WO2013107374A1

WO2013107374A1 - Automatic work apparatus and control method therefor

Info

Publication number: WO2013107374A1
Application number: PCT/CN2013/070649
Authority: WO
Inventors: 鲍瑞那图·强尼; 王家达; 何明明
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2012-01-20
Filing date: 2013-01-18
Publication date: 2013-07-25

Abstract

An automatic work apparatus (1) which can automatically move to work within a set working area has a working state and a dormant state. A control method for the automatic work apparatus comprises the following steps: starting the automatic work apparatus (1) (S0); obtaining the area information of the working area (S1); determining work time schedule according to the preset program algorithm based on the area information (S4). The automatic work apparatus enters the working state and exits the work state to the dormant state according to the work time schedule. While working, the automatic work apparatus can automatically constitute the work time schedule without complicated settings by user so as to be used more simply and conveniently.

Description

Automatic working equipment and control method thereof

The present invention relates to an automatic working device and a control method therefor.

Background technique

With the continuous advancement of science and technology, various automatic working equipments have begun to slowly enter people's lives, such as automatic suction machines and automatic lawn mowers. The movable working device has a walking device, a work clothes, and an automatic control device, so that the automatic working device can be separated from the operation of the person, and walks and performs work within a certain range, in the automatic working device _S-~ r

When the energy storage device H is insufficient, it can automatically return to the charging station device for charging, and then continue to work. This kind of automatic work equipment frees people from the boring and time-consuming work of housework such as house cleaning and lawn trimming, saving people's time and bringing convenience to people's lives.

However, the control of moving work equipment is often more complicated. When using the automatic working equipment for the first time, the user needs to input the – series of instructions to enable the automatic working equipment to start working properly. For example, the user must set the work area, set the work time, set the work mode, and so on. Fk and the setting of such instructions is often difficult, especially for automatic working equipment with more functions or automatic working equipment capable of programming preset work plans. Users need to find corresponding columns and steps in a large number of menus. Complex settings; In addition, when the usage environment of the automatic work equipment changes, the user needs to re-set the above settings, which brings inconvenience to the use. Summary of the invention

In order to solve the above technical problems, the present invention provides an automatic working device and a control method thereof which are convenient to use.

In order to achieve the above object, the technical solution provided by the present invention is: A method for controlling an automatic working device, wherein the automatic working device automatically moves in a set working area, has a working state and a sleeping state, and the control method includes The following steps are: starting the automatic working device operation; acquiring area information of the working area; formulating a working time plan according to the area information according to a preset scheduling algorithm; and the automatic working device enters a working state according to the working time plan And exit the working state, enter the sleep state. Preferably, the preset scheduling algorithm is: comparing the area information with a preset number of area intervals; finding a preset area interval where the area information is located; and reading the work corresponding to the preset area interval Time plan.

Preferably, the preset scheduling algorithm is: substituting the area information into a preset function; calculating a result according to the preset function; and reading a working time plan corresponding to the result.

Preferably, the area information is obtained by the following steps: the automatic working device moves from the starting point along the boundary of the working area, and returns to the starting point; records the track information during the moving of the automatic working device; The information calculates the area information of the work area.

Preferably, the track information recorded during the movement of the automatic working device is the map data of the work area recorded by the POS positioning.

Preferably, the track information recorded during the moving of the automatic working device is recorded as coordinate information of a position where the automatic working device changes direction each time.

Preferably, the area information is obtained by the following steps: inputting an input interface set on the automatic device to input area information input by a user.

Preferably, the working time plan includes a first working time plan and a maintenance working time plan.

Preferably, the working time plan includes a plurality of sub-work time plans with the same period. Preferably, the period is 24 hours.

Preferably, the plurality of sub-work hours are planned to be the same.

Preferably, the duration of the working state in the plurality of sub-work time schedules is decreased. Preferably, the starting time of the working state in the plurality of sub-work time schedules is different. Preferably, the control method further comprises the steps of: acquiring external information; adjusting the working time plan according to the preset adjustment algorithm based on the external information.

Preferably, the external information is an adjustment signal input by a user.

Preferably, the external information is longitude, latitude, date and time information of the location of the self-operating device obtained by the PG positioning.

Preferably, the preset adjustment algorithm is: determining a preset longitude latitude interval where the longitude and latitude is located; determining a preset date interval where the date is located; according to the preset longitude latitude interval and the preset date interval The corresponding adjustment plan adjusts the working time plan. Preferably, the external information is temperature and humidity information of a location of the automatic working device itself obtained by the automatic working device through a sensor.

Preferably, the preset adjustment algorithm is: determining a preset temperature interval where the temperature is located; determining a preset period and a degree interval where the humidity is located; and corresponding to the preset temperature interval and the humidity interval The adjustment plan adjusts the working time plan.

Preferably, adjusting the working time plan is to adjust the duration of the working state. Preferably, adjusting the working time plan is to replace the duration of the working state by a factor multiplied by a duration of the working state.

Preferably, adjusting the working time plan is a starting time for adjusting the working state. Preferably, the boundary of the working area is detected by a boundary sensor disposed on two sides of the central axis of the movable working device, and when the boundary sensor of one side first detects the boundary, the boundary of the working device to the other side The direction in which the sensor is located is turned.

Preferably, the boundary of the working area is detected by a boundary sensor disposed on two sides of the central axis of the movable working device, and when the boundary sensor detects a boundary, the automatic working device determines that the central axis and the boundary are formed. The angle, and continue to walk in the direction of the angle between the sharp angle formed by the reduction of the central axis and the boundary.

Another technical solution provided by the present invention is: A method for controlling an automatic working device, wherein the automatic working device automatically moves in a set working area, the control method comprising the following steps: starting the automatic working device Running; the automatic working device moves from the starting point along the boundary of the working area, and returns to the starting point; records the track information in the moving process of the automatic working device; and calculates the work according to the preset area algorithm based on the track information The area of the area.

Preferably, the track information recorded during the moving of the automatic working device is obtained by: calculating the coordinates of the moving path of the automatic working device relative to the starting point; recording the above coordinates.

Preferably, the track information recorded during the movement of the automatic working device is obtained by: detecting whether the automatic working device is turned; if steering, according to the recorded last steering, the coordinates of the automatic working device and the angle of the steering are calculated. The coordinate of the automatic working equipment relative to the starting point during the current turning; Calculating the angle of the current working equipment to the current steering, used to calculate the coordinates of the automatic working equipment at the next turning.

Preferably, detecting whether the automatic working device changes the moving direction is obtained by the following method: Detecting the speed difference between the drive wheels of the automatic work equipment.

Preferably, the angular velocity sensor on the automatic working device detects whether the automatic working device changes the direction of movement.

Preferably, the area of the working area is calculated by a polygon area formula based on coordinates of the moving path of the automatic working device relative to the starting point.

Preferably, the track information recorded during the moving of the automatic working device is the map data of the work area recorded by the POS positioning.

Preferably, the automatic working device formulates a working time schedule based on an area of the work area.

Another technical solution provided by the present invention is: an automatic working device that automatically walks in a set working area, including: a casing; a working module; a walking module that supports and drives the automatic working device to walk; Controlling module, controlling the walking module and the working module to work; the automatic working device further comprises a trajectory detecting unit and an area calculating unit, wherein the trajectory detecting unit records trajectory information of the automatic working device walking along a boundary of the working area The area calculation unit calculates the area of the work area according to the preset area algorithm based on the track information.

Preferably, the trajectory detecting unit comprises a magnetic sensing unit for detecting movement of the walking module, and the main control module calculates coordinates of the moving trajectory of the automatic working device relative to the starting point based on the movement of the walking module.

Preferably, the automatic working device detects whether the automatic working device changes the moving direction by the magnetic sensing unit, calculates the steering angle, and calculates the coordinates of the automatic working device relative to the starting point when the vehicle is turned.

Preferably, the automatic working device detects a speed difference between the driving wheels of the automatic working device through the magnetic sensing unit.

Preferably, the trajectory detecting unit includes an angular velocity sensing crying to detect a change in a moving direction of the automatic working device.

Preferably, the track detecting unit is a G P S module.

Preferably, the automatic working device formulates a working time plan based on an area of the work area. Another technical solution provided by the present invention is: an automatic working device, H moving work in a set working area, comprising: a casing; a working module; a walking module, supporting and driving the moving working device to walk; The automated work device detects the work area and sets a work time based on the work area.

Preferably, the automatic working device includes a GPS positioning module, the automatic working device starts from a starting point along a boundary of the working area and returns to a starting point, and the GPS positioning module records map data of the working area, according to the map data. The area information of the work area is calculated, and the automatic work equipment sets the work time based on the area information.

Preferably, the automatic working device comprises an input interface for inputting area information input by the user, and the automatic working device sets the working time based on the area information.

Preferably, the automatic working device includes an external information gathering unit, the external information collecting unit collects external information, and the automatic working device adjusts the working time based on the external information.

Preferably, the external information gathering unit is an input interface, and an adjustment signal input by the user is input.

Preferably, the external information gathering unit is a G P S positioning module, and the G P S positioning module acquires the latitude, longitude, date and time information of the location of the automatic working device.

Preferably, the external information gathering unit is a sensor, and the sensor acquires temperature and humidity information of a location where the automatic working device is located.

Preferably, the main control unit adjusts the working duration of the automatic working device. Preferably, the main control unit adjusts the working start time of the automatic working device. Preferably, the movable working device includes a boundary sensor disposed on two sides of the central axis of the automatic working device to detect a boundary of the working area, and when the boundary sensor of the side detects the boundary first, the automatic working The device turns to the direction of the boundary sensor on the other side.

Preferably, the mobile working device includes a boundary sensor disposed on two sides of the central axis of the automatic working device. When the boundary sensor detects a boundary, the automatic working device determines the central axis and the boundary. Angle, and continue to walk in the direction of the angle between the acute angle and the boundary formed by the reduction of the central axis and the boundary.

Preferably, the movable working device is a lawn mower or a vacuum cleaner.

Another technical solution provided by the present invention is: an automatic working device in a set The working area automatically moves, has a working state and a sleeping state, and includes: a casing; a working module; a walking module, supports and drives the automatic working device to walk; a main control module, controls the walking module and the working module to work The automatic working device further includes an area information collecting unit, the area information collecting unit collecting the area information of the working area, the main control module receiving the area information, and according to the area information, according to the preset schedule The algorithm formulates a working time plan, and controls the working module and the walking module to enter a working state and exit the working state according to the working time plan, and enter a sleep state.

Preferably, the automatic working device includes a GPS positioning module, and the automatic working device starts from a starting point along a boundary of the working area and returns to a starting point, and the GPS positioning module records map data of the working area according to the map. The data calculates the area information of the work area.

Preferably, the automatic working device comprises an input interface for inputting area information input by the user.

Preferably, the automatic working device includes an external information gathering unit, the external information collecting unit collects an external signal, the main control unit receives the external information, and adjusts the preset according to the external information according to a preset adjustment algorithm. Work time plan.

Preferably, the main control unit adjusts the duration of the working state

Preferably, the main control unit adjusts a start time of the working state.

Preferably, the movable working device includes a boundary sensor disposed on two sides of the central axis of the automatic working device to detect a boundary of the working area, and when the boundary sensor of the side detects the boundary first, the automatic working The device turns to the direction of the boundary sensor on the other side.

Preferably, the mobile working device includes a boundary sensor disposed on two sides of the central axis of the automatic working device. When the boundary sensor detects a boundary, the automatic working device determines the central axis and the boundary. Angle, and reduce the central axis and boundary Continue to walk in the direction of the acute angle or the angle between the right angles.

Preferably, the automatic working device is a lawn mower or a vacuum cleaner.

Another technical solution provided by the present invention is: an automatic working device, which automatically walks in a set working area, has a working state and a sleep state, and includes: a casing; a working module; a walking module, a supporting and driving station The automatic working device walks; the main control module controls the walking module and the working module to work; the automatic working device further includes an information collecting unit, and collects information about the area where the automatic working device is located, the main The control module receives the information, formulates a working time plan according to the preset information according to the preset scheduling algorithm, and controls the working module and the walking module to enter a working state and exit the working state according to the working time plan, and enter a sleep state. .

Preferably, the information collection unit is a G P S module, and collects one or more of area, longitude latitude, date, and time data of the area where the user is located.

Another technical solution provided by the present invention is: an automatic working device, which automatically walks in a set working area, has a working state and a sleep state, and includes: a casing; a working module; a walking module, a supporting and driving station The automatic working device walks; the main control module controls the working module and the walking module to enter a working state and exit the working state according to a preset working time schedule, and enters a sleep state; the automatic working device includes an external information gathering unit The external information gathering unit collects external information, the main control module receives the external information, and adjusts the working time plan according to the preset information according to the preset information.

Preferably, the external information gathering unit is a G P S positioning module, and the G P S positioning module obtains latitude and longitude, date and time information of the location where the user is located.

Preferably, the main control module determines a preset longitude latitude interval in which the latitude and longitude is located; and determines a preset date interval in which the date is located; and corresponding to the preset longitude latitude interval and the preset date interval. The adjustment plan adjusts the working time plan.

Preferably, the external information gathering unit is a sensor, and the sensor acquires temperature and humidity information of a location where it is located.

Preferably, the main control module determines a preset temperature interval in which the temperature is located; and determines a preset humidity interval in which the humidity is located; according to the preset temperature interval and the humidity region The corresponding adjustment plan adjusts the working time plan.

Preferably, the main control module adjusts the duration of the working state.

Preferably, the main control module replaces the duration of the working state by a factor of the duration of the working condition, multiplied by a coefficient.

Preferably, the main control module adjusts a start time of the working state.

Another technical solution provided by the present invention is: A method for controlling an automatic working device, wherein the automatic working device automatically moves in a set working area, and has a working state and a dormant state. The control method includes the following steps. : starting the automatic working device operation, the working device enters the working state according to the working time schedule and exits the working state too, and enters the sleep state; the control method further includes the following steps: acquiring external information; The preset adjustment algorithm adjusts the working time schedule.

Preferably, the external information is an adjustment signal input by a user.

Preferably, the preset adjustment algorithm is: determining a preset longitude latitude interval where the longitude and latitude is located; determining a preset date interval where the date is located; according to the preset longitude latitude interval and the preset date interval The corresponding adjustment plan adjusts the working time plan.

Preferably, the external information is temperature and humidity information of the location of the automatic working device obtained by the automatic working device through the sensor.

Preferably, the preset adjustment algorithm is: determining a preset temperature interval where the temperature is located; determining a preset humidity interval where the humidity is located; and adjusting a plan according to the preset temperature interval and the humidity interval Adjust the working time plan.

Preferably, adjusting the working time plan is a starting time for adjusting the working state. Preferably, the boundary of the working area is detected by a boundary sensor disposed on both sides of the central axis of the automatic working device, and when the boundary sensor of one side first detects the boundary, the boundary of the automatic working device to the other side The direction in which the sensor is located is turned.

Preferably, the boundary sensor is disposed on both sides of the central axis of the automatic working device Detecting a boundary of the working area, when the boundary sensor detects a boundary, the automatic working device determines an angle formed by the central axis and the boundary, and reduces an acute angle formed by the central axis and the boundary or Continue to walk in the direction of the right angle.

Another technical solution provided by the present invention is: A method for controlling an automatic working device. The automatic working device automatically travels in a set working area, and has an operating state and a sleep state. The control method includes the following steps: Starting the automatic working device to operate; entering the learning mode, the automatic working device walking and working; recording the working information when the automatic working device meets the preset condition; and formulating the working time according to the preset information according to the working information The automatic working device enters a working state and exits the working state according to the working time plan, and enters a sleep state.

Preferably, the preset condition is that the automatic working device has a load less than a preset value within a preset time.

Preferably, the work information in the record learning mode is a duration of the record learning mode.

Preferably, the preset scheduling algorithm is: determining a preset time interval in which the duration is located; and reading a working time plan corresponding to the preset time interval.

Preferably, the work information in the record learning mode is a travel distance in the record learning mode.

Preferably, the preset scheduling algorithm is: determining a preset process interval in which the walking mileage is located; and reading a working time plan corresponding to the preset mileage interval.

Preferably, the working time plan includes a plurality of cycles of the same sub-work time plan, wherein the period is 24 hours.

Preferably, the plurality of sub-work hours are planned to be the same.

Preferably, the duration of the working state in the plurality of sub-work time plans is decreasing. Preferably, the starting time of the working state in the plurality of sub-work time schedules is different. Preferably, the control method further comprises the steps of: acquiring external information; adjusting the working time plan according to the preset adjustment algorithm based on the external information.

Preferably, the external information is an adjustment signal input by a user.

Preferably, the preset adjustment algorithm is: determining a preset period of the latitude and longitude a latitude interval; determining a preset date interval in which the date is; adjusting the working time plan according to the preset longitude latitude interval and the adjustment plan corresponding to the preset date interval.

Preferably, adjusting the working time plan is a starting time for adjusting the working state. Another technical solution provided by the present invention is: an automatic working device, which automatically walks in a set working area, has a working state and a sleep state, and includes: a casing; a working module; a walking module, a supporting and driving station The automatic working device walks; the main control module controls the walking module and the working module to work; the automatic working device has a learning mode, and the main control module records that the automatic working device meets the preset condition in the learning mode Working information according to the work information; formulating a working time plan according to the preset work schedule according to the work information; the automatic working device enters a working state and exits the working state according to the working time plan, and enters a sleep state.

Preferably, the main control module detects a load of the working module of the automatic working device, and the preset condition is that the automatic working device has a load less than a preset value within a preset time.

Preferably, the main control module records the walking process of the learning mode of the automatic working device.

Preferably, the main control module records the duration of the learning mode of the automatic working device

Preferably, the automatic working device includes an external information gathering unit, the external information collecting unit collects external information, the main control unit receives the external information, and adjusts the preset according to the external information according to a preset adjustment algorithm. Work time plan. Preferably, the external information gathering unit is an input interface, and an adjustment signal input by a user is input.

Preferably, the main control unit adjusts the duration of the working state

Preferably, the main control unit adjusts a start time of the working state.

Preferably, the dynamic working device includes a boundary sensor disposed on both sides of the central axis of the automatic working device to detect a boundary of the working area, and when the boundary sensor of the side first detects the boundary, the automatic working device Turn to the direction of the boundary sensor on the other side.

Preferably, the movable working device is a lawn mower or vacuuming.

Compared with the prior art, the automatic working device and the control method thereof provided by the invention enable the user to easily or automatically set the work plan when the user uses the automatic working device for the first time; The environment changes, and the work plan can be automatically adjusted simply or automatically, making it easier to use and getting a good experience. DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings and embodiments;

1 is a schematic diagram of a H-moving working device provided by an embodiment of the present invention;

2 is a schematic side view of a H-moving working device according to an embodiment of the present invention; FIG. 3 is a circuit block diagram of a H-moving working device according to an embodiment of the present invention; FIG. 4 is a working view of a H-moving working device according to an embodiment of the present invention. FIG. 5 is a path selection diagram of a H-moving working device according to an embodiment of the present invention; 6 is a schematic diagram of path selection of an automatic working device according to an embodiment of the present invention;

7 is a schematic diagram of path selection of an automatic working device according to an embodiment of the present invention;

8 is a schematic diagram of steering of an automatic working device according to an embodiment of the present invention; FIG. 9 is a schematic diagram of coordinates of an automatic working device according to an embodiment of the present invention; and FIG. 1G is a flowchart of an automatic working device according to an embodiment of the present invention;

Figure 11 is a flow chart of an automatic working device according to a second embodiment of the present invention; and Figure 12 is a flow chart of the automatic working device according to the third embodiment of the present invention.

Its towel

I. Automatic working equipment ¹ 43. Control unit

I I. Walking module 1 5. Detection module

III . Ill a . Ill b drive wheel 1 51, 152. boundary sensor

12. Work Module 1 6. User Interface

13. Energy storage module 1 7. Shell

14. Main control module 3. Boundary line

141. Processing unit 5. Stopping station

142. Storage unit

The invention will be described in detail below with reference to the drawings and specific embodiments.

The automatic working device provided by the specific embodiment of the present invention automatically moves in the work area. The automatic work equipment can be an automatic lawn mower or an automatic vacuum cleaner. They automatically walk on the lawn or on the ground to mow or vacuum work. Of course, the automatic working equipment is not limited to automatic lawn mowers and automatic vacuum cleaners, but can also be used for other types of equipment, such as automatic spraying equipment or automatic monitoring equipment, to achieve unattended operation of various tasks through automatic working equipment.

Referring to Figure 1 - Figure 2, the automatic working equipment 1 includes a walking module 11, a working module 12, an energy storage module 13, a main control module 14, a detecting module 15, a user interface 16, and a casing 17 for housing the above modules.

The walking module 11 includes a motor and a driving wheel 111. The driving wheel 111 is usually driven by a plurality of motors, and the rotation speed or steering of each motor is controllable, thereby automatically working. During the walking of the device, flexible steering is performed by adjusting the rotational speed of the drive wheel 111. The walking module 11 includes a motor and a driving wheel 111. The driving wheel can be arranged in various manners. In the present embodiment, as shown in FIG. 2, the left side of the figure is the front part of the automatic working device 1, and the right side is automatic. At the rear of the work apparatus 1, two drive wheels 111 are symmetrically disposed on both sides of the rear portion of the automatic work equipment 1, and a guide wheel is disposed in a portion near the front of the automatic work equipment 1. Of course, the number of driving wheels can also be more or less, for example, the driving wheel can be one, or more than two; the position of the driving wheel can also be located at the front of the automatic working equipment, or separately located in the automatic working equipment. Four corners, etc., are not listed here.

The working module 12 is a working module executed by the automatic working device. The working modules of different automatic working devices are different. For example, the working module of the automatic mower includes a mowing blade, a cutting motor, etc., for performing cutting of the automatic mower. Grass work; The working module of the vacuum cleaner includes a vacuum motor, a suction port, a suction pipe, a vacuum chamber, a dust collecting device, and the like for performing a vacuuming task.

The energy storage module 13 is generally a rechargeable battery that provides power for the automatic mower operation or is connected to an external power source for charging; preferably, the energy storage module 13 has a charging or discharging protection unit capable of charging the energy storage module 13 Or discharge for protection.

The user interface 16 is disposed on the housing 17 for a location that is viewable and operable by the user, such as the top of the automated work device. The user interface 16 typically includes a display and input buttons, and the user inputs commands to the automated work device via input buttons, such as setting an automatic The time of the work device, the work plan, and the like, the user interface 16 can also be a remote control that can be remotely controlled.

Referring to Figure 3 together, the detection module 15 is used to detect information related to the lawn mower 1 and provide detection information to the main control module 14 to provide parameters for the walking and working of the automatic working equipment. The main control module 14 includes a processing unit 141, a storage unit 142 and a control unit 143. The processing unit 141 receives the information input by the detection module 15 or the user interface 16, and after processing, stores the information in the storage unit 142, or reads from the storage unit 142. The corresponding program controls the walking module 11 and the working module 12 to perform walking and working through the control unit 143.

Referring to Fig. 4, the automatic working device 1 is in the working area, and the working area is a closed interval surrounded by a manually set boundary line 3, and the boundary line 3 can prevent the automatic working device 1 from leaving the working area; the boundary line can be a wall, Railings, etc.; can also be energized wires or other signal generating devices, such as electromagnetic signals or optical signals. Designed in the work area There is a stop station 5, and the stop station 5 is set on the boundary line 3. When the automatic working device 1 stops working, it stops at the stop station 5 and enters a sleep state; when it needs to start work, it starts from the stop station 5 again and enters the working state. . The bus stop 5 is usually capable of providing a charging function to charge the energy storage module 13 . When the power of the energy storage module 13 is insufficient, the automatic working device 1 returns to the parking station 5 for charging. The docking station 5 can provide guidance and docking for the return of the automatic working device 1, and the docking can be wirelessly guided by infrared or ultrasonic waves, or can be guided and docked through the boundary line 3.

Referring to Figure 5 - Figure 7, the automatic working device 1 works in the working area, the automatic working device 1 includes at least one boundary sensor 1 5 1 , 1 5 2 , and the boundary sensor 1 5 1 , 1 5 2 is set in the automatic working device The two sides of the central axis of 1 are used to detect the positional relationship between the automatic working equipment 1 and the boundary line 3. The boundary sensor 1 can be a distance sensor, an infrared sensor, an ultrasonic sensor, a collision sensor, a magnetic sensor, or the like.

The dotted line passing through the automatic working device 1 is the walking path of the automatic working device 1, and the automatic working device 1 travels in a straight line in the working area, and the boundary sensor 1 5 1 , 1 5 2 detects the distance between the boundary line 3 and if The boundary sensor 1 5 1 on the left side of the axis first detects that the distance from the boundary line 3 is less than the preset value, and the automatic working device 1 turns to the right side of the central axis where the boundary sensor 1 5 2 is located; if the boundary sensor on the right side of the central axis 1 5 2 First, it is detected that the distance from the boundary line 3 is less than the preset value, and the automatic working device 1 is turned to the left side of the central axis where the boundary sensor 1 5 1 is located.

The boundary sensor 1 5 1 , 1 5 2 can also detect the angle between the central axis and the boundary line 3, and when any one of the boundary sensors 1 5 1 , 1 5 2 detects that the distance from the boundary line 3 is less than When the value is set, the central axis of the automatic working device 1 and the boundary line 3 have an intersection point, and the central axis and the tangent line of the boundary line 3 form an acute angle θ, and the automatic working device 1 continues to move forward, and is reduced. Small, the direction of the acute angle is turned. When the boundary sensors 1 5 1 , 1 5 2 on both sides of the central axis of the automatic working device 1 simultaneously detect that the distance from the boundary line 3 is less than a preset value, the central axis of the automatic working device 1 and the boundary line 3 pass through their intersection point. The tangent lines are perpendicular to each other, at which point the automatic work equipment is randomly turned.

The preset value of the minimum distance between the automatic working device 1 and the boundary line 3 is set to satisfy the following conditions: During the steering of the automatic working device 1, the walking can be maintained, thereby preventing the automatic working device 1 from stopping when steering Or backwards, saving time and avoiding Frequent startup and shutdown also saves power and reduces the number of automatic working equipment charging, which greatly improves the working efficiency of automatic working equipment. The path selection method as described above can also improve the walking efficiency of the automatic working device 1 in the work area, and in particular, can efficiently exit the narrow section in the work area. The path selection method as described above enables the working device 1 to work in the same working area, regardless of the shape of the working area, the obstacle in the working area or the complexity of the work, the time for the automatic working device 1 to complete the work is similar. This is important for the present invention. Of course, it is not unique to be able to satisfy the condition that the working time is the same when the working equipment 1 is in the same working area. For example, the automatic working equipment can record the route that has been traveled by GPS positioning. When the automatic working equipment is walking, the repeated walking route is avoided as much as possible, thereby improving the walking efficiency of the automatic working equipment in the working area, and the working time is similar for the working area with the same area. There are other ways of path planning, which are not mentioned here.

Referring to FIG. 10, the control method of the automatic working device 1 provided by the present invention includes the following steps.

Step S O : The system starts. When the user first uses the automatic working device 1, the system is initialized through the user interface 16 to initialize the system, and the initialization includes the self-checking of the automatic working device 1, for example, the remaining capacity of the energy storage module 1 4 2, and the like. When the system is started, the working device 1 is preferably at the stop station 5. If the remaining power of the energy storage module 1 4 2 is insufficient, the energy storage module 1 4 2 is charged through the docking station 5.

Step S1: Obtain the area information of the work area. Automatic working equipment 1 Starting from the stopping station 5 Follow the boundary line 3 Walk around the working area and return to the stopping station 5 again; The detection module of the automatic working equipment 1 1 5 includes the trajectory detecting unit, and the trajectory detecting unit can be

GPS module, during the walking process, the GPS module locates the position where the automatic working equipment is located, that is, the latitude and longitude coordinates of the location of the automatic working equipment. These measuring points are connected to form the walking trajectory of the automatic working equipment 1, and the processing unit 1 4 1 receives the measurement. After the coordinates of the point, the obtained latitude and longitude coordinates are inversely calculated as X and Y coordinates according to the preset area algorithm, and the area of the work area surrounded by each measurement point is calculated according to the coordinates; the preset area algorithm may be CASIO fx - 4 5 0 0 P area calculation program, of course, other algorithms can also calculate the area according to the latitude and longitude coordinates, not here - enumeration. For the work area with the shape comparison rule, the automatic working device 1 can also measure the coordinates of the respective vertices of the work area by separately. Then calculate the area of the work area.

At this time, the area information of the working area is automatically acquired by the automatic working device 1. Of course, if the user already knows the area of the working area, the area information can also be input by the user through the user interface 16 or through the automatic working device 1 Input with the connection interface of a computer or other device.

Step S2: It is judged whether the area information acquisition is completed. When the automatic working device 1 returns to the stop station 5 again, the main control module 1 4 determines that the area information acquisition is completed, and controls the automatic working device 1 to stop walking along the boundary line 3. When the area information is manually input, the main control module 1 4 detects whether the user interface 1 6 inputs an acknowledgment signal, and when detecting the user interface 16 input acknowledgment signal, it is determined that the area information acquisition is completed. When it is judged that the area information acquisition is completed, the next operation can be performed; if it is judged that the area information has not been obtained yet, the area information of the working area is continuously obtained.

Step S3: Processing the area information. Processing Unit 1 4 1 After receiving the area information of the working area provided by the detection module 1 5 or the user interface 1 6 , the area information is processed and converted into a data format that the main control module 1 of the automatic working device 1 can recognize.

Step S4: Formulate a working time plan according to a preset scheduling algorithm. The storage unit 1 4 2 stores a preset working time plan, and the preset working time plan corresponds to the working area interval. For example, the working area of 600 square meters to 699 square meters, the corresponding working time plan is working area of 10 hours, 700 square meters to 79 9 square meters, the corresponding working time plan is Work for 15 hours. When the working area has an area of 720 square meters, the processing unit 1 4 1 compares the area information with each area of the storage unit 1 4 2 , and the area of the working area is greater than 700 square meters and less than 800. In the square meter, the processing unit 1 4 1 reads the work plan corresponding to the working area interval of 700 square meters to 800 square meters, and the working time plan for the work is 15 hours. In the preset working time plan provided by the present embodiment, for the sake of simplicity of description, only two area intervals are listed by way of example, and the area interval of each working area is 100 square meters; in fact, the number of area intervals More can be, the area range can also be other than 100 square meters. For example, the working area of the automatic working equipment 1 ranges from 0 square meters to 1 500 square meters, and each area interval is 100 square meters, which can be divided into 15 area intervals; the working area of the automatic working equipment 1 From 0 square meters to 200 square meters, each area interval is 100 square meters, which can be divided into 20 area intervals; the working area of automatic working equipment 1 is 0. From square meters to 1 500 square meters, each area interval is 50 square meters, which can be divided into 30 area intervals; the working area of automatic working equipment 1 ranges from 0 square meters to 200 square meters. When each area is 50 square meters, it can be divided into 40 area intervals.

In addition, the preset scheduling algorithm may also be a preset function stored in the storage unit 1 4 2 with the area information as a variable, and the processing unit 14 1 substitutes the received area information into the preset function, according to the The preset function calculates the time required to complete the work, reads the working time plan corresponding to the result from the storage unit 142, and formulates the working time plan for the work.

Further, the working time plan separately performs a sub-work time plan including a plurality of cycles in a plurality of unit time periods, and the length of each unit time period can be set according to, for example, each unit time period is 8 hours. 1 2 hours, 2 4 hours, etc. During each unit time period, the working state duration of the automatic working device 1 may be the same or different. In the present embodiment, when the automatic working device 1 performs the working time plan of 15 hours, the first day of work is 7 hours after the end of the work, and the sleep state is finished after 5 hours of the next day. Working for 3 hours in a day, completing the work, the duration of the working state is decremented during each unit time period.

Further, the working time plan includes the initial working time plan and the maintenance working time plan. When the working equipment 1 is working in the working area for the first time, it is a brand new job, and the workload is large, so it takes a long time; after completing the initial work , spend less time each day to maintain the work. The maintenance work schedule is scheduled to start after the initial work is completed, including multiple work time schedules per unit time period. In the present embodiment, after the automatic working equipment 1 completes the initial working time plan, the maintenance working time schedule is executed, and the work is performed for 2 hours per day.

The preset working time plan or formula is based on the path planning method of the automatic working equipment 1, and is experimentally or modeled. Select a more relaxed data when formulating a preset working time plan. For example, in the path planning mode, the maximum time required to complete the work in the same area of the work area, so as to ensure that the maximum can be completed in all cases. Part of the work.

Step S 5: Execute the working time plan. The automatic working equipment 1 enters the working state at a predetermined time according to the working time schedule after getting the working time plan, and exits the working state at the predetermined time to enter the sleep state.

In this embodiment, the automatic working device 1 automatically acquires the area information of the working area. It is necessary to detect the coordinates through the GPS module. Of course, the automatic working device can also measure the area information of the working area by other means.

The user can enter the command through the user interface 16 to cause the automatic working device 1 to depart from the stop station 5 and walk along the boundary line until returning to the starting point. During the walking process, the automatic working device 1 detects and records the trajectory of walking.

The detecting module 15 of the automatic working device 1 includes a trajectory detecting unit that measures the walking distance of the driving wheel 111. The trajectory measuring unit is measured by the principle of magnetic induction, and includes a magnetic generator and a magnetic detector. The two driving wheels 111 are respectively provided with magnetic components, and the magnetic components may be magnets or other components capable of generating a magnetic field. A magnetic sensor is provided in the position near the drive wheel 111 for sensing the magnetic element. Whenever the driving wheel 111 rotates one turn, the magnetic element on the driving wheel 111 approaches the magnetic sensor, the magnetic sensor can detect and send a signal to the processing unit 141, which represents the driving wheel rotating one turn, the driving wheel 111 The circumference of the wheel and the number of turns of the drive wheel 111 are multiplied to obtain the distance traveled by the drive wheel 111. The processing unit 141 can calculate the moving distance of the automatic working device 1 within a certain period of time or within a certain path according to the distance traveled by the driving wheel. Of course, the trajectory detecting unit is not limited to the above-mentioned magnetic element and magnetic detector, and all detectors that can detect the rotational speed of the driving wheel are possible.

Referring to Fig. 8, the driving wheels 111 are symmetrically disposed on the rear sides of the automatic working device 1, the wheel spacing between the two driving wheels is D, and the driving wheels 111 have the same diameter. The processing unit 141 determines whether the automatic working device 1 is traveling in a straight line according to whether the distance traveled by the driving wheels 111 is the same. If the trajectory detecting unit detects that the traveling speeds of the two driving wheels 111 are the same, the automatic working device 1 is in a straight line. Walking; if the trajectory detecting unit detects that the traveling speeds of the two driving wheels 111 are different, it indicates that the automatic working device 1 is performing steering.

When the processing unit 141 determines that the automatic working device is turning, it calculates the angle at which the automatic working device 1 changes direction according to the distance traveled by the driving wheel. When the working device 1 changes direction, the driving wheel 111 a travels at a distance C 1 and the driving wheel 112b travels at a distance C2 , and the angle at which the automatic working device 1 rotates α = ^i. Of course, since

2 π D

The steering angle of the working equipment 1 can also be measured by other means, such as setting an angular velocity sensor on the automatic working device 1, or a digital compass or the like.

Automatic working equipment 1 travels from the stop station along the boundary line to point A, at this time the boundary line 3 Changing the direction, the processing unit 141 determines that the automatic working device 1 is performing steering, calculates the position at which the automatic working device 1 is located at this time, and stores the position information in the storage unit 142. The position at which the automatic working device 1 is located can be represented by the coordinates (X 1 , yl ) of the points in the Cartesian coordinate system where the stop station 5 is the coordinate origin. As shown in Fig. 9, the abscissa X 1 of the point A is the distance moved by the automatic working device 1 from the docking station 5 to the point A, and the vertical coordinate y 1 is 0.

The automatic working device 1 turns at point A, and the processing unit 141 calculates the angle at which the automatic working device 1 is rotated by α based on the aforementioned algorithm, and at this time, the processing unit 141 restarts calculating the distance moved by the automatic working device 1. The automatic working device 1 continues to travel along the boundary line 3 to reach the turning point ,, and the processing unit 141 determines that the automatic working device 1 is turning at the , point, and calculates the coordinates of the Β point in the Cartesian coordinate system with the stopping station as the coordinate origin (X 2, y 2 ), the processing unit 141 calculates that the distance moved by the automatic working device 1 from point A to point B is D 1 , and the abscissa X 2 of point B can pass the formula (X 1 +D 1 * c 0 s α ) Calculated, the ordinate y 2 of the Β point can be calculated by the formula ( y 1 + D 1 * si η α ).

Using the same method, the processing unit can calculate the coordinates of each turning point during the walking of the automatic working device 1 along the boundary line 3 until it returns to the stop station 5, that is, when the automatic working device 1 returns to the coordinate origin (xOyO) again. The main control module 14 determines that the walking track information has been acquired, and controls the automatic working device 1 to stop walking along the boundary line 3. At this time, the automatic working device 1 obtains a set of coordinate values, ( xOyO )( xlyl )( x2y2 )...( xnyn ) ( xOyO ), which are the trajectory information of the automatic working device 1 walking along the boundary line.

In the present embodiment, the processing unit 141 calculates the coordinates of the turning point according to the sine or cosine formula. Of course, other formulas can also calculate the coordinates of the turning point, such as a tangent formula, a cotangent formula, or a combination between the above formulas. .

The processing unit 141 calculates the area of the work area based on the preset area algorithm based on the coordinates of each of the turning points stored in the storage unit 142. In the Cartesian coordinate system with the stop station 5 as the coordinate origin, each turning point is connected to form a closed polygon, the area of the working area is equal to the area of the polygon, and the processing unit 141 calculates the area of the working area by the area calculation formula of the polygon. For example, S = 0.5 * I(x0*yl-xl*y0) + (x 1 * y 2 -x2 * y 1 ) + ... + (xn*y0-x0*yn)l.

Referring to FIG. 11, a method for controlling an automatic working device 1 according to a second embodiment of the present invention includes the following steps: Step S 1 0: The system starts. The startup process of the system in the second embodiment of the present invention is the same as that of the first embodiment, and the description thereof will not be repeated here.

Step S1 1: Determine whether to enter the self-learning mode. After the startup, the automatic working device 1 determines whether it is necessary to enter the self-learning mode. For example, when the processing unit 1 4 1 of the automatic working device 1 detects that the working time plan already exists, it is determined that the automatic working device 1 does not need to enter the self-learning mode, and the work is performed. Time plan; The processing unit 1 of the automatic working device 1 enters the self-learning mode when it detects that there is no working time plan. The automatic working device 1 can also determine whether it needs to enter the self-learning mode by detecting whether its own geographical location changes. When the geographical location of the automatic working device 1 does not change, the automatic working device 1 does not enter the self-learning mode, and automatically works. When the geographical location of device 1 changes, it enters self-learning mode. The automatic working device 1 can also determine whether it is necessary to enter the self-learning mode by detecting the time interval between the current booting time and the last booting time. When the time interval is greater than the predetermined value, the automatic working device 1 enters the self-learning mode. When the time interval is less than the predetermined value, the automatic working device 1 does not enter the self-learning mode.

In addition, the automatic working device 1 can also determine whether to enter the self-learning mode according to the information input by the user through the user interface 16 , and when the user selects to enter the self-learning mode through the user interface 16 , the automatic working device 1 enters the self-learning mode; When the user selects not to enter the self-learning mode through the user interface 16, the automatic working device 1 does not enter the self-learning mode.

Step S 1 2 : Enter the self-learning mode. The automatic working equipment 1 enters the self-learning mode. In the self-learning mode, the automatic working equipment 1 does not set the working time plan, starts from the stopping station 5, and walks in the working area according to the preset path planning mode. The detection module 1 5 detects the working information of the automatic working equipment 1, and the working information may include one or more of the working time, the walking mileage, the working load, the walking path, and the like of the automatic working equipment 1 in the self-learning mode.

Step S 1 3: Determine whether to exit the self-learning mode. The detecting module 15 includes a current detecting unit that detects the load current of the working module 12, and the processing unit 14 1 compares the detected load current with the stored preset value in the storage unit 1 4 2 if it is within a certain period of time The load current of the working module 1 2 is always less than the preset value, and the processing unit 1 4 1 judges that the working module 1 2 has no load for a long time, and controls the automatic working device 1 to exit the self-learning mode.

The automatic working device 1 can also judge whether it should exit the self-learning mode by other information. Style. For example, when the automatic working device 1 is an automatic lawn mower, the detecting module 15 includes a contact sensor disposed at the bottom of the automatic mower, and the contact sensor detects contact information between the grass and the bottom of the automatic mower, if for a period of time, The contact sensor has not detected the contact signal at all times, and the processing unit 1 4 1 considers that the work has been completed, and controls the automatic mower to exit the self-learning mode. When the automatic working device is an automatic vacuum cleaner, the detecting module 15 can detect the increase amount of dust in the dust collecting device. If the sensor does not detect the increase of dust at all for a period of time, the processing unit 14 1 considers that the automatic vacuum cleaner has been working. Finish, control the auto vacuum cleaner to exit the self-learning mode. In addition, the automatic working device 1 can also judge whether the self-learning mode should be exited by the camera, the infrared sensor or the like, and is not enumerated here.

As described above, the automatic working device 1 automatically determines whether the self-learning mode should be exited. Of course, it can also be controlled by the user through the user interface 16. When the user determines that the automatic working device 1 needs to exit the self-learning mode, the user interface is pressed. On the corresponding button on 1 6 , the automatic working device 1 exits the self-learning mode.

Step S 1 4: Record the work information when the preset condition is met. When the automatic working device 1 meets the preset condition, the working information of the automatic working device 1 detected by the detecting module 15 is recorded, for example, the working time, walking mileage, working load, walking path of the automatic working device 1 running in the self-learning mode and many more.

Recording the work information when the preset condition is met may be performed before exiting the self-learning mode or after exiting the self-learning mode or when exiting the self-learning mode, so the order of step S1 3 and step S 1 4 may be interchanged. Or at the same time, but the recorded work information is always at the time when the preset condition is met.

Step S 1 5: Processing the work information in the self-learning mode. Processing unit 1 4 1 Process the work information and convert it into the data format of the master module of the automatic work device 1 4 .

Step S 1 6: Develop a working time plan according to a preset algorithm. The storage unit 1 4 2 stores a preset working time schedule, and the preset working time schedule corresponds to the working information of the automatic working device 1 in the self-learning mode. For example, in the self-learning mode, the work time in the work area is in the 10 hour - 15 hour interval, and the corresponding working time is planned to be 2 hours per day for maintenance; in the self-learning mode The working time is in the 16-hour to 20-hour interval, and the corresponding working time is planned to be maintained for 3 hours per day. When recording the self-learning mode, the working time is 1 2 Hours, the processing unit 1 4 1 compares the working time with each time interval in the storage unit 1 4 2 , and the working time is greater than 10 hours and less than 15 hours, then the processing unit 1 4 1 reads the working time interval 1 A work plan corresponding to 0 hours to 15 hours, and a working time plan for the work is planned to be 2 hours a day for maintenance.

Of course, the preset working time plan may also correspond to other work information of the automatic working device 1 in the self-learning mode, for example, the walking mileage running in the self-learning mode, the processing unit 1 4 1 will travel the mileage and storage. Comparing the respective mileage intervals in the unit 1 4 2, the corresponding work plan is selected as the working time schedule of the automatic working equipment 1.

Of course, the preset working time plan may also correspond to one or more of the working information of the automatic working device 1 in the self-learning mode, for example, the working time of the automatic working device 1 in the learning mode, the walking mileage, One or more of a workload, a walking path, and so on

In addition, the preset algorithm may also be a formula in which the working information of the automatic working device 1 in the self-learning mode is a variable, and the processing unit 1 1 1 substitutes the received working information into a preset formula to calculate the time required to complete the work. , Develop a working time plan for this work.

Step S 1 7: Execute the working time plan. Automatic Work Equipment 1 After getting the working time plan, enter the working state at the scheduled time according to the working time schedule, and exit the working state at the scheduled time to enter the sleep state.

Referring to FIG. 12, the control method of the automatic working device 1 according to the third embodiment of the present invention includes the following steps:

Step S 2 0: The system starts up. The startup process of the system in the third embodiment of the present invention is the same as that of the first embodiment, and the description thereof will not be repeated.

Step S 2 1: Develop a working time plan. Automatic Work Equipment 1 After startup, develop a work time schedule. The working time plan may be self-developed by the automatic working equipment 1 using the methods provided by the first embodiment and the second embodiment of the present invention. Working equipment

The working time plan of 1 can also be input manually through the user interface 16 or through the connection interface of the automatic working device 1 with a computer or other device.

Step S 2 2: Perform the work. After obtaining the working time plan, the automatic working equipment 1 enters the working state at a predetermined time according to the working time schedule, and exits the working state at a predetermined time to enter the sleep state. Step S23: Acquire external information. The external information of the automatic work device 1 includes the date, time, geographic coordinates, environmental information, etc. of its own location. During operation, the detecting module 15 detects external information in real time; detecting external information may also be performed periodically, for example, the automatic working device 1 performs a test every time from the sleep state to the working state; or the automatic working device 1 every other segment The time period is tested once, for example every other week or month.

The detection module 15 includes a GPS module, and the GPS module acquires data such as geographic coordinates, time, and date of the location of the automatic working device 1 . The detection module 15 may also include an environmental sensor that detects environmental information of the location where the automatic working device 1 is located; the environmental sensor may be a temperature sensor and a humidity sensor that detects temperature information and humidity information of the location of the automatic working device 1 .

Step S24: Determine whether the external information is acquired. When the automatic working device 1 obtains external information, it is usually acquired in a certain combination. When the GPS module obtains the geographical coordinates, time and date of the location of the automatic working device 1 itself, when the three data are acquired, the external information is obtained. carry out. When the environmental sensor detects the environmental information, when the temperature and humidity data are acquired, it is judged that the external information acquisition is completed.

Step S25: Processing external information. After receiving the external information provided by the detection module 15, the processing unit 141 processes the external information and converts it into a data format that the master module 14 of the automatic working device 1 can recognize.

Step S 26: Modify the working time plan according to a preset algorithm. A preset adjustment schedule based on the work time schedule is stored in the storage unit 142.

The basis for setting up a working time plan adjustment plan for different automatic work equipment is different.

When the automatic working equipment 1 is an automatic lawn mower, the adjustment plan stored in the storage unit 142 is set based on the growth law of the grass in each region of the world in one year, and these laws can be known by meteorological statistical data. For example, grass in China has the fastest growth rate in summer, followed by spring and autumn, and winter grass grows the slowest. The adjustment plan stored in storage unit 142 is shown in Table 1:

February _April May _July August _10 November - the following year January

100% 150% 90% 50% The adjustment plan in Table 1 is based on the working time plan of the automatic mower 1 by multiplying the time of each unit time by a preset factor to increase or decrease the working time. In Table 1, the preset coefficients are in the form of percentages. Of course, the preset coefficients can also be other forms, such as decimals or functions.

The processing unit 1 4 1 receives the time, date and geographic coordinate information provided by the GPS module of the detection module 1 5, first determines which area the automatic lawn mower is in, for example, when the GPS module acquires the coordinates of the position where the automatic lawn mower is located, the east longitude 1 2 0 degrees, 20 degrees north latitude, when the date is June 1, the processing unit 1 4 1 compares the geographical coordinate information with the global map data stored in the storage unit 1 4 2, and concludes that the automatic lawn mower is in the Chinese region. Then, compared with the various date intervals as shown in Table 1 stored in the storage unit 1 4 2, it is known that the automatic lawn mower adjustment plan is multiplied by 150% based on the working time plan. For example, in the working time plan, the automatic mower needs to cut grass for 10 hours. When the automatic mower detects the external information as described above, the mowing time of the automatic mower is adjusted to 15 hours.

In the preset adjustment plan provided by the present embodiment, for the convenience of description, in the interval of 3 months, the interval can be set as needed, for example, one month or even shorter, and the shorter the interval spanning, The adjustment of the work of the automatic mower can be more precise.

Further, the automatic mower can also adjust the schedule by changing the time to start mowing. In different regions of the year, the time of day is different. Before the day, the grass will be damp, which is unfavorable for mowing. Adjustments to the start of mowing time can be added to the preset adjustment plan. The adjustment plan as described in Table 1: From February to April, the mowing start time is not changed; in May-July, the mowing start time is advanced by 1 hour because the summer sunrise time is earlier; During August-October, the mowing start time is not changed; in January-January, the mowing start time is delayed by 2 hours because the sunrise time is later. This avoids mowing in the case of very wet grass.

The adjustment plan stored in the storage unit 1 4 2 can also be set based on the growth law of the grass under different temperatures and different humidity conditions, and these rules can also be easily obtained through meteorological statistical data. For example, if the grass grows at a temperature greater than 20 degrees Celsius and the humidity is greater than 30%, the automatic mower can increase the mowing time by adjusting the plan; the grass is at a temperature lower than 10 degrees Celsius, and the humidity is lower than 1 When the growth rate is the slowest at 0%, the automatic mower can reduce the mowing time by adjusting the plan accordingly; when the temperature and humidity are between the above two intervals, the automatic mower does not adjust the working time schedule. When the automatic working device 1 is an automatic vacuum cleaner, the adjustment plan stored in the storage unit 1 4 2 can be set based on the correspondence between the climate and the formation of dust, for example, external information detected by the GPS module, the processing unit 1 4 1 Judging the geographical location of the automatic vacuum cleaner, it is easy to form a dusty weather at the current time, and correspondingly increasing the vacuuming time; when the location of the automatic vacuum cleaner is not easy to form a dusty weather at the current time, the cleaning time is correspondingly reduced. When the external information is detected by the environmental sensor, the processing unit 1 4 1 determines whether the position of the automatic vacuum cleaner is located, and whether the temperature and humidity conditions are favorable for forming dust. If the temperature is high and the humidity is large, dust is not easily formed, and the dust can be reduced accordingly. Time; if the temperature is higher and the humidity is lower, it is easy to form a cultivation, and the cleaning time can be correspondingly increased. The automatic vacuum cleaner adjusts the working time schedule in a manner similar to the automatic lawn mower described above, and the description will not be repeated here.

Step S 2 7: Execute the revised working time plan. The automatic working equipment 1 enters the working state at the scheduled time according to the modified working time schedule, and exits the working state at a predetermined time to enter the sleep state.

In the present embodiment, the automatic working device 1 automatically acquires external information through the detecting module. In addition, the automatic working device 1 can also manually input the working time schedule adjustment parameter through the user interface 16 .

The user interface 1 of the automatic working device 1 sets an adjustment button, for example, an increase and decrease of the working time button. When the user selects to increase the working time button, the processing unit 14 receives the input information provided by the user interface 16. Processing, reading the corresponding adjustment parameter from the storage unit 1 4 2; for example, when the user selects the increase of the working time button once, the corresponding adjustment plan is to increase the working time by 10%, when the user selects twice consecutively, the corresponding The adjustment plan is to increase the working time by 20%; when the user selects the time limit for reducing the working time, the corresponding adjustment plan is to reduce the working time by 10%. When the user selects twice continuously, the corresponding adjustment plan is reduced by 2 0% of working time. Similarly, the user can easily adjust the time when the automatic working device 1 starts working through the user interface 16.

Of course, the control method of the automatic working device provided by the third embodiment of the present invention can be applied to an automatic working device that needs to manually set a working time plan, or can be applied to an automatic working device that does not need to manually set a working time plan, in particular Control method of automatic working equipment provided by the first embodiment of the present invention and the second embodiment of the present invention Used together.

The automatic working device and the control method thereof provided by the invention can start work without complicated setting in the initial work, and can automatically change the working time plan according to external conditions such as climate during use, so that Use more convenient and convenient, give users a good experience

It will be appreciated by those skilled in the art that the present invention may have other implementations, but as long as the technical essence of the invention is the same or similar to the present invention, or any imaginable changes and substitutions based on the present invention are It is within the scope of the invention.

Claims

ι · A method of controlling an automatic working device, the automatic working device automatically moving in a set working area, having an operating state and a sleeping state, wherein the control method comprises the following steps:

Starting the automatic working device to operate;

Obtaining area information of the work area;

Developing a working time plan according to the area information according to a preset scheduling algorithm;

The automatic working device enters the working state and exits the working state according to the working time plan to enter the sleep state.

The method of controlling an automatic working device according to claim 1, wherein: the preset scheduling algorithm is:

Comparing the area information with a predetermined number of area intervals;

Find the preset area of the area information

Reading a work time schedule corresponding to the preset area.

Substituting the area information into a preset function

Calculating the result according to the preset function

Read the working time schedule corresponding to the result.

A method of controlling an automatic working equipment according to claim 1, wherein: said area information is obtained by the following steps

The automatic working device moves from the starting point along the boundary of the working area and returns to the starting point;

Recording track information during the moving of the automatic working device;

Calculating area information of the work area according to the trajectory information.

The control method of the automatic working device according to claim 4, wherein: the track information recorded during the moving of the automatic working device is map data of the working area recorded by the POS positioning

The method for controlling an automatic working device according to claim 4, wherein: recording track information during the moving of the automatic working device is coordinate information of a position at which the automatic working device changes direction each time . The method of controlling an automatic working device according to claim 1, wherein: the area information is obtained by the following steps:

The input interface set on the automatic device inputs the area information input by the user. A method of controlling an automatic work equipment according to claim 1, wherein said work time schedule includes a first work time plan and a maintenance work time plan.

A method of controlling an automatic work equipment according to claim 1, wherein said work time schedule includes a plurality of sub-work time schedules having the same period.

A method of controlling a mobile work equipment according to claim 9, wherein said period is 2 4 ', 1, and hours.

A method of controlling a mobile work equipment according to claim 9, wherein said plurality of sub-work time plans are the same.

A method of controlling a mobile work device according to claim 9, wherein the duration of the work state in said plurality of sub-work time schedules is decreased.

The method of controlling an automatic working device according to claim 9, wherein: the starting times of the working states in the plurality of sub-work time schedules are different.

The control method of the automatic working device according to claim 1, wherein the control method further comprises the steps of: acquiring external information; adjusting the working time plan according to the preset information according to the preset information.

The method of controlling an automatic working device according to claim 14, wherein the external information is an adjustment signal input by a user.

The control method of the automatic working device according to claim 14, wherein: the external information is longitude, latitude, date and time information of the location of the self-operated device obtained by the PG positioning.

The method for controlling an automatic working device according to claim 1 , wherein: the preset adjustment algorithm is:

Determining a preset longitude latitude interval of the longitude latitude;

Determining a preset date interval in which the date is located;

And adjusting the working time plan according to the corresponding adjustment plan of the preset longitude and latitude area and the preset date area.

The method of controlling an automatic working device according to claim 14, wherein: the external information is the automatic work obtained by the automatic working device through a sensor The temperature and humidity information of the location of the device itself.

The control method of the automatic working device according to claim 18, wherein: the preset adjustment algorithm is:

Determining a preset temperature interval in which the temperature is located;

Determining a preset humidity interval in which the humidity is located;

Adjusting the working time plan according to the corresponding adjustment schedule between the preset temperature zone and the humidity zone

The control method of an automatic working device according to claim 14, wherein: adjusting the working time plan is adjusting a duration of the working state.

A method of controlling an automatic working device according to claim 20, wherein: adjusting said working time plan is to replace said duration of said working state by a factor multiplied by a duration of said working state.

The control method of an automatic working device according to claim 14, wherein: adjusting the working time schedule is a start time for adjusting the working state.

The control method of the automatic working device according to claim 1, wherein: the boundary of the working area is detected by a boundary sensor disposed on both sides of the central axis of the automatic working device, and the boundary sensor of one side is first detected Upon reaching the boundary, the automated work equipment is turned in the direction in which the boundary sensor on the other side is located.

The method of controlling an automatic working device according to claim 1, wherein: detecting a boundary of the working area by a boundary sensor disposed on both sides of a central axis of the automatic working device, when the boundary sensor detects a boundary The automatic working device determines an angle formed by the central axis and the boundary, and continues to walk in an angle that reduces an acute angle or a right angle formed by the central axis and the boundary.

An automatic working device that automatically moves in a set working area, including: a casing;

Working module

a walking module that supports and drives the automatic working equipment to walk;

It is characterized in that the automatic working device detects the work area and sets a working time based on the work area.