charging station 10 starts charging, micro controller MCU2 enters step S27, controls the second power control unit 30 and is in the energy transferring allowing energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18; Enter the electric current of step S28 by the second energy detection unit 26 detected energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18; Proceed to step S30 subsequently, judge whether electric current is less than 200mA, if judged result is no, then return step S28, if the determination result is YES, then enter step S32, control the second power control unit 30 and forbid the energy transferring of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18, thus stop the charging of charging station 10 pairs of automatic running devices 50.In the process of charging, not only micro controller MCU2 carries out detection and control to charging process, micro controller MCU1 can carry out detection and control to charging process too, step S16 as shown in Figure 6, confirm that first group of terminal of automatic running device 50 docks successfully with second group of terminal of charging station 10 at micro controller MCU1, detect the electric current of the first terminal 60 and the second terminal 62 to energy storage units 56; In following step S17, micro controller MCU1 judges whether electric current is less than pre-set current value 200mA further, if judged result is no, then return step S16, if the determination result is YES, the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56 is then forbidden by the first power control unit 88, as shown in step S18, thus the charging process of the 10 pairs of automatic running devices 50 in complete charge station.

It should be noted that at this, be respectively equipped with rechargeable energy detecting unit 80 in automatic running device 50 and charging station 10 and the second energy detection unit 26 detects charging current, be respectively equipped with the first control unit 76 and the second control unit 28 judging whether to continue charging according to charging current in automatic running device 50 and charging station 10 simultaneously.Because the setting of rechargeable energy detecting unit 80 is closer to energy storage units 56, its testing result is more accurate relative to the result of the second energy detection unit 26, overcharging, must arrange rechargeable energy detecting unit 80 in automatic running device 50 for effectively preventing.When maintenance the 3rd terminal 16 and the 4th terminal 18 respectively with the first terminal 60 and the second terminal 62 is corresponding be electrically connected, prior to micro controller MCU2, micro controller MCU1 can detect that charging current is less than 200mA, micro controller MCU1 controls after the first power control unit 88 stops the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56 subsequently, the energy transferring of the first terminal 60 and the second terminal 62 to energy storage units 56 is blocked, due to cannot loop be formed, the energy providing unit 20 on same series circuit is caused to be blocked to the energy transferring of the 3rd terminal 16 and the 4th terminal 18, micro controller MCU2 can detect that energy providing unit 20 is less than 200mA to the electric current of the 3rd terminal 16 and the 4th terminal 18, therefore also can control the second power control unit 30 and forbid the energy transferring of energy providing unit 20 to the 3rd terminal 16 and the 4th terminal 18.The object arranging charging current detecting unit and power control unit in charging station 10 is equally the situation that reply the 3rd terminal 16 and the 4th terminal 18 are thrown off mutually with a group in the first terminal 60 and the second terminal 62 or two groups of terminals.When due to accidental situation, cause originally being in the 3rd terminal 16 of charging station 10 in charging process and automatic running device 50 and the 4th terminal 18 when mutually throwing off with a group in the first terminal 60 and the second terminal 62 or two groups of terminals, if charging station 10 does not possess energy cessation function, energy providing unit 20 provides energy to the 3rd terminal 16 and the 4th terminal 18 all the time, if human contact is to the 3rd terminal 16 or the 4th terminal 18, then can cause to human body damage of getting an electric shock, therefore the electric shock damage that the energy cessation that micro controller MCU2 controls energy providing unit the 20 to the 3rd terminal 16 and the 4th terminal 18 effectively can prevent human body from may touch the 3rd terminal 16 or the 4th terminal 18 and may cause human body.

In the present invention, automatic running device 50 can be the various ways such as hay mover, dust catcher, industrial robot.When automatic running device 50 is hay mover, also comprise cutting mechanism further, cutting mechanism comprises cutting motor 52 and cutting blade, and when hay mover works in the working region 102 that boundary line 100 is planned, cutting motor 52 drives cutting blade to rotate, cutting lawns.

Claims (23)

1. a docking calculation, dock with charging station for realizing automatic running device, automatic running device comprises first group of terminal and the first control unit, described first group of terminal at least comprises the first terminal and the second terminal, described first control unit comprises the signal transmitting module be electrically connected with the first terminal and the signal receiving module be electrically connected with the second terminal, charging station comprises second group of terminal, second group of terminal at least comprises the 3rd terminal and the 4th terminal, can correspondingly with first group of terminal be electrically connected, it is characterized in that, described docking calculation comprises:

Signal transmitting module sends the detection signal preset, and outwards transmits through the first terminal;

Signal receiving module receives the signal that the second terminal transmits to it;

Whether confirmation signal receiver module receives the feedback signal preset corresponding with default detection signal;

When receiving the feedback signal preset corresponding with the detection signal preset, confirm that first group of terminal of automatic running device docks successfully with second group of terminal of charging station.

2. docking calculation according to claim 1, is characterized in that: the detection signal preset and default feedback signal are the signal of rule change.

3. docking calculation according to claim 2, is characterized in that: the feedback signal preset is the signal identical with the detection signal cycle of presetting.

4. docking calculation according to claim 3, is characterized in that: the feedback signal preset is the square-wave signal identical with the detection signal cycle of presetting.

5. docking calculation according to claim 1, it is characterized in that: automatic running device at least arranges one in the first signal conversion unit between signal transmitting module and the first terminal or the secondary signal converting unit between the second terminal and signal receiving module, the first signal conversion unit and secondary signal converting unit change the electric parameter of the signal flowed through.

6. docking calculation according to claim 5, is characterized in that: the first signal conversion unit and secondary signal converting unit zoom in or out to the signal flowed through.

7. docking calculation according to claim 6, is characterized in that: automatic running device arranges the first signal conversion unit and secondary signal converting unit, and the first signal conversion unit amplifies the signal flowed through, and secondary signal converting unit reduces the signal flowed through.

8. docking calculation according to claim 7, is characterized in that: secondary signal converting unit isolates the signal between the second terminal and signal receiving module.

9. docking calculation according to claim 1, is characterized in that: confirm that first group of terminal of automatic running device docks successfully with second group of terminal of charging station, automatic running device stops walking.

10. docking calculation according to claim 9, it is characterized in that: after automatic running device stops walking, signal transmitting module sends default detection signal again, when signal receiving module receives the feedback signal preset corresponding with the detection signal preset, automatic running device keeps the state stopping walking; When signal receiving module does not receive the feedback signal preset corresponding with the detection signal preset, automatic running device starts walking.

11. docking calculations according to claim 1, is characterized in that: charging station arranges the bridge circuit between the 3rd terminal and the 4th terminal, and described bridge circuit is used for transmission of signal between the 3rd terminal and the 4th terminal.

12. docking calculations according to claim 1, it is characterized in that: the second control unit controlling charging station operating state is set in described charging station, described second control unit detects the signal transmitted between the 3rd terminal and the 4th terminal, when the second control unit detects the enabling signal preset corresponding with the detection signal preset, the second control unit controls charging station and starts charging.

13. docking calculations according to claim 12, is characterized in that: the enabling signal preset is the square-wave signal of rule change.

14. docking calculations according to claim 13, is characterized in that: the square-wave signal of the enabling signal preset to be the cycle be preset value.

15. docking calculations according to claim 12, it is characterized in that: also arrange the 3rd signal conversion unit between the second control unit and the 3rd terminal, the 4th terminal in charging station, the second control unit detects the signal transmitted between the 3rd terminal and the 4th terminal by the 3rd signal conversion unit.

16. docking calculations according to claim 15, is characterized in that: the 3rd signal conversion unit changes the electric parameter of the signal flowed through.

17. docking calculations according to claim 16, is characterized in that: the 3rd signal conversion unit reduces the signal flowed through.

18. docking calculations according to claim 17, is characterized in that: the 3rd signal conversion unit isolates the signal transmitted between second group of terminal and the second control unit.

19. docking calculations according to claim 12, it is characterized in that: also arrange in charging station and forbid or allow rechargeable energy to be applied to the second power control unit of the 3rd terminal and the 4th terminal, before starting charging, second control unit controls the second power control unit and forbids that rechargeable energy is applied to the 3rd terminal and the 4th terminal, the output of the 3rd terminal and the 4th terminal is zero, after starting charging, second control unit controls the second power control unit and allows rechargeable energy to be applied to the 3rd terminal and the 4th terminal, and the 3rd terminal and the 4th terminal export rechargeable energy.

20. docking calculations according to claim 1, it is characterized in that: automatic running device also comprises stored energy detecting unit, for the energy state that detected energy memory cell is current, and detection signal is passed to the first control unit, when the energy of energy storage units is lower than preset value, the first control unit controls automatic running device and returns charging station.

21. docking calculations according to claim 1, it is characterized in that: automatic running device also comprises forced charge device, for selectively sending charging instruction to the first control unit, when forced charge device sends charging instruction, the first control unit controls automatic running device and returns charging station.

22. docking calculations according to claim 1, it is characterized in that: automatic running device also comprises checkout gear of drenching with rain, detection signal is passed to the first control unit by described checkout gear of drenching with rain, when detect drench with rain time, first control unit control automatic running device return charging station.

23. docking calculations according to claim 1, is characterized in that: automatic running device is hay mover, comprise the cutting mechanism of cutting lawns.