CN103576681B - Automatic traveling device and control method thereof - Google Patents
Automatic traveling device and control method thereof Download PDFInfo
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- CN103576681B CN103576681B CN201210261668.2A CN201210261668A CN103576681B CN 103576681 B CN103576681 B CN 103576681B CN 201210261668 A CN201210261668 A CN 201210261668A CN 103576681 B CN103576681 B CN 103576681B
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Abstract
The invention relates to an automatic traveling device and a control method thereof, in particular to a method for controlling the automatic traveling device to return to a stop. The automatic traveling device comprises a power module capable of providing energy. The control method includes the following steps that the automatic traveling device is controlled to start returning; the energy level of the power module is detected; the change rate of the energy level of the power module is calculated; when the change rate arrives at or exceeds a preset threshold value, the automatic traveling device is controlled to stop returning. According to the automatic traveling device and the control method of the automatic traveling device, in the return process, the change rate of the energy level of the power module is obtained in real time, whether the change rate arrives at or exceeds the preset threshold value is judged, the effect that the automatic traveling device is controlled to stop returning at appropriate time is realized, the situation that the power module is over-discharged and damaged due to the fact that the automatic traveling device performs returning continuously is avoided, and the effects that the power module is protected and the service life of the power module is prolonged are realized.
Description
Technical field
The present invention relates to a kind of automatic running device, particularly a kind of when bus stop is returned, cross with power module and put
The automatic running device of defencive function.
It is particularly a kind of to realize when bus stop is returned pair the invention further relates to a kind of control method of automatic running device
Power module carries out the control method of the automatic running device of Cross prevention.
Background technology
With the development of science and technology, intelligentized automatic running device is gradually well known.Due to automatically walk
Equipment can perform inter-related task according to pre-set programs automatically, without artificial operation and intervention, therefore in commercial Application and household
Widely, for example, industrial application has the robot for performing various functions, the application on family product for application on product
There are hay mover, vacuum cleaner etc..These intelligent automatic running devices dramatically saves on the time of people, reduce the labor of people
Fatigue resistance, so as to improve production efficiency or quality of the life.
Automatic running device often using rechargeable battery bag as energy source, and can auto-returned charging station fill
Electricity.But due to battery bag cross put after can damage, generally, automatic running device the energy of battery bag have decreased to one it is relatively low
Preset level, but when being also not up to the degree put, can start and return the action that charging station charges.Automatic running device is general all
Charging station can be returned before putting excessively.However, because the environment of many working regions is complicated and changeable, when in working and returning also
Some situations beyong contemplation can often occur, automatic running device is possible to difficulty when charging station is returned, so as to
Persistently walk, cross battery bag and put and damage.
Another situation is that the automatic running device of some intermittent or seasonal works can be after storage for a long time
Take out again and use.Such as hay mover, it is often stored when need not mow in the winter time, regrow to spring lawn
When further take out to use.In this case, the power module of automatic running device is due to self discharge meeting natural wastage to
Very low energy level, the energy level is probably well below and returns the preset energy level for charging.Now, if automatic running device
The action of charging station is found and returned still according to normal flow, is also likely to cross power module to put and damage.
The content of the invention
Present invention solves the technical problem that being：There is provided a kind of power module when can avoid automatic returning cross put damage from
The control method of dynamic walking arrangement.
To solve above-mentioned technical problem, the technical scheme is that：A kind of automatic running device returns the control of bus stop
Method processed, the automatic running device includes providing the power module of energy, and the control method comprises the steps：Control is certainly
Dynamic walking arrangement starts recurrence；The energy level of detection power module；Calculate the rate of change of the energy level of power module；Work as institute
When the absolute value for stating the rate of change of energy level meets or exceeds predetermined threshold value, control automatic running device stops returning.
Preferably, the step of control method also includes setting predetermined threshold value.
Preferably, according to power module at least one of type, load level or discharge temp parameter, setting is default
Threshold value.
Preferably, the rate of change of the energy level is energy level to the first derivative of time, second dervative or high-order
Derivative.
Preferably, the energy level of the power module is represented with the voltage or/and discharge current of power module.
Preferably, the power module includes the battery bag with least one battery unit, the energy of the power module
Amount level is at least one of energy level of the energy level of the whole bag of battery bag or battery unit.
Preferably, when the energy level of power module is less than preset energy level, control automatic running device starts back
Return.
Preferably, when the absolute value of the rate of change of the energy level of power module is less than predetermined threshold value, drive automatic
Walking arrangement to bus stop is walked.
Preferably, during driving automatic running device to walk to bus stop, when automatic running device revert to stop
When standing, control automatic running device stops returning.
Preferably, the step of driving automatic running device is walked to bus stop includes：Find and stop station location phase
The guiding signal of pass；Automatic running device is driven to walk to bus stop according to guiding signal.
Preferably, the guiding signal is the signal of telecommunication on guide line, and the guide line is connected to bus stop, the driving
The step of automatic running device is walked to bus stop is specially：Find the signal of telecommunication；Guiding is run to according to the signal of telecommunication
Line, drives automatic running device to walk to bus stop along the guide line.
Preferably, the automatic running device performs dust suction work or grass cutting action.
Beneficial effects of the present invention are：By during recurrence, the change of the energy level of energy module being known in real time
Rate, and judge whether the rate of change meets or exceeds predetermined threshold value, realize that in time controlling automatic running device stops
Return, it is to avoid the continual execution of automatic running device returns and cause the mistake of power module to put damage, has reached protection
Power module, extends the effect in its life-span.
The present invention solve another technical problem be：Power module is crossed and puts damage when offer one kind can avoid automatic returning
Automatic running device.
To solve above-mentioned technical problem, the technical scheme that the present invention is provided is：A kind of automatic running device, selectively returns
Bus stop is grouped into, the automatic running device includes：Walking module, drives automatic running device walking；Power module, is automatic
Walking arrangement provides energy；Energy detection unit, detects the energy level of power module；Control module, by energy measuring list
The energy level of unit's acquisition current power module, and the working condition of walking module is controlled, control module control walking module is driven
Dynamic automatic running device returns bus stop, and control module calculates the energy of power module according to the energy level of current power module
The rate of change of level, when the absolute value of the rate of change of the energy level meets or exceeds predetermined threshold value, control module control
Walking module processed stops walking.
Preferably, the control module sets in the course of the work the predetermined threshold value.
Preferably, the automatic running device also includes the type identification unit of mark power module type, the control
Module sets the predetermined threshold value according to the signal that the type identification unit is transmitted.
Preferably, the automatic running device also includes the load detecting unit of the load level of detection power module, institute
State control module and the predetermined threshold value is set according to the signal that load detecting unit is transmitted.
Preferably, the energy detection unit detects the discharge temp of power module, and the control module is examined according to energy
The signal for surveying unit transmission sets the predetermined threshold value.
Preferably, the rate of change of the energy level is energy level to the first derivative of time, second dervative or high-order
Derivative.
Preferably, the energy level of the power module is represented with the voltage or/and discharge current of power module.
Preferably, the power module includes the battery bag with least one battery unit, the energy of the power module
Amount level is at least one of energy level of the energy level of the whole bag of battery bag or battery unit.
Preferably, when control module confirms that the energy level of current power module is less than preset energy level, control walking
Module drive automatic running device returns bus stop.
Preferably, control module confirms that the absolute value of the rate of change of the energy level of power module is less than predetermined threshold value
When, control walking module drives automatic running device to walk to bus stop.
Preferably, during automatic running device is walked to bus stop, control module confirms that automatic running device is returned
When being grouped into bus stop, control walking module stops walking.
Preferably, the automatic running device also includes guiding induction of signal unit, the guiding induction of signal unit sense
Guiding signal that should be related to the position of bus stop, the control module drives automatic according to guiding signal control walking module
Walking arrangement to bus stop is walked.
Preferably, the guiding signal is the signal of telecommunication on guide line, and the guide line is connected to bus stop；The guiding
Induction of signal unit senses the signal of telecommunication, and control module is travelled to guiding according to the signal of telecommunication for sensing, control walking module
Line, drives automatic running device to walk to bus stop along the guide line.
Preferably, the automatic running device also includes operational module, and the operational module performs grass cutting action or dust suction
Work.
Beneficial effects of the present invention are：By the way that during recurrence, control module knows in real time the energy of energy module
The rate of change of level, and judge whether the rate of change meets or exceeds predetermined threshold value, realization in time controls automatically walk
Equipment stops returning, it is to avoid the continual execution of automatic running device returns and cause the mistake of power module to put damage, reaches
Protection power module is arrived, has extended the effect in its life-span.
Description of the drawings
Technical problem that invention described above is solved, technical scheme and beneficial effect can pass through it is following can
The detailed description of the preferably specific embodiment of the present invention is realized, is clearly obtained in combination with Description of Drawings.
Identical label and symbol in accompanying drawing and description is used to represent the element of identical or equivalent.
Fig. 1 is a kind of schematic diagram of the automatic running device work system of better embodiment of the invention；
Fig. 2 is the circuit module figure of the automatic running device shown in Fig. 1；
Fig. 3 is the workflow of Fig. 1 illustrated embodiments；
Fig. 4 is the power module discharge curve of Fig. 1 illustrated embodiments.
The energy detection unit of 2 automatic running device 18
4 charging station 20 guides induction of signal unit
The processor of 6 charging guide line 22
The memorizer of 8 roller 24
The load detecting unit of 10 control module 26
The type identification unit of 12 walking module 28
The 14 power module I signals of telecommunication
16 operational modules
Specific embodiment
Detailed description for the present invention and technology contents, coordinate description of the drawings as follows, but appended accompanying drawing only provides ginseng
Examine and explanation, not for being any limitation as to the present invention.
Fig. 1 show a kind of schematic diagram of the automatic running device work system of better embodiment of the present invention.Automatically
Walking arrangement work system includes automatic running device 2, charging station 4 and the charging guide line 6 being connected with charging station 4,
Charging guide line 6 is used as guiding signal transmitter unit when returning.In the present embodiment, charging guide line 6 draws from charging station 4
Go out, the working range around automatic running device 2 returns to charging station 4 after one week, while also forming automatic running device job family
The boundary line of system, is working region within the region that charging guide line 6 is surrounded, and is non-beyond the region that charging guide line 6 is surrounded
Working region.
With reference to Fig. 2, automatic running device 2 mainly includes control module 10, walking module 12, power module 14, Working mould
Block 16, energy detection unit 18, guiding induction of signal unit 20, load detecting unit 26 and type identification unit 28.
Control module 10 is the control axis of automatic running device 2, is connected with other modules, receives other each
The information that module is sent, and control automatic running device 2 perform walking, work, return charging station 4 and charge etc. all kinds of actions
Or task.Control module 10 specifically includes processor 22, memorizer 24 etc., its concrete outcome and function subsequent descriptions.
Walking module 12 includes the motor being located in automatic running device 2 and the roller 8 driven by the motor, for connecing
The instruction of controlled module 10, by power module 14 energy is provided, and drives automatic running device 2 in ground or other working surfaces
Upper automatically walk.In the present embodiment, walking module 12 specifically includes two driving wheels positioned at the both sides of automatic running device 2,
Two drive motors being connected on two driving wheels, and positioned at the front portion of automatic running device 2 one or two
Support wheel.Such setting can control the traveling speed of walking module 12 by the speed of two driving wheels of control and speed difference
Degree and direction so that the walking and steering of automatic running device 2 is flexible and accurate.Walking module 12 can constitute shape by others
Formula, for example it can be driving wheel and the independent drive motors being attached thereto and independent steering motor；It can also be crawler type
Etc. other forms.
Operational module 16 is used to perform the specific works that automatic running device 2 is responsible for.Operational module 16 generally includes work
The working cell made motor and driven by work motor.If automatic running device 2 is vacuum cleaner, working cell is execution dust suction
The dust suction part of work is such as：Suction port, fan and vacuum chamber etc.；If automatic running device 2 is hay mover, working cell is to hold
The cutting part of row cutting work is such as：Output shaft and cutterhead, blade etc., will not be described here.
Power module 14 provides the energy of work for the modules of automatic running device 2, and it includes rechargeable battery
Bag and the charging terminal with battery bag connection.Charging terminal be suitable to it is matched with the power supply terminal on charging station 4, with connect
It is that battery bag supplements energy on external power source.Power module 14 can also be other rechargeable devices, such as include super electricity
Rechargeable device of appearance etc..In this embodiment, it is the battery with 7 section lithium cells with power module 14
Bag, its rated voltage is 28V, and rated capacity is 2000mAh.
Energy detection unit 18 connects power module 14 and control module 10, for detecting power module 14 in battery bag
Energy level and would indicate that the signal of the energy level is sent to control module 10.In the present embodiment, it is possible to amount detection unit
18 energy levels by detecting the voltage of battery bag to detect battery bag, i.e. energy detection unit 18 are examined for the voltage of battery bag
Slowdown monitoring circuit, it is detected after the magnitude of voltage of battery bag, and the signal that would indicate that the magnitude of voltage is sent to control module 10.Certainly, energy
Amount detection unit 18 can also detect the energy level of battery bag by the way of other are direct or indirect, as detected battery bag
Residual capacity, discharge current, discharge time, discharge temp etc..Energy detection unit 18 can both detect the energy of the whole bag of battery bag
Amount level, it is also possible to detect the energy level of battery unit, can also simultaneously detect the energy level and battery of the whole bag of battery bag
The energy level of the energy level of unit, wherein battery unit can be the energy level of some battery unit, certain several electricity
The energy level of the energy level of pool unit or each battery unit.The energy detection unit 18 of battery bag it is various concrete
Way of realization is well known to the skilled artisan in the art, and here is not described in detail.
Guiding induction of signal unit 20 and guiding signal transmitter unit collectively constitute a recurrence guiding system, for guiding
Automatic running device 2 returns charging station 4.
In the present embodiment, guide signal transmitter unit to be specially an electric signal generator, the signal generator with from
Dynamic walking arrangement 2 is separated, and connects the charging guide line 6 of the electric signal generator, and electric signal generator is to guiding of charging
Signal of telecommunication I is sent on line 6, used as the guiding signal that guiding automatic running device 2 is walked to charging station, the signal generator is preferred
Be integrated in charging station 4.Guiding induction of signal unit 20 is specially one or more electricity being located on automatic running device 2
Sense.The current signal I for changing is carried on charging guide line 6, the magnetic field of corresponding change is produced in the space that it can around,
And the signal of inductance induction charging guide line 6 by the variation magnetic field in inductive spacing, and by the signal transmission for sensing to
Control module 10.Each feature for the signal that the analysis of control module 10 is sensed, such as sensitive time, signal strength, sigtnal interval
Deng judging the relative position of the relative charging guide line 6 of automatic running device 2, distance.So, when needing to return, control
Module 10 sends instructions to walking module 12 according to the information for obtaining, and makes it drive automatic running device 2 to drive to charging guiding
Line 6 nearby or charging guide line 6 top, and then return charging station 4 along charging guide line 6.
Returning guiding system can also have other implementations.Guiding signal transmitter unit can be filled for ultrasonic emitting
Put, and guide induction of signal unit 20 to be corresponding ultrasonic sensing device, return guiding system and pass through ultrasonic locating
The position of charging station 4, and guide automatic running device 2 to return charging station 4.Guiding signal transmitter unit can also be sent out for infrared ray
Injection device, and guide induction of signal unit 20 to be corresponding infrared induction device, return guiding system and pass through infrared ray
The position of positioning charging station 4, and guide automatic running device 2 to return charging station 4.Guiding signal transmitter unit can also be installation
Image collecting device on automatic running device 2, and guide induction of signal unit to be then pattern recognition device, wherein image is known
Other device confirms the guiding signal related to the position of charging station 4 according to the image information of image acquisition device.Guiding signal
Transmitter unit can also be gps satellite, and guide induction of signal unit to be then the GPS chip on automatic running device 2,
GPS chip determines the position of the relative charging station 4 of automatic running device 2 by gps satellite, so that it is determined that with the position phase of charging station 4
The guiding signal of pass.
Load detecting unit 26 connects power module 14 and control module 10, for detecting the water load of power module 14
Put down, i.e. consumption state of the automatic running device 2 to the energy of power module 14.The electric discharge electricity of detection power module 14 can be passed through
The various ways such as stream, discharge voltage, discharge temp are recognizing the load level of power module 14.In specific to present embodiment,
Load detecting unit 26 detects the discharge current of power module 14, and the discharge current value for detecting is passed in real time into control
Module 10, the signal for being easy to control module 10 to be transmitted according to it, is processed accordingly and is controlled.
Type identification unit 28 connects power module 14 and control module 10, can be used for identifying the class of power module 14
Type, the such as chemical type of power module 14, voltage type.Type identification unit 28 can be to be arranged in power module 14
Identification resistance, or the identification circuit being arranged in or beyond power module 14.Specific in present embodiment, type identification
Unit 28 is the identification resistance being arranged in power module 14, and control module 10 is by knowing the electricity that type identification unit 28 has
Resistance resistance would know that the type of power module 14.
Under the common cooperation of various pieces described above, the present invention by flow process disclosed below in other words
Method charges to realize returning, and returns the battery bag Cross prevention in charging process.
Workflow diagram as shown in Figure 3 is not only suitable in the execution course of work of automatic running device 2 i.e. operational module 16
Recurrence in the execution course of work is charged and judges, returns charge execution and battery bag protection, is also applied for automatic running device 2 and is opened
It is that recurrence when operational module 16 not yet starts work is charged and judges, returns to charge and perform and battery bag protection during machine.
In initial step S0, automatic running device 2 is in open state, and now automatic running device 2 not yet starts to hold
Row work.
Step S1 is subsequently entered, control module 10 monitors the energy level of battery bag by energy detection unit 18.Battery
The energy level of bag can be residual capacity, discharge voltage, discharge current, discharge time, discharge temp of battery bag etc.；Battery
The energy level of bag can be the energy level of the whole bag of battery bag, the energy level of some battery unit, certain several battery list
The combination of the energy level, the energy level of each battery unit or preceding energy level of unit.As it was previously stated, in this reality
In applying example, the whole bag voltage of battery bag of the energy level that the detection of energy detection unit 18 represents battery bag, and send it to
Control module 10.
After step S1, into step S2, control module 10 judges the power module obtained by energy detection unit 18
Whether 14 energy level is less than the first preset energy level.The first preset energy level is pre-stored in depositing for control module 10
In reservoir 24, the processor 22 of control module 10 is by the first preset energy level and the energy water of the power module 14 for detecting
It is flat to be compared, if the energy level of power module 14 is less than the first preset energy level, into step S6.In step S6,
The control automatic running device of control module 10 starts recurrence.If the energy level of power module 14 is not less than the first preset energy water
It is flat, then into step S3.As it was previously stated, in the present embodiment, because the energy level of power module 14 uses the whole bag electricity of battery bag
Pressure representing, store in memorizer 24 for first preset voltage value, and processor 22 is also by the whole bag of comparative cell bag
The magnitude relationship of voltage and first preset voltage value is come the power module 14 that judges the first preset energy level He detect
Energy level magnitude relationship.Although in the present embodiment, when the energy level of power module 14 is equal to the first preset energy
Flow process return to step S3 during level, if but now flow process is also feasible into step S6.
In step S3, the control operational module 16 of control module 10 starts work, so as to perform corresponding work, such as dust suction or
Grass cutting action.After step S3, into step S4.Perform in step S4 and the work of step S1 identical, control module 10 passes through
The energy level of the monitoring power module 14 of energy detection unit 18 is the whole bag voltage of battery bag.
After step S4, into step S5, whether control module 10 judges the energy level of power module 14 less than second
Preset energy level.The second preset energy level is pre-stored in the memorizer 24 of control module 10, the place of control module 10
Reason device 22 is compared the energy level of the second preset energy level and the power module 14 for detecting, if power module 14
Energy level be not less than the second preset energy level, then return to step S3, automatic running device 2 works on, does not enter
Capable other actions；If conversely, the energy level of power module 14 be less than the second preset energy level, into step S6,
Startup makes automatic running device return the action of charging station.In the present embodiment, because the energy level of power module 14 uses electricity
The voltage of Chi Bao representing, store in memorizer 24 for second preset voltage value, and processor 22 is also by relatively more electric
The magnitude relationship of the magnitude of voltage of Chi Bao and second preset voltage value is come the electricity that judges the second preset energy level He detect
The magnitude relationship of the energy level of source module 14.Although in the present embodiment, when the energy level of power module 14 is equal to second
Flow process return to step S3 during preset energy level, if but now flow process is also feasible into step S6.
As it was previously stated, in the memorizer 24 of control module 10, the first preset energy level and second being stored respectively and being preset
Energy level.Wherein, the first preset energy level is that the operational module 16 of automatic running device is performed before work, controls mould
Block 10 judges whether that controlling automatic running device starts the condition for returning；Second preset energy level is, automatic running device
Operational module 16 is performed in the course of work, and control module 10 judges whether that controlling automatic running device starts the condition for returning.The
One preset energy level can be with identical with the second preset energy level, it is also possible to differs.If when identical, control module 10
Memorizer 24 only needs to store a preset energy level, under this situation, in step S2 and step S5, is used as and detection
To power module 14 the first preset energy level for being compared of energy level and the second preset energy level be same
Preset energy level.Preferably, the first preset energy level and the second preset energy level are differed, and are more highly preferred to, control
Different storage first preset energy level and second default energy of the memorizer 24 of module 10 according to the load level of power module 14
Amount level.When the energy level of power module 14 and the first preset energy level being compared due to processor 22, Working mould
Block 16 not yet starts to perform work, less energy intensive of the automatic running device to power module 14, the load level of power module 14
It is little；And processor 22, when being compared the energy level of power module 14 and the second preset energy level, operational module 16 is
Start to perform work, power consumption of the automatic running device to power module 14 is more, the load level of power module 14 is big, therefore controls
First preset energy level of the storage of memorizer 24 of molding block 10 is not higher than the second preset energy level.To the first default energy
When amount level and the second preset energy level are set, need to consider whether the remaining energy level of power module 14 be enough to prop up
Support automatic running device revert to charging station.In present embodiment, automatic running device revert to the energy needed for charging station about
For 100mAh or so, but to improve reliability, when the first preset energy level of setting and the second preset energy level power supply is retained
The dump energy of module 14 is 200mAh.Power module 14 is that rated voltage is 28V in present embodiment, and capacity is 2000mAh
Lithium electricity battery bag, and the energy level of the whole bag voltage response power module 14 for passing through battery bag.Learnt according to experiment, it is remaining
Capacity is 200mAh, and battery bag, when not being applied in load, the whole bag voltage of battery bag is 24.5V or so；Residual capacity is
200mAh, and when applying the load of 0.6A or so, the whole bag voltage of battery bag is 23V or so.Therefore 24 points of the memorizer of controller
Not Cun Chu the first different preset voltage value of two values and the second preset voltage value, wherein the first predeterminated voltage is 24.5V, the
Two predeterminated voltages are 23V.It follows that in present embodiment, the first preset voltage value and the second preset voltage value are fixation
Value, and the first preset voltage value is less than the second preset voltage value.
Abovementioned steps S0 to step S5 is described, and it is to judge electricity that automatic running device 2 judges whether to start the mode for returning
Whether the energy level of source module 14 is less than preset energy level.In addition to by aforementioned manner, can also be returned by receive user
Return the mode of instruction to start recurrence, such as by the housing of automatic running device 2, arranging, user is exercisable to be forced to return
Button, when user closes the pressure returns button, control module 10 can detect the pressure and return the state of button by breaking
Open and switch to closure, the instruction returned so as to recognize user to force, the control startup of automatic running device 2 is returned.
After control module 10 judges that the energy level of power module 14 is less than preset energy level, in order to save energy,
In regression process, automatic running device 2 generally quits work the operation of module 16.
Into after step S6, automatic running device 2 starts recurrence action, that is, start to return charging station 4.It is after step S6
Step S7.In step S7, perform and supervised by energy detection unit 18 with identical action, i.e. control module 10 in step S1 or S4
Survey the energy level of power module 14.
After step S7, automatic running device 2 enters step S8, and control module 10 is obtained by energy detection unit 18 to be worked as
The energy level of front power module 14, and the rate of change of energy level is calculated according to current energy level.Why selection meter
The rate of change of energy level is calculated, is because through studying for a long period of time and it has been observed that power module 14 is in electric discharge initial stage i.e. residual energy
When amount level is higher, the change of energy level is gentle, and when latter stage of discharging being that dump energy level is very low, the change of energy level
Change violent.The rate of change of energy level has and obviously distinguishes in two stages, as long as therefore by calculating energy water
Which discharge regime flat rate of change can learn power module 14 in, such that it is able to know whether to need to stop to power supply
The further electric discharge of module 14, prevents power module 14 because crossing the infringement put and bringing.
To further describe above-mentioned characteristic, combine by taking the change curve of voltage in the discharge process of power module 14 as an example
As Fig. 4 is illustrated.As Fig. 4 is shown in the discharge process of power module 14, the discharge curve of current versus time, the discharge curve
Including A and B two parts, the voltage of wherein part A is slowly reduced, and the voltage of part B is acutely reduced, and in part B, battery bag
Dropped in extremely short time voltage and put blanking voltage Umin, if continuing to carry out power module 14 less than Umin in voltage
Electric discharge, then can cause to put the mistake of power module 14, so as to cause the infringement of power module 14.Due in above-mentioned part B, voltage
Change clearly, therefore by calculating rate of change and judges whether rate of change reaches predetermined threshold value and can learn battery bag
Whether will be close to and put, such that it is able to carry out effective protection to power module 14.The energy for calculating power module 14 can be passed through
The first derivative of amount level versus time is calculating the rate of change of energy level, it is also possible to by the energy water for calculating power module 14
Put down to the second dervative or higher derivative of time to calculate the rate of change of energy level, wherein second dervative and higher derivative is relative
First derivative has the change for becoming apparent from, it is easier to is detected, but correspondingly calculates also increasingly complex.Control module 10 is counted
Calculating the mode of the rate of change of the energy level of power module 14 can be realized by hardware, it is also possible to be realized by software.Hardware
, as by peaker, software mode is as by calculating the battery bag energy level in one section of continuous time interval Δ t for mode
Changes delta p, i.e. Δ p/ Δs t；Or calculate one section of continuous time interval Δ t in Δ p/ Δ t change, i.e. d2p/d2t；Or meter
Calculate d in one section of continuous time interval Δ t2p/d2Change of t etc..In present embodiment, the change of the energy level of power module 14
Rate is obtained by the energy level of calculating power module 14 to the first derivative of time.Due to power supply mould in present embodiment
The energy level of block 14 is the whole bag voltage of battery bag, and the rate of change of the energy level of power module 14 is the whole bag voltage of battery bag
First derivative to the time.Control module 10 obtains in real time the whole bag magnitude of voltage of battery bag by energy detection unit 18, and stores
In memory 24.Processor 22 obtains the whole bag magnitude of voltage of battery bag on the first particular point in time from memorizer 24 and presets
The whole bag magnitude of voltage of the battery bag on the second particular point in time after time interval Δ t, and calculate on two particular point in times
Voltage difference Δ V, the ratio for then calculating Δ V and Δ t is Δ V/ Δ t, when being derived from the energy level pair of power module 14
Between first derivative be energy level rate of change.Additionally, when the energy level of power module 14 is with the electric discharge of power module 14
When electric current, discharge temp etc. are represented, in the case of the specific load of loading, discharge current to the curve of time with shown in Fig. 4
Current versus time curve be similar to；In the case where specific discharge current is ensured, discharge temp to the curve of time with
The curve of the current versus time shown in Fig. 4 is similar to.Therefore, when energy level is with discharge current, discharge temp isoparametric formulations,
The rate of change that energy level can also be passed through to calculate determines the time point for stopping discharging the continuation of power module 14, realizes to power supply
The protection of module 14.
After step S8, into step S9, automatic running device 2 sets for the rate of change of the energy level of power module 14
One predetermined threshold value.As shown in figure 4, the energy level of power module 14 occurs two ranks of A and B with the prolongation of working time
The change of section, wherein A stages are gentle, and B-stage is violent.But to the severe degree of B-stage change, there are multiple parameters to produce shadow
Ring, such as the type of power module 14, load level, discharge temp.When B-stage change severe degree is different, needing to stop
The rate of change of corresponding energy level is inevitable different on the time point for only discharging, therefore according to B-stage change severe degree product
The raw parameter for affecting, sets to predetermined threshold value, can more accurately determine the time point for needing to stop electric discharge, preferably right
Power module is protected.If automatic running device exist using different types of power module 14 for its energy is provided can
Can, then when predetermined threshold value is set, preferably different predetermined threshold values are set according to different types of power module 14；Instead
It, if automatic running device only provides energy using a type of power module 14 for it, when predetermined threshold value is set
Without the need for setting different predetermined threshold values according to different types of power module 14.If additionally, automatic running device fills in recurrence
It is preferably different according to different load level settings when the load level fluctuation of power module 14 is larger during power station
Predetermined threshold value；If automatic running device is during charging station is returned, the load level fluctuation of power module 14 is less,
Then without the need for setting different predetermined threshold values according to load level；The no matter type of power module 14 whether different or load level
Fluctuation size, it is preferable that predetermined threshold value is set according to the discharge temp of power module 14.Certainly, if automatic running device only
Powered using a kind of power module 14 of chemical type, and the load level of power module 14 changes less in regression process；Or
Although person's automatic running device using different type power module 14 power and/or regression process in the load level of power module 14
Fluctuation is big, but to make workflow easy, predetermined threshold value can also be fixed preset value, i.e., go out in automatic running device 2
During factory, predetermined threshold value is set, and in the course of work of automatic running device 2, will not be according to the load of power module 14
Level, type, the change of discharge temp and be adjusted.When predetermined threshold value is fixed value, step S8 can be exempted, i.e.,
After step S7, execution step S9, without the need for setting steps S8.
In the present embodiment, control module 10 is according to the setting of the type of power module 14, load level and discharge temp
Predetermined threshold value.Specifically, control module 10 detects the discharge current of battery bag, present embodiment by load detecting unit 26
In be 0.6A to 1A.Detect the type of battery bag by type identification unit 28 simultaneously, be lithium battery in present embodiment.This
Outward, control module 10 also detects the temperature of power module 14 by temperature detecting unit, and the working method of temperature detecting unit is
As it is known to those skilled in the art that for simplicity, it is illustrated that not shown in.Knowing discharge current, the discharge temp of battery bag
And after type, predetermined threshold value 0.02V/S is set by real-time query storage threshold value table in memory 24.
Because in the present embodiment, the detection of load detecting unit 26 is the discharge current of power module 14, and is discharged
Electric current can also be the expression parameter of the energy level of power module 14, when energy level is represented and energy inspection by discharge current
Unit 18 is surveyed when being set to detect the discharge current of power module 14, the function of load detecting unit 26 can also directly by
Energy detection unit 18 is realized.Moreover it is preferred that the function of temperature detecting unit can also be directly complete by energy detection unit 18
Into.
After step S9, automatic running device 2 enters step S10, that is, drive automatic running device 2 to walk to charging station 4,
To revert to charging station 2.Automatic running device 2 finds related to the position of charging station 4 by guiding induction of signal unit 20
Guiding signal, and walked to charging station 4 according to guiding signal.As previously described, induction of signal unit 20 is guided by sensing week
The field signal produced by the signal of telecommunication on charging guide line 6 is enclosed, is walked to charging guide line 6, with the court of tailing edge charging guide line 6
Charging station is walked.
After execution step S10, into step S12, control module 10 judges whether automatic running device 2 successfully revert to
Whether charging station 4, specially judge the charging terminal of automatic running device 2 with the power supply terminal of charging station 4 to connecting.Generally,
The judgement is realized by whether having received the voltage or signal of outside on the described charging terminal of monitoring, but the judgement
Can be by other such as position, crash sensor other modes carrying out.If the determination result is YES, automatic running device 2 revert to
Charging station 4, then into step S14, the control automatic running device 2 of control module 10 stops walking, and starts to charge up.If judging
As a result it is no, then into step S16.
Step S16 judges whether the absolute value of the rate of change of the energy level of battery bag meets or exceeds predetermined threshold value.
If the result that step 16 judges is no, i.e., the absolute value of the rate of change of the energy level of battery bag is less than predetermined threshold value, then return
Return step S10 and continue executing with the action for returning charging station 4.If the determination result is YES, i.e. the rate of change of the energy level of battery bag
Predetermined threshold value is met or exceeded, then into step S18.In step S18, automatic running device 2 enters the state for stopping walking.
Specially walking module 12 is controlled by control module 10 and stop walking.
In workflow shown in Fig. 3, no matter whether automatic running device 2 successfully revert to charging station 4, and it is in battery
The energy level of bag is met or exceeded after predetermined threshold value, is in stopping the state of walking.That is, if automatic running device 2 exists
The energy level of battery bag meets or exceeds and successfully revert to before predetermined threshold value charging station 4, then it can be in charging station 4
In stop walking state and be charged；If automatic running device 2 meets or exceeds default in the energy level of battery bag
Still without charging station is successfully revert to during threshold value, it can also be in the state for stopping walking.Such workflow is avoided
Automatic running device 2 constantly finds charging station 4 when cannot smoothly return, still, and causes battery bag to be crossed and put damage.
Preferably, when the judged result of step S16 is to be, control module 10 also controls automatic running device 2 and sends one
Individual charge reminder signal, to remind user automatic running device 2 to need artificial assistance to return charging station 4.The charge reminder letter
Number can be the graph text information being displayed on the display floater of automatic running device 2, or special alarm sound signal,
The information to the other equipment of user can also be sent for long distance wireless, such as user mobile phone is sent to by telephone network
On short message or other prompting messages etc..
By workflow as above, automatic running device 2 can be in start, or according to battery bag in work
Energy level starts recurrence in good time, and carries out Cross prevention to battery bag in regression process.
Although when each step of this flow process is described, taking the describing mode of time order and function, the description side of the priority
Formula does not represent and strict order is must comply between each step, but can carry out appropriate adjustment as needed, such as walks
Rapid S8 can be arranged on after step S9；Step S10 can also be located between step S6 and step S7 etc..I.e. based on the present invention's
Principle, those skilled in the art can carry out appropriate adjustment to the step in this flow process, be capable of achieving the effect of the present invention.
The present invention applies also for returning work station in addition to suitable for returning the automatic running device 2 that charging station 4 is charged
Or the automatic running device 2 of other specific devices.Judge whether to revert to work station or other specific devices can by with sentence
It is disconnected whether to revert to charging station identical mode and realize, it is also possible to work station to be reached by automatic running device 2 or other are specific
When in a certain particular range of device, automatic running device 2 mutually sends wireless signal and enters with work station or other specific devices
Row confirms.
Claims (24)
1. a kind of automatic running device returns the control method of bus stop, and the automatic running device includes providing the power supply of energy
Module, it is characterised in that the control method comprises the steps：
Control automatic running device starts recurrence；
The energy level of detection power module；
Calculate the rate of change of the energy level of power module；
When the absolute value of the rate of change of the energy level meets or exceeds predetermined threshold value, control automatic running device stops
Return, the rate of change of the energy level is energy level to the first derivative of time, second dervative or higher derivative.
2. control method according to claim 1, it is characterised in that：The control method also includes setting predetermined threshold value
The step of.
3. control method according to claim 2, it is characterised in that：Type, load level according to power module are put
At least one of electro-temperature parameter, sets predetermined threshold value.
4. control method according to claim 1, it is characterised in that：The energy level of the power module is with power module
Voltage or/and discharge current represent.
5. control method according to claim 1, it is characterised in that：The power module includes thering is at least one battery
The battery bag of unit, the energy level of the power module is the energy level of the whole bag of battery bag or the energy level of battery unit
At least one of.
6. control method according to claim 1, it is characterised in that：When the energy level of power module is less than preset energy
During level, control automatic running device starts recurrence.
7. control method according to claim 1, it is characterised in that：When the energy level of power module rate of change it is exhausted
During to value less than predetermined threshold value, automatic running device is driven to walk to bus stop.
8. control method according to claim 7, it is characterised in that：The mistake for driving automatic running device to walk to bus stop
Cheng Zhong, when automatic running device revert to bus stop, control automatic running device stops returning.
9. control method according to claim 7, it is characterised in that：The driving automatic running device is walked to bus stop
The step of include：Find the guiding signal related to station location is stopped；Automatic running device is driven to stop according to guiding signal
Stand walking.
10. control method according to claim 9, it is characterised in that：The guiding signal is the signal of telecommunication on guide line,
The guide line is connected to bus stop, is specially the step of the driving automatic running device is walked to bus stop：Find described
The signal of telecommunication；Guide line is run to according to the signal of telecommunication, drives automatic running device to walk to bus stop along the guide line.
11. control methods according to claim 1, it is characterised in that：The automatic running device perform dust suction work or
Grass cutting action.
A kind of 12. automatic running devices, selectively revert to bus stop, and the automatic running device includes：
Walking module, drives automatic running device walking；
Power module, for automatic running device energy is provided；
Energy detection unit, detects the energy level of power module；
Control module, by energy detection unit the energy level of current power module is obtained, and controls the work of walking module
State, it is characterised in that：Control module control walking module drive automatic running device return bus stop, control module according to ought
The energy level of front power module calculates the rate of change of the energy level of power module, when the energy level rate of change it is exhausted
When meeting or exceeding predetermined threshold value to value, control module control walking module stops walking, the rate of change of the energy level
It is energy level to the first derivative of time, second dervative or higher derivative.
13. automatic running devices according to claim 12, it is characterised in that：The control module sets in the course of the work
The fixed predetermined threshold value.
14. automatic running devices according to claim 13, it is characterised in that：The automatic running device also includes mark
The type identification unit of power module type, the control module is according to the signal setting that the type identification unit is transmitted
Predetermined threshold value.
15. automatic running devices according to claim 13, it is characterised in that：The automatic running device also includes detection
The load detecting unit of the load level of power module, the control module sets institute according to the signal that load detecting unit is transmitted
State predetermined threshold value.
16. automatic running devices according to claim 13, it is characterised in that：The energy detection unit detects power supply mould
The discharge temp of block, the control module sets the predetermined threshold value according to the signal that energy detection unit is transmitted.
17. automatic running devices according to claim 12, it is characterised in that：The energy level of the power module is with electricity
The voltage or/and discharge current of source module is represented.
18. automatic running devices according to claim 12, it is characterised in that：The power module includes thering is at least one
The battery bag of individual battery unit, the energy level of the power module is the energy level of the whole bag of battery bag or the energy of battery unit
At least one of amount level.
19. automatic running devices according to claim 12, it is characterised in that：Control module confirms current power module
When energy level is less than preset energy level, control walking module drives automatic running device to return bus stop.
20. automatic running devices according to claim 12, it is characterised in that：Control module confirms the energy of power module
When the absolute value of the rate of change of level is less than predetermined threshold value, control walking module drives automatic running device to bus stop row
Walk.
21. automatic running devices according to claim 20, it is characterised in that：Walk to bus stop in automatic running device
During, when control module confirms that automatic running device revert to bus stop, control walking module stops walking.
22. automatic running devices according to claim 20, it is characterised in that：The automatic running device also includes guiding
Induction of signal unit, the guiding induction of signal unit senses the guiding signal related to the position of bus stop, the control mould
Tuber drives automatic running device to walk to bus stop according to guiding signal control walking module.
23. automatic running devices according to claim 22, it is characterised in that：The guiding signal is the electricity on guide line
Signal, the guide line is connected to bus stop；The guiding induction of signal unit senses the signal of telecommunication, and control module is according to sense
The signal of telecommunication that should be arrived, control walking module is travelled to guide line, and automatic running device is driven to bus stop row along the guide line
Walk.
24. automatic running devices according to claim 12, it is characterised in that：The automatic running device also includes work
Module, the operational module performs grass cutting action or dust suction work.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210261668.2A CN103576681B (en) | 2012-07-26 | 2012-07-26 | Automatic traveling device and control method thereof |
| PCT/CN2013/072003 WO2013127350A1 (en) | 2012-03-02 | 2013-02-28 | Automatically travelling device and control method therefor |
| EP13754033.2A EP2821874B1 (en) | 2012-03-02 | 2013-02-28 | Automatically travelling device and control method therefor |
| US14/382,441 US9440350B2 (en) | 2012-03-02 | 2013-02-28 | Automatically travelling device and control method therefor |
| US15/208,899 US10105838B2 (en) | 2012-03-02 | 2016-07-13 | Automatically travelling device and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210261668.2A CN103576681B (en) | 2012-07-26 | 2012-07-26 | Automatic traveling device and control method thereof |
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| Publication Number | Publication Date |
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| CN103576681A CN103576681A (en) | 2014-02-12 |
| CN103576681B true CN103576681B (en) | 2017-04-12 |
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| CN201210261668.2A Active CN103576681B (en) | 2012-03-02 | 2012-07-26 | Automatic traveling device and control method thereof |
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| KR102158695B1 (en) * | 2014-02-12 | 2020-10-23 | 엘지전자 주식회사 | robot cleaner and a control method of the same |
| CN105573311A (en) * | 2014-10-11 | 2016-05-11 | 苏州宝时得电动工具有限公司 | Self-movement robot |
| CN106142023A (en) * | 2015-04-24 | 2016-11-23 | 苏州宝时得电动工具有限公司 | Electric tool and electric tool remote information collection device, system and method |
| CN108142069B (en) * | 2016-12-02 | 2020-12-11 | 苏州宝时得电动工具有限公司 | Path moving system |
| CN107632597B (en) * | 2016-07-18 | 2020-06-23 | 苏州宝时得电动工具有限公司 | Intelligent working system |
| CN107608341A (en) * | 2016-07-11 | 2018-01-19 | 苏州宝时得电动工具有限公司 | Automatic working system and the rehabilitation control method from mobile gardening equipment |
| CN109557909B (en) * | 2017-09-27 | 2022-08-12 | 苏州宝时得电动工具有限公司 | Self-walking equipment system, boundary line system and control method thereof |
| WO2021012525A1 (en) * | 2019-07-24 | 2021-01-28 | 苏州宝时得电动工具有限公司 | Method for controlling automatic locomotion device to return to station, and automatic locomotion device |
| CN112799388A (en) * | 2019-10-28 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Working method of self-moving equipment and self-moving equipment |
| CN112462767A (en) * | 2020-11-24 | 2021-03-09 | 苏州大可机械有限公司 | Method and device for detecting breakpoint position of boundary line and self-walking equipment |
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