CN105511456A - Control method for automatic walking equipment, and automatic work system - Google Patents
Control method for automatic walking equipment, and automatic work system Download PDFInfo
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- CN105511456A CN105511456A CN201410491368.2A CN201410491368A CN105511456A CN 105511456 A CN105511456 A CN 105511456A CN 201410491368 A CN201410491368 A CN 201410491368A CN 105511456 A CN105511456 A CN 105511456A
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Abstract
The invention provides a control method for automatic walking equipment, and an automatic work system. The control method for automatic walking equipment comprises a control unit controls a signal receiving unit to search signals; when the signal receiving unit searches a signal, the control unit determines the orientation of the automatic walking equipment relative to a charging station according to the information fed back from the signal receiving unit; the control unit controls the walking path of the automatic walking equipment so as to enable the automatic walking equipment to directly face the charging station; and the control unit controls the automatic walking equipment to walk right ahead of the charging station until to be in contact joint with the charging station. The control method for automatic walking equipment can improve the regression efficiency of the automatic walking equipment, and can realize effective contact joint between the automatic walking equipment and the charging station.
Description
Technical field
The present invention relates to a kind of automatic running device control method and automatic working system.
Background technology
Automatic running device just can realize automatic operation without the need to manual operation, such as automatic mower or automatic cleaner, achieves and carries out mowing or dust out in user's work hours, bring great advantage to the user.Automatic running device is walked usually in predetermined perform region, and returns a charging station makeup energy when electricity is lower, finish the work or rainy time return charging station.
Existing automatic running device is all return charging station according to predetermined direction along boundary line, returns efficiency very low.And arrange towards specific direction due to the charging terminal of charging station, directly return towards charging station if all control automatic running device anywhere, then automatic running device may be caused successfully cannot to dock with charging station.
Summary of the invention
The invention provides a kind of recurrence efficiency improving automatic running device, and the effective automatic running device control method of docking realizing automatic running device and charging station and automatic working system.
For achieving the above object, technical scheme provided by the present invention is: a kind of automatic running device control method, charging station is returned for controlling described automatic running device, described charging station is provided with the signal transmitter unit for transmitting, described automatic running device is provided with the signal receiving unit for Received signal strength, and wherein said method comprises the following steps: step S1: control module controls described signal receiving unit search signal; Step S2: control module judges the orientation of automatic running device relative to charging station according to signal receiving unit feedack; Step S3: control module controls the walking path of automatic running device, makes automatic running device just to charging station; Step S4: control module controls automatic running device and just walks until dock with charging station to charging station.
Preferably, described automatic running device being also provided with the electric power detection unit for detecting described automatic running device, before described step S1, also comprising step S101: described electric power detection unit inspection, to low electric quantity signal, starts Regression Model.
Preferably, described signal transmitter unit comprises Infrared Projector, and the signal that described Infrared Projector sends forms fan-shaped signal area.
Preferably, in step s3, described control module can control automatic running device through on the angular bisector turning back to fan-shaped signal area behind fan-shaped signal area or near angular bisector, then carries out angular setting, described automatic running device is just walked to described charging station.
Preferably, described control module comprises timer, it is T that automatic running device described in described timer record passes with the mistiming entering fan-shaped signal area, when described automatic running device passes fan-shaped signal area, described control module controls described automatic running device Zai Yuan road according to the mistiming and returns to position residing for the T/2 time.
Preferably, described automatic running device also comprises the odograph be connected with described control module, it is S that automatic running device described in described odograph record passes and enter the distance between fan-shaped signal area, when described automatic running device passes fan-shaped signal area, described control module controls the distance that described automatic running device Zai Yuan road returns walking S/2.
Preferably, described control module comprises angle correction module, when described automatic running device to arrive on described angular bisector or near angular bisector time, described control module starting angular correction module, make automatic running device constantly adjust angle in the process of walking, final automatic running device runs in the dead ahead of described charging station and docks with described charging station.
Preferably, the fan-shaped central angle of described fan-shaped signal area is 0 ~ 90 degree.
Preferably, the wavelength of the light beam of described Infrared Projector transmitting is fixed.
Preferably, described charging station is provided with lens, described Infrared Projector with fixed frequency coded excitation light beam, and through described lens process to form described fan-shaped signal area.
Preferably, described signal transmitter unit comprises Infrared Projector or ultrasonic signal emitters or microwave signal transmitter.
Preferably, described signal transmitter unit comprises the first Infrared Projector of transmitting first light beam and launches the second Infrared Projector of the second light beam, described first light beam and the second light beam are parallel to each other, described charging station has the docking point for charging, and described docking point is equal to the vertical range of described first and second light beams.
Preferably, described signal transmitter unit also comprises the 3rd Infrared Projector of transmitting the 3rd light beam, and described docking point overlaps at least partly with the 3rd light beam.
Preferably, described signal receiving unit comprises the first signal receiver, be positioned at second and the 3rd signal receiver of the first signal receiver both sides, be first direction from the first signal receiver to the direction of secondary signal receiver, direction from the first signal receiver to the 3rd signal receiver is second direction, in step S3, first signal receiver receives signal, automatic running device craspedodrome is docked to charging station, secondary signal receiver receives signal, automatic running device is rotated in a first direction the first predetermined angular, 3rd signal receiver receives signal, automatic running device is rotated in a second direction, the second predetermined angular, automatic running device constantly adjusts until the first signal receiver receives signal, finally keep straight on to charging station and dock.
Preferably, in step sl, described automatic running device random walk is with search signal.
Preferably, in step sl: when described automatic running device needs to return charging station, described control module opens described signal receiving unit with search signal.
Preferably, described automatic running device is also provided with guider, in step sl, the route that described automatic running device is preset according to described guider is walked with search signal.
Preferably, described signal receiving unit is in all the time can the open mode of Received signal strength, described automatic running device is also provided with the processor be electrically connected with described signal receiving unit and control module, in step s 2: signal described in described processor process determines turning to of described automatic running device to make described control module according to described signal receiving unit feedack.
The present invention also provides a kind of automatic working system, comprise automatic running device and charging station, it is characterized in that, described charging station is provided with the signal transmitter unit for transmitting, described automatic running device be provided with for Received signal strength signal receiving unit and control the control module of described signal receiving unit search signal, described control module can determine the orientation of described automatic running device according to described signal receiving unit feedack, and control the walking path of described automatic running device, until automatic running device is just to described charging station, described control module controls described automatic running device and just docks with described charging station described charging station walking.
Preferably, described signal transmitter unit comprises Infrared Projector, and the signal that described Infrared Projector is launched forms fan-shaped signal area.
Preferably, described control module can control automatic running device through on the angular bisector turning back to fan-shaped signal area behind fan-shaped signal area or near angular bisector, then carry out angular setting, described automatic running device is just walked to the dead ahead of described charging station.
Preferably, described control module comprises timer, it is T that automatic running device described in described timer record passes with the mistiming entering fan-shaped signal area, when described automatic running device passes fan-shaped signal area, described control module controls described automatic running device Zai Yuan road according to the mistiming and returns to position residing for the T/2 time.
Preferably, described automatic running device also comprises the odograph be connected with described control module, it is S that automatic running device described in described odograph record passes and enter the distance between fan-shaped signal area, when described automatic running device passes fan-shaped signal area, described control module controls the distance that described automatic running device Zai Yuan road returns walking S/2.
Preferably, the fan-shaped central angle of described fan-shaped signal area is 0 ~ 90 degree.
Preferably, the wavelength of the light beam of described Infrared Projector transmitting is fixed.
Preferably, described automatic running device is also provided with guider, the route that described automatic running device is preset according to described guider is walked with search signal.
Preferably, described signal receiving unit comprises the first signal receiver, be positioned at second and the 3rd signal receiver of the first signal receiver both sides, be first direction from the first signal receiver to the direction of secondary signal receiver, direction from the first signal receiver to the 3rd signal receiver is second direction, first signal receiver receives signal, automatic running device craspedodrome is docked to charging station, secondary signal receiver receives signal, automatic running device is rotated in a first direction the first predetermined angular, 3rd signal receiver receives signal, automatic running device is rotated in a second direction, the second predetermined angular, automatic running device constantly adjusts until the first signal receiver receives signal, finally keep straight on to charging station and dock.
Compared with prior art, automatic running device control method of the present invention and automatic working system can improve the recurrence efficiency of automatic running device, and realize automatic running device and dock with the effective of charging station.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the invention will be further described.
Fig. 1 is the schematic diagram of the automatic working system that first embodiment of the invention provides.
Fig. 2 is the schematic flow sheet of the automatic running device control method that first embodiment of the invention provides.
Fig. 3 is the operating diagram of automatic working system first embodiment of the present invention.
Fig. 4 is the operating diagram of the second embodiment charging station of automatic working system of the present invention.
Fig. 5 is the operating diagram of the 3rd embodiment charging station of automatic working system of the present invention.
Wherein,
100, automatic running device; 102, housing;
104, wheel; 106, signal receiving unit;
108, the first signal receiver; 110, secondary signal receiver;
112, the 3rd signal receiver; 200, charging station;
202, charging terminal; 204, dull and stereotyped;
206, signal transmitter unit; 208, signal projector;
210, fan-shaped; 212, angular bisector;
220, the first light beam; 222, the 232, first Infrared Projector;
224, the second light beam; 226, the 236, second Infrared Projector;
230, the first light beam; 234, the second light beam;
238, the 3rd light beam; 240, the 3rd Infrared Projector;
Embodiment
Please refer to Fig. 1, embodiment of the present invention provides a kind of automatic working system and automatic running device 100 control method.
This automatic working system comprises automatic running device 100, as automatic mower or automatic cleaner, and charging station 200.Automatic running device 100 can return charging station 200 makeup energy when electricity is lower, or finish the work or rainy time return charging station 200.
The front portion of automatic running device 100 has at least two docking terminal (not shown), charging station 200 has at least two charging terminals 202, when automatic running device 100 docks with charging station 200, docking terminal connects with corresponding charging terminal 202.
Charging station 200 has the flat board 204 stopped for automatic running device 100, and dull and stereotyped 204 are laid on ground.When automatic running device 100 entirety is positioned on dull and stereotyped 204, can prevents ground injustice from causing automatic running device 100 crooked thus docking terminal cannot be docked with charging terminal 202.
Automatic running device 100 comprises housing 102, be positioned at some wheels 104 bottom housing 102, be positioned at housing 102 inner, for the power system (not shown) of wheels 104.Power system comprises power brick, gear train etc.
In present embodiment, charging station 200 is also provided with the signal transmitter unit 206 for transmitting, automatic running device 100 is provided with the control module (not shown) of signal receiving unit 106 for Received signal strength and control signal receiving element 106 search signal.Control module can determine turning to of automatic running device 100 according to the signal receiving unit 106 receiving signal, and constantly can adjust according to orientation, charging station 200 place, until automatic running device 100 is just to charging station 200, control module controls automatic running device 100 along just docking with charging station 200 the direction walking of charging station 200.
In this preferred embodiment, signal transmitter unit 206 comprises Infrared Projector.Certainly, signal transmitter unit 206 also can comprise ultrasonic signal emitters or microwave signal transmitter.As long as can wireless signal emission.
Signal transmitter unit 206 comprises an Infrared Projector 208, and Infrared Projector 208 is arranged on charging station 200, and further, the vertical range of Infrared Projector 208 to two charging terminals 202 is equal.
In this preferred embodiment, Infrared Projector 208 forms fan-shaped 210 signal areas.The central angle alpha of fan-shaped 210 is 0 ~ 90 degree.Preferably, the central angle alpha of fan-shaped 210 is 30 degree, and the radius of fan-shaped 210 is 10m.
Certainly, infrared signal transmitter unit 206 also can comprise at least two Infrared Projectors, and the signal that above-mentioned at least two Infrared Projectors are launched forms the signal area of other shape.Specifically see the detailed description in subsequent figures 4 and Fig. 5.
In addition, the light beam that Infrared Projector 208 is launched is fixed wave length.Preferably, the wavelength of the light beam of Infrared Projector 208 transmitting is 940nm.
Further, charging station 200 is provided with lens (not shown), Infrared Projector 208 with fixed frequency coded excitation light beam, and through lens process to form fan-shaped 210 signal areas.Preferably, Infrared Projector is launched with 19.2KHz frequency coding.
Signal receiving unit 106 comprises at least two infrared signal receivers, and control module judges the direction of travel of automatic running device 100 by the feedback information of the infrared signal receiver receiving signal.
As shown in Figure 2, the comprising the following steps of automatic running device 100 control method that provides of the embodiment of the present invention:
Step S1: control module control signal receiving element 106 search signal;
Step S2: control module judges the orientation of automatic running device 100 relative to charging station 200 according to the signal receiver feedack receiving signal;
Step S3: control module controls the walking path of automatic running device 100, makes automatic running device 100 just to charging station 200;
Step S4: control module controls the dead ahead walking of automatic running device 100 along charging station 200 until dock with charging station 200.
In addition, preferably, automatic running device 100 is also provided with the electric power detection unit (not shown) of the electricity for detecting automatic running device 100, further comprising the steps of S101 before step S1, the electricity of electric power detection unit inspection automatic running device 100, when low electric quantity signal being detected, automatic running device 100 random walk is with search signal.
Preferably, for improving the recurrence efficiency of automatic running device 100 further, automatic running device 100 is also provided with guider (not shown), in step s 2, when electric power detection unit inspection is to low electric quantity signal, automatic running device 100 presses the predetermined paths walking of guider setting with search signal.
In step S101, when electric power detection unit inspection is to low electric quantity signal, control module can opening signal receiving element 106 with Received signal strength.
Certainly, signal receiving unit 106 also can be arranged to be in all the time can the open mode of Received signal strength, automatic running device 100 is also provided with the processor (not shown) be electrically connected with signal receiving unit 106 and control module, in step s 2: when electric power detection unit inspection is to low electric quantity signal, the signal that processor processing signals receiving element 106 receives determines the direction of travel of automatic running device 100 to make described control module according to the signal receiving unit 106 receiving signal.
Certainly, also electric power detection unit can not be set, a button (not shown) is set in addition, when automatic running device 100 needs to return, as long as action button, to control module one control signal, make control module control signal receiving element 106 search signal.
As shown in Figure 1, in this preferred embodiment, signal receiving unit 106 comprises the first signal receiver 108, is positioned at secondary signal receiver 110 and the 3rd signal receiver 112 of the first signal receiver 108 both sides, be first direction from the direction of the first signal receiver 108 to secondary signal receiver 110, the direction from the first signal receiver 108 to the 3rd signal receiver 112 is second direction.
After automatic running device 100 enters into fan-shaped 210 signal areas, automatic running device 100 random walk, control module can constantly control signal receiving element 106 search signal.In step S3, if the first signal receiver 108 receives signal, in step S3, control module controls automatic running device 100 and craspedodrome is docked to charging station 200; In step S2, if secondary signal receiver 110 receives signal, in step S3, control module control automatic running device 100 rotates the first predetermined angular to first direction and then walks.In step S2, if the 3rd signal receiver 112 receives signal, then in step S3, control module control automatic running device 100 rotates the second predetermined angular to second direction and then walks, thus make automatic running device 100 constantly adjustment in fan-shaped 210 signal areas turn to walking according to the judgement in step S2 and the adjustment in step S3, until the first signal receiver 108 receives signal, last automatic running device 100 is kept straight on to charging station 200 and is docked.
As shown in Figure 3, for improving the recurrence efficiency of automatic running device 100 further, also comprise the steps between step S1 and S2, control module can control automatic running device 100 through on the angular bisector 212 automatically returning to fan-shaped 210 signal areas behind fan-shaped 210 signal areas or near angular bisector 212, and then constantly repetition above-mentioned steps S2 and step S3 carries out angular setting to automatic running device 100, automatic running device 100 is finally made to be positioned at the dead ahead walking of charging station 200.
Concrete, control module comprises timer (not shown), the time that timer record automatic running device 100 enters fan-shaped 210 signal areas is t1, the time that automatic running device 100 passes fan-shaped 210 signal areas is t2, it is T that timer record automatic running device 100 passes with the mistiming entering fan-shaped 210 signal areas, when automatic running device 100 passes fan-shaped 210 signal area, control module can control the distance that automatic running device 100 Zai Yuan road returns the walking T/2 time.Now, on the angular bisector 212 that automatic running device 100 returns to fan-shaped 210 signal areas automatically or near angular bisector 212, and then constantly repetition above-mentioned steps S2 and step S3 carries out angular setting to automatic running device 100, until automatic running device 100 is positioned at the dead ahead of charging station 200, finally keep straight on to charging station 200, automatic running device 100 is docked with the charging terminal 202 of charging station 200 and charges.Thus automatic running device 100 can be adjusted to rapidly just to charging station 200, improve recurrence efficiency when automatic running device 100 charges further.
Certainly, automatic running device 100 also can comprise the odograph be connected with control module, odograph record automatic running device 100 distance passing and enter between fan-shaped 210 signal areas is S, when automatic running device 100 passes fan-shaped 210 signal area, control module controls the distance that automatic running device 100 Zai Yuan road returns walking S/2.Now, on the angular bisector 212 that automatic running device 100 can return to fan-shaped 210 signal areas automatically or near angular bisector 212, and then constantly repetition above-mentioned steps S2 and step S3 carries out angular setting to automatic running device 100, until automatic running device 100 is positioned at the dead ahead of charging station 200, finally keep straight on to charging station 200, automatic running device 100 is docked with the charging terminal 202 of charging station 200 and charges.Substantially increase recurrence efficiency when automatic running device 100 charges so equally.
In addition, automatic running device 100 can individually arrange timer or odograph, certainly, also can arrange timer and odograph, the control module of timer and odograph is set simultaneously respectively, thus uses timer or odograph selectively.When needs timer time, control module control timer starts and stops.When needs odograph time, control module controls startup and the stopping of odograph.
Control module comprises angle correction module further, when on automatic running device 100 angle of arrival bisector 212 or near angular bisector 212, control module starting angular correction module, make automatic running device 100 constantly adjust angle in the process of walking, final automatic running device 100 runs in the dead ahead of charging station 200 and docks with charging station 200.
Above, automatic running device 100 and the docking operation of charging station 200, form fan-shaped 210 signal areas for Infrared Projector and be described in detail.As in Figure 4 and 5, Infrared Projector defines difform signal area, and its docking calculation is identical with fan-shaped 210 signal areas, is therefore no longer described in detail for the docking operation of difformity signal area.
As shown in Figure 4, the second embodiment of the present invention, in this embodiment, signal transmitter unit 206 comprises the first Infrared Projector 222 of transmitting first light beam 220 and launches the second Infrared Projector 226 of the second light beam 224, first light beam 220 and the second light beam 224 are parallel to each other, charging station 200 has the docking point for charging, and the vertical range of docking point to the first light beam 220 and the second light beam 224 is equal.Concrete, docking point is that two charging terminals, 202, two charging terminals 202 be located on charging station 200 be arranged in parallel.Further, first light beam 220, second light beam 224 and two charging terminals 202 are parallel to each other, the first light beam 220 to from the vertical range between the charging terminal 202 close to the first light beam 220 with the second light beam 224 to equal from the vertical range between another charging terminal 202 close to the second light beam 224.
As shown in Figure 5, the third embodiment of the present invention, in this embodiment, signal transmitter unit 206 comprises the 3rd Infrared Projector 240 of the first Infrared Projector 232 of transmitting first light beam 230, the second Infrared Projector 236 launching the second light beam 234 and transmitting the 3rd light beam 238.Docking point overlaps at least partly with the 3rd light beam 238.Concrete, the vertical range of the 3rd light beam 238 to two charging terminals 202 is equal, the first light beam 230 to from the vertical range between the charging terminal 202 close to the first light beam 230 with the second light beam 234 to equal from the vertical range between another charging terminal 202 close to the second light beam 234.
And the first light beam 230, second light beam 234 and the 3rd light beam 238 are parallel to each other, further, the first light beam 230, second light beam 234 and the 3rd light beam 23 are all parallel to each other with two charging terminals 202.
The beneficial effect of automatic running device 100 control method of the present invention and automatic working system is: the recurrence efficiency that greatly can improve automatic running device 100, and realizes automatic running device 100 and dock with the effective of charging station 200.
It may occur to persons skilled in the art that, the present invention can also have other implementation, as long as but its technical spirit adopted is identical with the present invention or close, or any change of making based on the present invention and replacing all within protection scope of the present invention.
Claims (27)
1. an automatic running device control method, charging station is returned for controlling described automatic running device, described charging station is provided with the signal transmitter unit for transmitting, described automatic running device is provided with the signal receiving unit for Received signal strength, it is characterized in that, said method comprising the steps of:
Step S1: control module controls described signal receiving unit search signal;
Step S2: control module judges the orientation of automatic running device relative to charging station according to signal receiving unit feedack;
Step S3: control module controls the walking path of automatic running device, makes automatic running device just to charging station;
Step S4: control module controls automatic running device and just walks until dock with charging station to charging station.
2. method according to claim 1, it is characterized in that, described automatic running device being also provided with the electric power detection unit for detecting described automatic running device, before described step S1, also comprising step S101: described electric power detection unit inspection, to low electric quantity signal, starts Regression Model.
3. method according to claim 1, is characterized in that, described signal transmitter unit comprises Infrared Projector, and the signal that described Infrared Projector sends forms fan-shaped signal area.
4. method according to claim 3, it is characterized in that, in step s3, described control module can control automatic running device through on the angular bisector turning back to fan-shaped signal area behind fan-shaped signal area or near angular bisector, then carry out angular setting, described automatic running device is just walked to described charging station.
5. method according to claim 4, it is characterized in that, described control module comprises timer, it is T that automatic running device described in described timer record passes with the mistiming entering fan-shaped signal area, when described automatic running device passes fan-shaped signal area, described control module controls described automatic running device Zai Yuan road according to the mistiming and returns to position residing for the T/2 time.
6. method according to claim 4, it is characterized in that, described automatic running device also comprises the odograph be connected with described control module, it is S that automatic running device described in described odograph record passes and enter the distance between fan-shaped signal area, when described automatic running device passes fan-shaped signal area, described control module controls the distance that described automatic running device Zai Yuan road returns walking S/2.
7. method according to claim 4, it is characterized in that, described control module comprises angle correction module, when described automatic running device to arrive on described angular bisector or near angular bisector time, described control module starting angular correction module, make automatic running device constantly adjust angle in the process of walking, final automatic running device runs in the dead ahead of described charging station and docks with described charging station.
8. method according to claim 3, is characterized in that, the fan-shaped central angle of described fan-shaped signal area is 0 ~ 90 degree.
9. method according to claim 3, is characterized in that, the wavelength of the light beam that described Infrared Projector is launched is fixed.
10. method according to claim 3, is characterized in that, described charging station is provided with lens, described Infrared Projector with fixed frequency coded excitation light beam, and through described lens process to form described fan-shaped signal area.
11. methods according to claim 1, is characterized in that, described signal transmitter unit comprises Infrared Projector or ultrasonic signal emitters or microwave signal transmitter.
12. methods according to claim 1, it is characterized in that, described signal transmitter unit comprises the first Infrared Projector of transmitting first light beam and launches the second Infrared Projector of the second light beam, described first light beam and the second light beam are parallel to each other, described charging station has the docking point for charging, and described docking point is equal to the vertical range of described first and second light beams.
13. methods according to claim 12, is characterized in that, described signal transmitter unit also comprises the 3rd Infrared Projector of transmitting the 3rd light beam, and described docking point overlaps at least partly with the 3rd light beam.
14. automatic working systems according to claim 1, it is characterized in that, described signal receiving unit comprises the first signal receiver, be positioned at second and the 3rd signal receiver of the first signal receiver both sides, be first direction from the first signal receiver to the direction of secondary signal receiver, direction from the first signal receiver to the 3rd signal receiver is second direction, in step S3, first signal receiver receives signal, automatic running device craspedodrome is docked to charging station, secondary signal receiver receives signal, automatic running device is rotated in a first direction the first predetermined angular, 3rd signal receiver receives signal, automatic running device is rotated in a second direction, the second predetermined angular, automatic running device constantly adjusts until the first signal receiver receives signal, finally keep straight on to charging station and dock.
15. methods according to claim 1, is characterized in that, in step sl, described automatic running device random walk is with search signal.
16. methods according to claim 1, is characterized in that, in step sl: when described automatic running device needs to return charging station, described control module opens described signal receiving unit with search signal.
17. methods according to claim 1, is characterized in that, described automatic running device is also provided with guider, and in step sl, the route that described automatic running device is preset according to described guider is walked with search signal.
18. methods according to claim 1, it is characterized in that, described signal receiving unit is in all the time can the open mode of Received signal strength, described automatic running device is also provided with the processor be electrically connected with described signal receiving unit and control module, in step s 2: signal described in described processor process determines turning to of described automatic running device to make described control module according to described signal receiving unit feedack.
19. 1 kinds of automatic working systems, comprise automatic running device and charging station, it is characterized in that, described charging station is provided with the signal transmitter unit for transmitting, described automatic running device be provided with for Received signal strength signal receiving unit and control the control module of described signal receiving unit search signal, described control module determines the orientation of described automatic running device according to described signal receiving unit feedack, and control the walking path of described automatic running device, until automatic running device is just to described charging station, described control module controls described automatic running device and just docks with described charging station described charging station walking.
20. automatic working systems according to claim 19, is characterized in that, described signal transmitter unit comprises Infrared Projector, and the signal that described Infrared Projector is launched forms fan-shaped signal area.
21. automatic working systems according to claim 20, it is characterized in that, described control module can control automatic running device through on the angular bisector turning back to fan-shaped signal area behind fan-shaped signal area or near angular bisector, then carry out angular setting, described automatic running device is just walked to the dead ahead of described charging station.
22. methods according to claim 21, it is characterized in that, described control module comprises timer, it is T that automatic running device described in described timer record passes with the mistiming entering fan-shaped signal area, when described automatic running device passes fan-shaped signal area, described control module controls described automatic running device Zai Yuan road according to the mistiming and returns to position residing for the T/2 time.
23. methods according to claim 21, it is characterized in that, described automatic running device also comprises the odograph be connected with described control module, it is S that automatic running device described in described odograph record passes and enter the distance between fan-shaped signal area, when described automatic running device passes fan-shaped signal area, described control module controls the distance that described automatic running device Zai Yuan road returns walking S/2.
24. automatic working systems according to claim 20, is characterized in that, the fan-shaped central angle of described fan-shaped signal area is 0 ~ 90 degree.
25. automatic working systems according to claim 20, is characterized in that, the wavelength of the light beam that described Infrared Projector is launched is fixed.
26. automatic working systems according to claim 19, is characterized in that, described automatic running device is also provided with guider, and the route that described automatic running device is preset according to described guider is walked with search signal.
27. automatic working systems according to claim 19, it is characterized in that, described signal receiving unit comprises the first signal receiver, be positioned at second and the 3rd signal receiver of the first signal receiver both sides, be first direction from the first signal receiver to the direction of secondary signal receiver, direction from the first signal receiver to the 3rd signal receiver is second direction, first signal receiver receives signal, automatic running device craspedodrome is docked to charging station, secondary signal receiver receives signal, automatic running device is rotated in a first direction the first predetermined angular, 3rd signal receiver receives signal, automatic running device is rotated in a second direction, the second predetermined angular, automatic running device constantly adjusts until the first signal receiver receives signal, finally keep straight on to charging station and dock.
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| CN201410491368.2A CN105511456A (en) | 2014-09-23 | 2014-09-23 | Control method for automatic walking equipment, and automatic work system |
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