CN102692923A - Guiding system with self-driven device - Google Patents
Guiding system with self-driven device Download PDFInfo
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- CN102692923A CN102692923A CN2011100678374A CN201110067837A CN102692923A CN 102692923 A CN102692923 A CN 102692923A CN 2011100678374 A CN2011100678374 A CN 2011100678374A CN 201110067837 A CN201110067837 A CN 201110067837A CN 102692923 A CN102692923 A CN 102692923A
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Abstract
The present invention relates to a guiding system with a self-driven device, including a signal generator for generating conduction signals, a guide wire for receiving the conduction signals and sending guide signals, and a self-driven device for receiving the guide signals, wherein the self-driven device includes a shell body, a drive unit which is disposed in the shell body and is used for driving movement of the self-driven device, a sensing unit for detecting the guide signals and generating sensing signals, and a control unit for receiving the sensing signals and controlling the drive unit, the sensing unit comprising a first sensing element and a second sensing element for respectively receiving the sensing signals, the self-driven device being provided with a guiding working mode which runs along the guide wire, under the guiding working mode, the drive unit drives the self-driven device to run along the guide wire under the controlling of the control unit, and maintaining the first sensing element and the second sensing element to be symmetrical with the guide wire. The self-driven device in the guiding system provided in the invention can quickly and accurately enter an anchorage server for performing charging according to the guide of the guide wire.
Description
Technical field
The present invention relates to a kind of automatic drive device guidance system.
Background technology
At present, along with the quickening of human lives's rhythm, the household equipment of robotization more and more receives an acclaim in the whole world.Because it can carry out work automatically and not need manpower to control all the time, people can free from heavy home tasks, thereby obtain more lie Fallow Time.The household equipment of this robotization for example comprises and also to comprise automatic mower that is mainly used in the garden etc. as the automatic cleaner that is mainly used in home cleaning.
The household equipment of this type robotization has some technical issues that need to address, comprises dividing the perform region, makes it in this perform region, carry out work.A general idea is that the sideband signal device is set on the border of perform region.The sideband signal device can send signal and give self-action equipment, is beyond the boundary when avoiding equipment work.For for automatic cleaner, its working environment is the room often, and the wall around the room has just constituted the border.Automatic cleaner just can perceive the border when colliding wall, so wall just makes automatic cleaner be limited in work in this perform region, room.But as far as automatic mower, its working environment is broad meadow, does not have wall to make the border obstacle.Therefore a kind of common way is on the zone, meadow, to lay the boundary line, and the boundary line connects signal generator, makes the boundary line can produce the signal that is detected by mower.Mower just can judge whether to be in the perform region according to signal, and then selects corresponding work mode.
The problem that another one need solve is the automatic charging of robotization household equipment.When electric energy behind the robotization household equipment work certain hour is not enough, hopes that it can automatically get into charging station and charge, thereby avoid artificial charging to improve automaticity.But a problem of bringing thus is an automation equipment is difficult to automatically get into accurately the charging station charging.If adding camera probe or infrared probe no doubt can get into charging station on automation equipment; But can make the entire equipment complex structure again; Cost improves; And these devices can't make the disposable charging station that gets into exactly of automation equipment, often need repeatedly that test repeatedly could get into charging station, have wasted great amount of time.
For addressing the above problem, common way is at the lead of a connection charging station of design, and the robotization household equipment can be moved along the guiding of lead.On equipment, be provided with sensor, the transducing signal that utilizes sensor to come the sensing lead to send for this reason.But such sensor can't guarantee that equipment advances along lead all the time accurately, is easy to cause between equipment and the lead distance suddenly big or suddenly small and deviation is arranged, and has caused the reduction of precision.
Summary of the invention
In view of this, the object of the present invention is to provide can be along the automatic drive device guidance system of lead walking.
The present invention solves the technical scheme that the prior art problem adopted: a kind of guidance system of automatic drive device; Comprise the signal generator that produces conducted signal, receive conducted signal and send pilot signal lead, connect the bus stop of lead and the automatic drive device that receives pilot signal; Automatic drive device has housing; Be positioned at housing and drive the driver element that automatic drive device moves; Survey pilot signal and produce the sensing unit of transducing signal, receive the control module of transducing signal and control drive unit, sensing unit comprises first sensing element and second sensing element that receives pilot signal respectively; Automatic drive device has along the guiding mode of operation of lead walking; Under the guiding mode of operation, the control module control drive unit drives automatic drive device and walks along lead, and keeps first sensing element and second sensing element about the lead symmetry.
Preferably, signal generator electrically connects lead, and conducted signal is a current signal, and pilot signal is the field signal at spatial transmission, and transducing signal is a voltage signal.
Preferably, the direction of current of current signal remains unchanged.
Preferably, current signal is a pulse current.
Preferably, first sensing element and second sensing element are inductance element.
Preferably, control module comprises signal analysis unit and processing unit, and analysis result is analyzed and exported to signal analysis unit to the transducing signal that receives, and processing unit receiving and analyzing result also exports steering order and gives driver element.
Preferably, signal analysis unit comprises the signal comparing unit, and the signal comparing unit receives the transducing signal of first sensing element and second sensing element and transducing signal is compared analysis, relatively back output analysis result.
Preferably, signal analysis unit comprises the signal superpositing unit, and the signal superpositing unit receives the transducing signal of first sensing element and second sensing element and transducing signal is carried out overlay analysis, stack back with 0 relatively and export analysis result.
Preferably, processing unit has the CPU that analysis result is handled.
Preferably, driver element comprises the power motor of roller and driving rolls.
Preferably, roller comprises first roller and second roller, and when first sensing element and second sensing element during about the lead symmetry, the rotating speed that processing unit is controlled first roller and second roller is constant to keep the direction of motion of automatic drive device.
Preferably, when first sensing element and second sensing element were asymmetric about lead, processing unit control power motor made the rotating speed of first roller become big, and the rotating speed of second roller diminishes to change the direction of motion of automatic drive device.
Preferably, automatic drive device also comprises cutter unit, cutter unit comprise the cutting motor and by the cutting motor driven cutting blade.
Preferably, have two symmetrically arranged first electrode slices of relative axis of symmetry on the housing of automatic drive device, the relative axis of symmetry with second sensing element of first sensing element is symmetrical set.
Preferably, axis of symmetry is the axis of housing.
Preferably, automatic drive device has energy storage units, and when the energy storage amount in the energy storage units during less than preset value, the control module output order makes automatic drive device get into the guiding mode of operation.
Preferably, automatic drive device has battery, and when the magnitude of voltage of battery during less than 23.4 volts, automatic drive device gets into the guiding mode of operation.
Preferably, automatic drive device has energy storage units, and when the energy storage amount in the energy storage units during less than preset value, the control module output order makes automatic drive device get into the guiding mode of operation.
Preferably, automatic drive device is provided with the external environment condition detector, and automatic drive device gets into the guiding mode of operation after the external environment condition detector is sensed external environment condition to satisfy trigger condition.
Compared with prior art; Beneficial effect of the present invention is: utilize first and second sensing elements to receive the signal that lead sends in real time in the guidance system; Again signal is passed to control module; Make control module control automatic drive device all the time along the lead walking, finally make automatic drive device can disposablely get into the bus stop that is connected with lead exactly.
Description of drawings
Above-described the object of the invention, technical scheme and beneficial effect can combine accompanying drawing to describe and clearly acquisition through the following detailed description that can realize specific embodiment of the present invention simultaneously.
Identical label in accompanying drawing and the instructions is used to represent element identical or that be equal to symbol.
Fig. 1 is the synoptic diagram of the guidance system of the first embodiment of the present invention.
Fig. 2 is the synoptic diagram of the automatic drive device of guidance system shown in Figure 1.
Fig. 3 is the signal schematic representation that the lead of guidance system shown in Figure 1 sends.
Fig. 4 is the signal schematic representation that the signal generator of guidance system shown in Figure 1 sends.
Fig. 5 is the synoptic diagram that automatic drive device shown in Figure 1 moves under the guiding of lead, and wherein, first sensing element and second sensing element are about the lead symmetry.
Fig. 6 is the synoptic diagram that automatic drive device shown in Figure 1 moves under the guiding of lead, and wherein, first sensing element and second sensing element are asymmetric about lead.
Fig. 7 is the workflow diagram of automatic drive device under the guiding mode of operation shown in Figure 1.
1, mower 2, housing 3, driver element
4, sensing unit 5, control module 6, evade the unit
7, bus stop 8, energy storage units 10, perform region
11, inoperative zone 12, moving direction 13, axis
21, lead 22, signal generator 23, first electrode slice
31, power motor 32, roller 33, driving shaft
34, cutter unit 41, first sensing element 42, second sensing element
51, signal analysis unit 52, pulse signal generator 53, processing unit
54, storage unit 71, inlet 72, second electrode slice
81, probe unit 321, first roller 322, second roller
I, current signal T, recurrence interval
Embodiment
Extremely shown in Figure 2 like Fig. 1 is the automatic drive device of one embodiment of the invention.In the present embodiment, automatic drive device is a mower 1.Automatic drive device can also be a suction cleaner etc.Mower 1 has housing 2 and is used to protect inner element.Has driver element 3 in the housing 2.Driver element 3 can drive mower 1 and advance or retreat.Driver element 3 comprises power motor 31 and roller 32.In the present embodiment, roller 32 help mowers 1 move and play the effect that reduces to rub and have two on ground, be respectively first roller 321 and second roller 322.First roller 321 and second roller 322 be the both sides that are positioned at mower 1 of symmetry respectively.Power motor 31 also has two, and each power motor 31 is driving rolls 32 and change the rotating speed of roller 32 independently.When the speed of two power motors, 31 driving rollss, 32 rotations was consistent, straight line moved mower 1 in the drive lower edge of roller 32 so.When the speed of two power motors, 31 driving rollss, 32 rotations was inequality, mower 1 will correspondingly turn to.More specifically, the slow side of mower 1 way roller 32 rotating speeds turns to.In the present embodiment, two rollers 32 rotate around same driving shaft 33 just.Certainly the present invention is not limited to this, and two rollers 32 can rotate around different driving shaft 33.In addition, the quantity of roller 32 also is not limited to 2.Mower 1 also has cutter unit 34, and cutter unit 34 comprises cutting blade (not shown) and cutting motor, and cutting blade has sharp cutting part, and can be by rotating shaft (not shown) driven in rotation, thereby plays the effect of mowing.Cutting motor driven cutting blade rotates.For the requirement that makes mower 1 can satisfy the user is mowed automatically, need mower 1 is limited to the perform region 10 interior mowing tasks of carrying out of prior delimitation.Perform region 10 can be provided with according to the working environment of reality arbitrarily.When mower 1 needs to carry out other tasks, after accomplishing, for example mowing task rests until will be needed again when perhaps needing charging because of the battery electric quantity deficiency, and the bus stop 7 that is positioned at 10 edges, perform region can sought and get into to mower 1.In the present embodiment, bus stop 7 can charge to mower 1.
Mower 1 can be in perform region 10 moves with predefined route walking manner or with at random route.In moving process, mower 1 has a moving direction 12 shown in arrow among Fig. 2.This moving direction 12 can change constantly, and mower 1 is done to move along curve accordingly under the situation that moving direction 12 changes.This moving direction 10 also can be constant at certain hour section internal fixation, and then mower 1 moves as straight line.The axis 13 parallel with moving direction 12 is divided into two halves with the housing 2 of mower 1.
As shown in Figure 1,10 edge is provided with lead 21 in the perform region.In the present embodiment, bus stop 7 connects lead 21, and constitutes closed circuit with lead 21.Closed circuit can limit mower 1 can not run out of this loop easily.Play the closed circuit of boundary line effect perform region 10 and inoperative zone 11 are divided in ground, mower 1 is limited in the perform region 10.Perform region 10 can be to be set at square, circle or irregularly shaped according to the working condition of reality.In the present embodiment, perform region 10 is square.
It should be noted that in the present embodiment the electric current that signal generator 22 produces not is the electric current of constant size, its size is constantly to change.This is owing in the real process environment, usually have some electromagnetic interference (EMI) and exist.For example, use in the time of other household electrical appliance, also can a certain size magnetic field, those magnetic fields also can produce either large or small undesired signal.Because it is field signal or the undesired signal of sending from lead 21 that mower 1 can't be discerned the signal that self receives at present intelligently.Therefore mower 1 needs some technological means to filter out these undesired signals, keeps normal work thereby make mower 1 can receive the signal that needs.For this reason in the present embodiment, preestablishing the electric current that signal generator 22 produces is pulse current as shown in Figure 4.Pulse current has cycle period T.In a cycle period T, pulse current has the pulse of big current value.And in all the other times of this cycle T, the current value of pulse current is less, almost approximates 0.Therefore, the waveform in the magnetic field that this pulse current produces in the space is also roughly the same, and promptly magnetic field also has recurrence interval T.In this cycle T, magnetic field has the pulse of big field strength values, and in all the other times of this cycle T, magnetic field intensity is less.So only need preestablish the detecting element that makes on the mower 1 and when pulse has big field strength values, carry out detectable signal.Because this moment, the intensity of undesired signal was much smaller than bigger field strength values, so detecting element can successfully detect signal and interference-free effect of signals.And be the influence that avoids interference signal when pulse has less field strength values, detecting element is abandoned the detection to signal.And make the detect cycle of detecting element and recurrence interval T equate that when signal had the pulse of higher value, detecting element just can be surveyed it.The detectable signal of property can successfully guarantee to survey correct signal and interference-free effect of signals so at interval.
As depicted in figs. 1 and 2, in the housing 2 of mower 1, be provided with sensing unit 4.Sensing unit 4 can detect and pass to the field signal that the lead 21 behind the current signal i sends.In the present embodiment, sensing unit 4 has comprised first sensing element 41 and second sensing element 42 at least.First sensing element 41 and second sensing element 42 can be surveyed the field signal that lead 21 sends respectively independently.In the present embodiment, first sensing element 41 and second sensing element 42 comprise the inductance element (not shown) respectively.Inductance element is common electronic component, and inductance element can detect field signal, and field signal is converted into voltage signal.In the present embodiment, voltage signal is exactly a transducing signal.The size of voltage signal is directly proportional with the size of field signal.And the generating positive and negative voltage of voltage signal can reflect the direction of field signal.In the present embodiment, through setting in advance, making positive voltage signal represent direction is the inside field signal of vertical paper, and it is the outside field signal of vertical paper that negative voltage signal is represented direction.As shown in Figure 2, first sensing element 41 and second sensing element 42 setting side by side, and the line of first sensing element 41 and second sensing element 42 is perpendicular to the moving direction 12 of mower 1.In the present embodiment, first sensing element 41 and second sensing element 42 are arranged on the both sides of axis 13 symmetrically.Thereby make the sensing element 41 of winning to the axis 13 distance and second sensing element 42 13 distance equates to the axis.It should be noted that first sensing element 41 is corresponding with first roller 321, second sensing element 42 is corresponding with second roller 322.
As shown in Figure 2, also be provided with control module 5 in the housing 2 of mower 1.Control module 5 electrically connects sensing unit 4.The transducing signal that first sensing element 41 and second sensing element 42 send passes to control module 5 respectively.After control module 5 receives transducing signal, transducing signal is carried out the series of analysis work of treatment, produce control signal at last and give driver element 3, with the motion of control mower 1.In the present embodiment, control module 5 comprises signal analysis unit 51, and the transducing signal post analysis that signal analysis unit 51 reception sensing units 4 send is also exported analysis result.In the present embodiment, signal analysis unit 51 comprises the signal comparing unit, and the signal comparing unit is mainly used in the size and Orientation of transducing signal of transducing signal and second sensing element 42 of comparison first sensing element 41, and output comparison process signal.Judge the positive negative value of voltage sensing signal of first sensing element 41 and second sensing element 42 when identical when signal comparing unit 511, show that first sensing element 41 and second sensing element 42 are positioned at the same side of lead 21.Promptly first sensing element 41 and second sensing element 42 are in the perform region 10 simultaneously or are in simultaneously in the inoperative zone 11.Then control module 5 analyzed mower 1 and was positioned on the incorrect position this moment, need adjust it.If the signal comparing unit compares the positive negative value of voltage sensing signal of first sensing element 41 and second sensing element 42 just in time on the contrary the time, show that first sensing element 41 and second sensing element 42 lay respectively at the both sides of lead 21.Be mower 1 across on lead 21, the roller of a side 32 is positioned at perform region 10 with one of them sensing unit, the roller 32 and the another one sensing unit of an other side is positioned at inoperative zone 11.The signal comparing unit also can compare the order of magnitude of the voltage sensing signal of two sensing elements.When the absolute value of the voltage sensing signal of two sensing elements is unequal; Show that two sensing elements are unequal to the distance of lead 21; Mower 1 continuation is moved along moving direction 12 and will be caused mower 1 progressively away from lead 21, can't keep mower 1 to move along lead 21.Control module 5 can analyze this moment mower 1 be positioned on the incorrect position, need adjust it.When the absolute value of the voltage sensing signal of two sensing elements equates, show that two sensing elements equate that to the distance of lead 21 first sensing element 41 and second sensing element 42 are about lead 21 symmetries at this moment.Control module 5 analyzes at this moment, and mower 1 is in correct position.
Certain the present invention is not limited to signal analysis unit 51 and comprises the signal comparing unit.In an other embodiment, signal analysis unit 51 can also comprise the signal superpositing unit and replace the signal comparing unit.The signal superpositing unit carries out linear superposition to the voltage sensing signal of first sensing element 41 and second sensing element 42; If stack back result is 0; Show two sensing elements voltage sensing signal just what a be on the occasion of; Another is a negative value, and the absolute value of two voltage sensing signals equates.Show that then mower 1 is in correct position.If stack back result is not 0, show that then mower 1 is in incorrect position, need adjust it.More specifically, if stack back result is greater than 0, then can judges mower 1 and towards which lateral deviation move with respect to lead 21 through preestablishing.
In the present embodiment, control module 5 also has pulse signal generator 52.52 every one preset time intervals of mistake of pulse signal generator can be sent pulse signal.Under the effect of pulse signal, the transducing signal of 5 pairs first sensing elements 41 of control module and second sensing element 42 is gathered simultaneously and is compared, and guarantees the synchronism of the transducing signal collection of two sensing units like this.And the pulse interval of pulse signal generator 52 is to be predisposed to a minimum value, can accomplish that so control module 5 is in real time to the transducing signal collections of two sensing units.
It is to be noted that in the present embodiment the electric current that signal generator 22 is passed to lead 21 is a fixed-direction, be convenient to the inlet 71 that mower 1 can accurately find bus stop 7 like this, thereby from the 71 entering bus stops 7 that enter the mouth.As shown in Figure 1, current signal i is conduction in a clockwise direction in the closed circuit that lead 21 and bus stop 7 surround, and current signal i just in time flows out bus stop 7 from the inlet 71 of bus stop 7.Through preestablishing, control module 5 makes mower 1 and looks for lead 21 backs all the time and move along the counter clockwise direction of lead 21.Can guarantee that like this mower 1 is smoothly from the 71 entering bus stops 7 that enter the mouth.
Certainly, mower 1 has multiple different working pattern to handle various situation, for example as mowing mode of operation, guiding mode of operation, battery charger operation mode etc.Be described in detail mower 1 groundwork situation under each pattern below.When being in the mowing mode of operation, mower 1 moves along a certain preset route in perform region 10 under the effect of driver element 3.After lead 21 passed to clockwise current signal i, the vertical component in the magnetic field in perform region 10 all was straight up.Therefore first sensing element 41 and second sensing element 42 that are positioned at workspace 10 under the effect in magnetic field, the voltage sensing signal value of generation all be on the occasion of.Therefore after control module 5 received processing signals, mower 1 was positioned at perform region 10 thereby this moment is judged in 53 analyses of process processing unit.Thereby control module 5 control mowers 1 keep original mobile alignment to move on, and cutting motor drive cutting blade is rotating and mowing in moving process.And the route of mower 1 work can be provided with in advance, comprises curve or the straight line of at random route, rule etc.In addition, if when also having barriers such as trees, pond in the perform region 20, mower 1 is provided with can evade unit 6, evades unit 6 detectable barriers and mower 1 is evaded automatically.
If run into some unforeseeable emergency case, for example by pet or baby outside the mower 1 hauling-out perform region 10.Then this moment, sensing unit 4 was positioned at outside the lead 21, this moment sensing unit 4 to be arranged in lead 21 external magnetic field vertical components be magnetic field straight down.Therefore the voltage that is positioned at the sensing units generation outside the lead 21 is negative value.After this voltage sensing signal passes to control module 5, analyze mower 1 through processing unit 53 and be positioned at inoperative zone 11.Control module 5 just turns to through the control gear 32 control mowers 1 that turn to of driver element 3.Cross control module 5 behind the certain hour and surveyed the transducing signal of sensing unit 4 once more.If control module 5 was still judged mower 1 and was positioned at outside the perform region 10 this moment, control module 5 can turn to by control mowers 1 once more.So circulation normal execution mowing work in mower 1 is got back to perform region 10.
Mower 1 is provided with energy storage units 8, is used for providing the power motor 31 of energy to cutting motor and driver element 3.In the present embodiment, energy stored is an electric energy, and energy storage unit 8 is a battery.Also be provided with the probe unit 81 of the energy storage condition of 8 li of detectable energy storage units on the mower 1.When probe unit 81 detected battery and is lower than a preset reference value, for example 23.4 volts magnitude of voltage can certainly be made as the values that other have different sizes or type, got into the guiding mode of operation through a series of feedback mower 1.Certainly, mower 1 has the situation of multiple entering guiding mode of operation.For example, also be provided with the home key (not shown) on the housing 2 of mower 1, when the operator needs mower 1 to stop work at present and only need press home key when getting into bus stop 7, mower 1 will get into the guiding mode of operation immediately.Other situation, if run into the rainy weather extremes weather that waits, the external environment condition inductor (not shown) on the mower 1 is sensed and also can be made mower 1 get into the guiding mode of operation after the external environment condition situation satisfies the preset trigger condition.In a word, after mower 1 satisfied the certain trigger condition, mower 1 just can get into the guiding mode of operation.
As shown in Figure 7, after the entering guiding mode of operation, control module 5 can make mower 1 look for lead 21 automatically.Particularly, control module 5 can be surveyed the field signal that lead 21 sends by control sensing unit 4.According to the field signal of collecting, mower 1 can produce a circuit at random and point to lead 21.Driver element 3 driving mowers 1 guiding line 21 moves then.Be positioned on the lead 21 up to mower 1, and first sensing element 41 and second sensing element 42 lay respectively at the both sides of lead 21.The voltage sensing signal of such two sensing elements just what a be on the occasion of, another is a negative value.Certainly in other embodiment, mower 1 also can search out lead 21 with preset route.Preset route can be a straight line, also can be curve.
Except comparative analysis voltage on the occasion of or negative value, it is big or small that control module 5 also can compare the absolute value of voltage of first sensing element 41 and second sensing element 42.As shown in Figure 5 when the absolute value of voltage equal and opposite in direction; The distance that lead 21 to first sensing elements 41 and second sensing element 42 are described equates; Be that axis 13 overlaps with lead 21; Control module 5 keeps the moving direction 12 of mower 1 constant, and mower 1 is advanced to bus stop 7 under the guiding of lead 21.As shown in Figure 6 when the absolute value of voltage size is unequal, explain that first sensing element 41 and second sensing element 42 are asymmetric about lead 21.Particularly in the present embodiment, first sensing element 41 arrives the distance of lead 21 less than the distance of second sensing element 42 to lead 21, and control module 5 output orders control power motor 31 diminishes the rotating speed of first roller 321, and it is big that the rotating speed of second roller 322 becomes.So adjustment can correspondingly change the moving direction 13 of mower 1; Up to mower 1 all the time between perpendicular to first sensing element 41 and second sensing element 42 direction of line move; Make first sensing element 41 and second sensing element 42 about lead 21 symmetries, as shown in Figure 5.Mower 1 just moves along lead 21 basically like this, and the number of times that mower 1 can be spent minimizing under the guiding of lead 21 72 gets into bus stop 7 exactly from entering the mouth.
In addition, also be provided with first electrode slice 23 on the shell 2 of mower 1.First electrode slice 23 is arranged on the outside, and this is for ease of contacting with second electrode slice 72 of setting in the bus stop 7.In the present embodiment, first electrode slice 23 is symmetrically arranged two, and the axis of symmetry of first electrode slice 23 and first sensing element 41 overlap with the axis of symmetry of second sensing element 42, and this axis of symmetry is the axis 13 of housing 2.Like this when mower 1 when lead 21 walking gets into bus stops 7, can make things convenient for to such an extent that make first electrode slice 23 and second electrode slice, 72 symmetries.After mower 1 got into bus stop 7 exactly, first electrode slice 23 on the mower 1 just in time touched second electrode slice 72 in the bus stop 7, and both produce electric connection.At this moment, mower 1 just gets into the battery charger operation mode.Bus stop 7 replenishes electric energy to mower 1 through first electrode slice 23 that is in contact with one another and second electrode slice 72, is full of up to the energy storage units 8 of mower 1.
In a word, the present invention is not limited to the specific embodiment structure of being lifted, and the structure of conceiving based on the present invention all belongs to protection domain of the present invention.
Claims (23)
1. the guidance system of an automatic drive device; Comprise the signal generator that produces conducted signal, the automatic drive device that receives said conducted signal and send the lead of pilot signal and receive said pilot signal; Said automatic drive device has housing; Be positioned at said housing and drive the driver element that said automatic drive device moves; Survey said pilot signal and produce the sensing unit of transducing signal, receive said transducing signal and control the control module of said driver element, said sensing unit comprises first sensing element and second sensing element that receives said pilot signal respectively; Said automatic drive device has along the guiding mode of operation of said lead walking; It is characterized in that: under said guiding mode of operation, said control module is controlled said driver element and is driven said automatic drive device along said lead walking, and keeps said first sensing element and said second sensing element about said lead symmetry.
2. guidance system according to claim 1 is characterized in that: said signal generator electrically connects said lead, and said conducted signal is a current signal, and said pilot signal is the field signal at spatial transmission, and said transducing signal is a voltage signal.
3. guidance system according to claim 1 is characterized in that: the direction of current of said current signal remains unchanged.
4. guidance system according to claim 1 is characterized in that: said current signal is a pulse current.
5. guidance system according to claim 1 is characterized in that: said first sensing element and said second sensing element are inductance element.
6. guidance system according to claim 1; It is characterized in that: said control module comprises signal analysis unit and processing unit; Analysis result is analyzed and exported to said signal analysis unit to the said transducing signal that receives, and said processing unit receives said analysis result and exports steering order and give said driver element.
7. guidance system according to claim 6; It is characterized in that: said signal analysis unit comprises the signal comparing unit; Said signal comparing unit receives the said transducing signal of said first sensing element and said second sensing element and said transducing signal is compared analysis, relatively the said analysis result of back output.
8. guidance system according to claim 6; It is characterized in that: said signal analysis unit comprises the signal superpositing unit; Said signal superpositing unit receives the said transducing signal of said first sensing element and said second sensing element and said transducing signal is carried out overlay analysis, stack back with 0 relatively and export said analysis result.
9. guidance system according to claim 6 is characterized in that: said processing unit has the CPU that said analysis result is handled.
10. guidance system according to claim 6 is characterized in that: said driver element comprises roller and the power motor that drives said roller.
11. guidance system according to claim 10; It is characterized in that: said roller comprises first roller and second roller; When said first sensing element and said second sensing element during about said lead symmetry, the rotating speed that said processing unit is controlled said first roller and said second roller is constant to keep the direction of motion of said automatic drive device.
12. guidance system according to claim 11; It is characterized in that: when said first sensing element and said second sensing element are asymmetric about said lead; Said processing unit is controlled said power motor becomes greatly the rotating speed of said first roller, and the rotating speed of said second roller diminishes to change the direction of motion of said automatic drive device.
13. guidance system according to claim 1 is characterized in that: said automatic drive device also comprises cutter unit, and said cutter unit comprises the cutting motor and by the cutting blade of said cutting motor driven.
14. guidance system according to claim 1; It is characterized in that: have two symmetrically arranged first electrode slices of relative axis of symmetry on the said housing of said automatic drive device, said first sensing element and the said relatively axis of symmetry of said second sensing element are symmetrical set.
15. guidance system according to claim 14 is characterized in that: said axis of symmetry is the axis of said housing.
16. guidance system according to claim 14 is characterized in that: said guidance system also comprises the bus stop that connects said lead.
17. guidance system according to claim 16 is characterized in that: said lead and said bus stop constitute closed circuit.
18. guidance system according to claim 17 is characterized in that: said automatic drive device is provided with chargeable battery, and said bus stop can be to said battery charge.
19. guidance system according to claim 18 is characterized in that: second electrode slice that is provided with corresponding contact in the said bus stop with said first electrode slice.
20. guidance system according to claim 1; It is characterized in that: said automatic drive device has energy storage units; When the energy storage amount in the said energy storage units during less than preset value, said control module output order makes said automatic drive device get into said guiding mode of operation.
21. guidance system according to claim 1 is characterized in that: said automatic drive device has battery, and when the magnitude of voltage of said battery during less than 23.4 volts, said automatic drive device gets into said guiding mode of operation.
22. guidance system according to claim 1 is characterized in that: said automatic drive device is provided with home key, and said automatic drive device got into said guiding mode of operation after said home key was pressed.
23. guidance system according to claim 1; It is characterized in that: said automatic drive device is provided with the external environment condition detector, and said automatic drive device gets into said guiding mode of operation after said external environment condition detector is sensed external environment condition to satisfy trigger condition.
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| CN201110067837.4A CN102692923B (en) | 2011-03-21 | 2011-03-21 | Guiding system with self-driven device |
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| CN201110067837.4A CN102692923B (en) | 2011-03-21 | 2011-03-21 | Guiding system with self-driven device |
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| CN104750104A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Return butt-joint control system of automatic walking device |
| WO2022001022A1 (en) * | 2020-06-28 | 2022-01-06 | 莱克电气股份有限公司 | Boundary signal generation and detection methods, generation system, and mowing robot |
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Cited By (5)
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| CN104750104A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Return butt-joint control system of automatic walking device |
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| WO2022001022A1 (en) * | 2020-06-28 | 2022-01-06 | 莱克电气股份有限公司 | Boundary signal generation and detection methods, generation system, and mowing robot |
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