CN102475015A

CN102475015A - Automatic running device

Info

Publication number: CN102475015A
Application number: CN2010105687093A
Authority: CN
Inventors: 田角峰; 周昶; 刘芳世
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2010-11-30
Filing date: 2010-11-30
Publication date: 2012-05-30
Anticipated expiration: 2030-11-30
Also published as: CN102475015B

Abstract

The invention relates to an automatic running device. The automatic running device can be in selective butt joint with a charging station and can obtain energy from the charging station. The automatic running device comprises a first set of terminals, an energy storage unit and a first control unit, wherein the first set of the terminals at least comprises a first terminal and a second terminal; the charging station comprises a second set of terminals which at least comprises a third terminal and a fourth terminal, and the second set of terminals can be correspondingly and electrically connected with the first set of terminals; the energy storage unit is used for supplying power for the automatic running device; and the first control unit is used for controlling the working condition of the automatic running device and comprises a signal transmitting module and a signal receiving module, wherein the signal transmitting module is used for transmitting a preset detected signal and is electrically connected with the first terminal, the signal receiving module is electrically connected with the second terminal, and when a preset feedback signal corresponding to the preset detected signal is received by the signal receiving module, then whether the automatic running device and the charging station are in successful butt joint or not can be determined by the first control unit. The automatic running device provided by the invention can be in automatic butt joint with the charging station.

Description

Automatic walking arrangement

Technical field

The present invention relates to a kind of automatic walking arrangement.

Background technology

Along with science and technology development; The automatic walking arrangement of intelligence is known by people; Because the program that automatic walking arrangement can be provided with is automatically in advance carried out the inter-related task that is provided with in advance, operation that need not be artificial and intervention, therefore the application on commercial Application and family product is very extensive.Application in the industry is as carrying out the robot of various functions, the application on the family product such as mower, dust catcher etc., and these smart machines have greatly been saved people's time, all bring great convenience to commercial production and life staying idle at home.But these automatic walking arrangements are owing to adopt the energy storage unit power supply; After the energy of energy storage unit is used up; These automatic walking arrangements just can't have been worked, and just must move to the charging station that energy can be provided for it to automatic walking arrangement artificially this moment, is its makeup energy.In some cases, makeup energy possibly need several hours time of cost, and people must wait for several hours, accomplish up to makeup energy, thereby open automatic walking arrangement once more, and it is worked on.

For overcoming the problems referred to above, must develop a kind of automatic walking arrangement of ability automatic butt charging station.

Summary of the invention

The technical problem that the present invention solves is: the automatic walking arrangement that a kind of ability automatic butt charging station is provided.

For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of automatic walking arrangement, selectively dock with charging station; And obtain energy from charging station; Said automatic walking arrangement comprises first group of terminal, and first group of terminal comprises the first terminal and second terminal at least, and said charging station comprises second group of terminal; Second group of terminal comprises the 3rd terminal and the 4th terminal at least; Second group of terminal can with first group of corresponding electric connection of terminal, said automatic walking arrangement also comprises: energy storage units, give automatic walking arrangement power supply; First control module is controlled the duty of automatic walking arrangement; Said first control module comprises: signal transmitting module, and send preset detection signal and electrically connect with the first terminal; Signal receiving module electrically connects with second terminal; When said signal receiving module received with the corresponding preset feedback signal of preset detection signal, first control module confirmed that automatic walking arrangement docks successfully with charging station.

Preferably, preset detection signal and preset feedback signal are the signal that rule changes.Preferably, preset feedback signal is and preset identical signal of detection signal cycle.Preferably, preset feedback signal is and preset identical square-wave signal of detection signal cycle.

Preferably; Automatically walking arrangement also comprises first signal conversion unit that is arranged between signal transmitting module and the first terminal at least or is arranged in the secondary signal converting unit between second terminal and the signal receiving module, and first signal conversion unit and secondary signal converting unit change the electric parameter of the signal of flowing through.

Preferably, first signal conversion unit and secondary signal converting unit zoom in or out to the signal of flowing through.Preferably, said automatic walking arrangement comprises first signal conversion unit and secondary signal converting unit, and first signal conversion unit amplifies the signal of flowing through, and the secondary signal converting unit is dwindled the signal of flowing through.Preferably, the secondary signal converting unit is isolated the signal that transmits between second terminal and the signal receiving module.

Preferably, after first control module confirms that automatic walking arrangement docks successfully with charging station, control automatic walking arrangement and stop walking.

Preferably; Automatically after walking arrangement stops walking; Signal transmitting module is sent preset detection signal once more, and when signal receiving module received with the corresponding preset feedback signal of preset detection signal, first control module was controlled automatic walking arrangement and kept the state that stops to walk; When signal receiving module did not receive with the corresponding preset feedback signal of preset detection signal, first control module was controlled automatic walking arrangement and is started walking.

Preferably; Automatically walking arrangement also comprises the stored energy detecting unit; Be used for the current energy state of detected energy memory cell; And detection signal passed to first control module, when the energy of energy storage units was lower than preset value, first control module was controlled automatic walking arrangement and is returned charging station.

Preferably, walking arrangement also comprises the forced charge device automatically, is used for selectively sending charging instruction to first control module, and when the forced charge device sent charging instruction, first control module was controlled automatic walking arrangement and returned charging station.

Preferably, automatically walking arrangement also comprises the checkout gear of drenching with rain, and the said checkout gear of drenching with rain passes to first control module with detection signal, and when detecting when drenching with rain, first control module is controlled automatic walking arrangement and returned charging station.

Preferably, walking arrangement is a mower automatically, comprises the cutting mechanism of cutting lawns.

Another kind of technical scheme provided by the invention is: a kind of automatic walking arrangement; Selectively dock with charging station, and obtain energy from charging station, said automatic walking arrangement comprises first group of terminal; First group of terminal comprises the first terminal and second terminal at least; Said charging station comprises second group of terminal, and second group of terminal comprises the 3rd terminal and the 4th terminal at least, second group of terminal can with first group of corresponding electric connection of terminal; Said automatic walking arrangement also comprises: energy storage units, give automatic walking arrangement power supply; First control module is controlled the duty of automatic walking arrangement; Said automatic walking arrangement also comprises: signal transmitting module, and send preset detection signal and outwards transmit through the first terminal; Signal receiving module receives the signal that second terminal inwardly transmits; When said signal receiving module receives with the corresponding preset feedback signal of preset detection signal, confirm that first group of terminal of automatic walking arrangement docks successfully with second group of terminal of charging station.

Another kind of technical scheme provided by the invention is: a kind of automatic walking arrangement; Selectively dock with charging station, and obtain energy from charging station, said automatic walking arrangement comprises first group of terminal; First group of terminal comprises the first terminal and second terminal at least; Said charging station comprises second group of terminal, and second group of terminal comprises the 3rd terminal and the 4th terminal at least, second group of terminal can with first group of corresponding electric connection of terminal; Said automatic walking arrangement sends preset detection signal and outwards transmits through the first terminal, and receives the signal that second terminal inwardly transmits; When automatically walking arrangement receives with the corresponding preset feedback signal of preset detection signal, confirm that first group of terminal of automatic walking arrangement docks successfully with second group of terminal of charging station.

Beneficial effect of the present invention is: automatic walking arrangement need not human intervention and can reliably dock with charging station, brings very big facility for production and life.

Description of drawings

Technical problem, technical scheme and the beneficial effect that above-described the present invention solves can combine accompanying drawing to describe and clearly acquisition through the following detailed description that can realize specific embodiment of the present invention simultaneously.

Identical label in accompanying drawing and the specification is used to represent element identical or that be equal to symbol.

Fig. 1 is the sketch map of automatic walking arrangement of the present invention's one preferred embodiment and charging station;

Fig. 2 is an automatic walking arrangement shown in Figure 1 and the sketch map that docks of charging station;

Fig. 3 is the circuit module figure of automatic walking arrangement shown in Figure 1 and charging station;

Fig. 4 is the circuit block diagram of automatic walking arrangement shown in Figure 1 and charging station;

Fig. 5 is the detection signal of automatic walking arrangement generation shown in Figure 1 and the feedback signal shape of reception;

Fig. 6 is the workflow diagram that automatic walking arrangement docks with charging station.

10 charging stations, 60 the first terminals

12 power lines, 62 second terminals

14 second printed substrates, 70 first signal conversion units

16 the 3rd terminals, 72 secondary signal converting units

18 the 4th terminals, 74 first energy detection unit

20 energy provide the unit 76 first control modules

24 the 3rd signal conversion units, 78 bridge circuits

26 second energy detection unit, 80 rechargeable energy detecting units

28 second control modules, 82 stored energy detecting units

30 second energy control modules, 88 first energy control modules

50 automatic walking arrangement 92 signal transmitting module

52 motors, 94 signal receiving modules

54 wheels, 100 boundary lines

56 energy storage units, 102 working regions

58 first printed substrates

Embodiment

About detailed description of the present invention and technology contents, conjunction with figs. explains that as follows appended accompanying drawing only provides reference and explanation, is not to be used for the present invention is limited.

Be illustrated in figure 1 as the system that charging station 10 and automatic walking arrangement 50 are formed; This system also comprises boundary line 100; Boundary line 100 is used to form working region 102; Charging station 10 is positioned on the boundary line 100, and walking arrangement 50 walking automatically in the working region 102 that boundary line 100 forms is automatically carried out work in working region 102 according to the artificial requirement that is provided with in advance.When automatic walking arrangement 50 need charging, or work is accomplished or the working time to, or detect when situation such as drenching with rain, walking arrangement 50 100 returns charging station 10 along the boundary line automatically, trial is docked with charging station 10.Automatically first group of terminal of walking arrangement 50 and charging station 10 automatic walking arrangements 50 is with after second group of terminal of charging station 10 docks successfully, and automatic walking arrangement 50 stops to walk, and charging station 10 startups are to the charging of automatic walking arrangement 50.Charging station 10 also can not comprise boundary line 100 with the system that automatic walking arrangement 50 is formed, and at this moment, walking arrangement 50 returns charging station 10 through other wireless signals guiding automatically.

Charging station 10 as shown in Figure 2 comprises power line 12, second printed substrate 14 that electrically connects with power line 12, the second group of terminal that is connected with the output of second printed substrate 14, and second group of terminal comprises the 3rd terminal 16 and the 4th terminal 18 (owing to the 3rd terminal 16 in the angle cause chart and 18 coincidences of the 4th terminal) at least.Automatically walking arrangement 50 comprise selectively first printed substrate 58 that electrically connects with first group of terminal of second group of corresponding electric connection of terminal, with first group of terminal, the running gear that receives 58 controls of first printed substrate, for automatic walking arrangement 50 provides the energy storage units 56 of energy, wherein first group of terminal comprises the first terminal 60 and second terminal 62 (owing to the first terminal 60 in the angle cause chart and 62 coincidences of second terminal) at least.The wheel 54 that running gear further comprises motor 52, driven by motor 52.When automatic walking arrangement 50 needed charging, running gear drove automatic walking arrangement 50 and returns charging station 10, attempts docking with charging station 10.

As shown in Figure 3, second printed substrate 14 comprises that further energy provides unit 20, the 3rd signal conversion unit 24, second energy detection unit 26, the second energy control module 30 and second control module 28.Energy provides unit 20 to be used for external ac power source or dc source converted into and is suitably for the power supply that energy storage units 56 provides rechargeable energy, and can select to be applied to the 3rd terminal 16, the 4th terminal 18; The 3rd signal conversion unit 24 and the 3rd terminal 16 electrically connect; Be used to detect the signal that transmits between the 3rd terminal 16, the 4th terminal 18, and the signal that detects is passed to the electric parameter that second control module, 28, the three signal conversion units 24 can change the signal of flowing through; As can amplify, dwindle signal amplitude; Change signal frequency, change signal type, as the sine wave signal that receives is changed into square-wave signal etc.; Second energy detection unit 26 is used for the rechargeable energy that detected energy provides unit 20 to be applied to the 3rd terminal 16 and the 4th terminal 18, and detection signal is passed to second control module 28; The second energy control module 30 is used to control energy provides unit 20 to the 3rd terminals 16 and the 18 energy transmission of the 4th terminal; When the second energy control module 30 is in the state that allows energy that unit 20 to the 3rd terminals 16 and the transmission of the 4th terminal 18 energy are provided; The 3rd terminal 16 and the 4th terminal 18 output rechargeable energies; When the second energy control module 30 is in when forbidding that energy provides the state that unit 20 to the 3rd terminals 16 and the 4th terminal 18 energy transmit; The 3rd terminal 16 and the 4th terminal 18 no-outputs, promptly the 3rd terminal 16 and the 4th terminal 18 are output as zero; Second control module 28 is controlled the second energy control module, 30 duties according to the detection signal of the 3rd signal conversion unit 24 and second energy detection unit 26.Second printed substrate 14 also comprises the bridge circuit 78 that is arranged between the 3rd terminal 16 and the 4th terminal 18, and bridge circuit 78 is used to be communicated with the 3rd terminal 16 and the 4th terminal 18, between the 3rd terminal 16 and the 4th terminal 18, transmits signal and/or energy.

First printed substrate 58 further comprises first signal conversion unit 70, secondary signal converting unit 72, first energy detection unit 74, the first energy control module 88 and first control module 76; Wherein, First control module 76 further comprises signal transmitting module 92, signal receiving module 94; First signal conversion unit 70 is arranged between the first terminal 60 and the signal transmitting module 92, and secondary signal converting unit 72 is arranged between the signal receiving module 94 and second terminal 62.Signal transmitting module 92 is used to produce concurrent feed signals, first signal conversion unit 70 of flowing through after signal sends; First signal conversion unit 70 is used to change the electric parameter of the signal of flowing through, and as amplifying, dwindle signal amplitude, changes signal frequency, change signal type etc., and the signal after will changing passes to the first terminal 60; Pass to signal receiving module 94 after the signal conversion that secondary signal converting unit 72 is used for the external world that second terminal 62 receives is transmitted, secondary signal converting unit 72 can change the electric parameter of the signal of flowing through; First energy detection unit 74 is used to detect the rechargeable energy of the first terminal 60 and second terminal 62 to the energy storage units 56, and the signal that detects is passed to first control module 76; The energy transmission of the first energy control module, the 88 control the first terminals 60 and second terminal 62 to the energy storage units 56; First control module 76 sends the duty that control signal corresponding is controlled first energy detection unit 74 according to the detection signal that secondary signal converting unit 72 and first energy detection unit 74 provide.Wherein, First energy detection unit 74 further comprises rechargeable energy detecting unit 80 and stored energy detecting unit 82; Rechargeable energy detecting unit 80 is used to detect the first terminal 60 and second terminal 62 is applied to the energy on the energy storage units 56, and stored energy detecting unit 82 is used for the energy of detected energy memory cell 56 current states.

Automatically in walking arrangement 50 return courses; Signal transmitting module 92 is sent preset detection signal; And pass to the first terminal 60 through first signal conversion unit 70; Meanwhile signal receiving module 94 detects second terminal 62 through the signal of secondary signal converting unit 72 to its transmission, and judges that whether the signal that receives is and the preset corresponding preset feedback signal of detection signal.When second group of terminal during with first group of corresponding electric connection of terminal; The preset detection signal that signal transmitting module 92 is sent passes to the first terminal 60 through first signal conversion unit 70; The first terminal 60 passes to the 3rd terminal 16 with the signal of its reception; The 3rd terminal 16 passes to the 4th terminal 18 with the signal of its reception through bridge circuit 78; The 4th terminal 18 passes to second terminal 62 with the signal of its reception; Second terminal 62 passes to signal receiving module 94 with the signal of its reception through secondary signal converting unit 72; Through the above-mentioned transmission that comprises the connected loop that first signal conversion unit 70, the first terminal 60, the 3rd terminal 16, bridge circuit 78, the 4th terminal 18, second terminal 62, secondary signal converting unit 72 constitute, the feedback signal that the preset detection signal that signal transmitting module 92 is sent converts into its corresponding preset is passed to signal receiving module 94.Therefore, if when signal receiving module 94 receives with the corresponding preset feedback signal of preset detection signal, first control module 76 confirms that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10.First group of terminal that first control module 76 is confirmed automatic walking arrangement 50 controlled automatic walking arrangement 50 and stopped to walk with after second group of terminal of charging station 10 docks successfully; Otherwise; When second group of terminal do not have corresponding electric connection with first group of terminal; Do not constitute above-mentioned connected loop between signal transmitting module 92 and the signal receiving module 94; The preset detection signal that causes signal transmitting module 92 to be sent can't be through above-mentioned connected loop inverse signal receiver module 94; Therefore signal receiving module 94 does not receive and the preset corresponding preset feedback signal of detection signal; When signal receiving module 94 did not receive with the corresponding preset feedback signal of preset detection signal, first control module 76 did not confirm that first group of terminal of automatic walking arrangement 50 dock successfully with second group of terminal of charging station 10, the detection signal that signal transmitting module 92 continuation transmissions are preset.

As previously mentioned, second group of terminal be during with first group of corresponding electric connection of terminal, the signal that the first terminal 60 transmits flow through the 3rd terminal 16, bridge circuit 78, the 4th terminal 18.When signal is flowed through bridge circuit 78; The 3rd signal conversion unit 24 detects this signal; And the corresponding preset enabling signal of detection signal that this signal is converted into and presets feeds back to second control module 28; After second control module 28 detects preset enabling signal, confirm that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10.

First group of terminal that second control module 28 is confirmed automatic walking arrangement 50 is with after second group of terminal of charging station 10 docks successfully; Start charging; Send control signal and control the second energy control module 30 and be in the state that allows energy to provide the energy between unit 20 to the 3rd terminals 16 and the 4th terminal 18 to transmit, the charging process of 10 pairs of automatic walking arrangements 50 of charging station begins.After the charging beginning; Second energy detection unit, 26 moment detected energy provides the rechargeable energy of unit 20 to the 3rd terminals 16 and the 4th terminal 18; And detection signal passed to second control module 28; Exceed a certain preset range in case second control module 28 detects rechargeable energy, control the second energy control module 30 and be in the state of forbidding that energy provides the energy of unit 20 to the 3rd terminals 16 and the 4th terminal 18 to transmit, thereby stop charging process.When 26 pairs of energy of second energy detection unit provide the energy of unit 20 to the 3rd terminals 16 and the 4th terminal 18 to detect; Automatically 74 pairs of the first terminals 60 of first energy detection unit of walking arrangement 50 and the energy that second terminal 62 is applied on the energy storage units 56 detect, and detection signal is passed to first control module 76.In a single day first control module 76 detects rechargeable energy and exceeds a certain preset range; Promptly control the state that the first energy control module 88 is in the energy transmission of forbidding the first terminal 60 and second terminal 62 to the energy storage units 56, thereby stop the energy transmission of the first terminal 60 and second terminal 62 to the energy storage units 56.Remove and energy is detected through energy detection unit; Judge whether to stop outside the mode of energy transmission; All can whether judge the charging interval above preset value in second control module 28 and first control module 76, thereby whether control stops the energy transmission through the mode that timer is set.The internal information that first control module 76 also can be through detected energy memory cell 56 in addition judge whether to stop the energy transmission, like the internal temperature of detected energy memory cell 56 etc.As, when the internal temperature of energy storage units 56 surpassed preset temperature range, first control module 76 stopped the energy transmission of the first terminal 60 and second terminal 62 to the energy storage units 56, thereby stops the charging to energy storage units 56.Automatically after walking arrangement 50 is accomplished charging process, can return working region 102 once more, work on.

In first group of terminal of the automatic walking arrangement 50 of above-mentioned affirmation and process that second group of terminal of charging station 10 docks; Automatically walking arrangement 50 all docks with second group of terminal of charging station 10 through first group of terminal once confirming automatic walking arrangement 50 with charging station 10 and thinks that promptly first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10, and starts charging.In the actual conditions; Since detect feedback signal stop to walk with the automatic walking arrangement 50 of control between life period poor; Therefore after walking arrangement 50 stops walking automatically; Second group of terminal and first group of terminal possibly be separated from each other again; For avoiding the appearance of above-mentioned situation; First control module 76 first group of terminal confirming for the first time automatic walking arrangement 50 dock success with second group of terminal of charging station 10 and controls automatic walking arrangement 50 stop walking after, signal transmitting module 92 is sent preset detection signal once more, the corresponding preset feedback signal of detection signal that receives once more and preset as if signal receiving module 94; First control module 76 confirms that automatic walking arrangement 50 docks success with first group of terminal of charging station 10 automatic walking arrangements 50 with second group of terminal of charging station 10 once more; The state that the 76 control running gears maintenances of first control module stop to walk, on the contrary signal receiving module 94 does not receive and the preset corresponding preset feedback signal of detection signal; First control module 76 does not confirm that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10, and the automatic walking arrangement 50 of first control module, 76 controls starts walking.Automatically the preset detection signal that sends once more after walking arrangement 50 stops to walk with stop to walk before the detection signal of presetting that sends can be identical, also can be inequality.Dock with second group of terminal of charging station 10 with first group of terminal of the automatic walking arrangement 50 of automatic walking arrangement 50 twice affirmation and successfully correspondingly to be; Charging station 10 also through first group of terminal of the automatic walking arrangement 50 of twice affirmation with just start charging after second group of terminal of charging station 10 docks successfully; First group of terminal that first group of terminal confirming for the first time automatic walking arrangement 50 dock with second group of terminal of charging station 10 successfully to the affirmation automatic walking arrangement 50 of foregoing automatic walking arrangement 50 before stopping to walk dock successfully with second group of terminal of charging station 10, confirms that it successfully is that first group of terminal with first group of terminal of the automatic walking arrangement 50 of affirmation after automatic walking arrangement 50 stops to walk docks the automatic walking arrangement 50 of successfully corresponding affirmation with second group of terminal of charging station 10 docks successfully with second group of terminal of charging station 10 that first group of terminal of automatic walking arrangement 50 docks with second group of terminal of charging station 10 second time.Dock successfully with second group of terminal of charging station 10 to first group of terminal of automatic walking arrangement 50 through the automatic walking arrangement 50 of twice affirmation; Think that just first group of terminal of automatic walking arrangement 50 docks successful setting with second group of terminal of charging station 10; Charging station 10 also can be set to dock successfully i.e. startup charging with second group of terminal of charging station 10 through first group of terminal once confirming automatic walking arrangement 50, confirms that first group of terminal of automatic walking arrangement 50 docks conditions for successful with second group of terminal of charging station 10 be that second control module 28 receives the corresponding preset enabling signal of presetting of detection signal of sending for the second time with signal transmitting module 92 this moment.Dock successfully the mode that promptly starts charging dock the mode that successfully just starts charging with second group of terminal of charging station 10 compared to first group of terminal through the automatic walking arrangement 50 of twice affirmation simpler through first group of terminal once confirming automatic walking arrangement 50 with second group of terminal of charging station 10, but the first group of terminal that passes through the automatic walking arrangement 50 of twice affirmation docks successfully the anti-interference of the mode that just startup charges with second group of terminal of charging station 10 stronger.

The automatic walking arrangement 50 of the affirmation of above-mentioned announcement docks successful step with first group of terminal that charging station 10 docking operations comprise the automatic walking arrangement 50 of twice affirmation with second group of terminal of charging station 10; First group of terminal wherein confirming automatic walking arrangement 50 each time docks successful step and all can comprise first group of terminal repeatedly confirming automatic walking arrangement 50 and dock successful substep with second group of terminal of charging station 10 with second group of terminal of charging station 10; First group of terminal confirming automatic walking arrangement 50 each time docks in the successful substep with second group of terminal of charging station 10; Signal transmitting module 92 all can be sent the detection signal of different preset; Correspondingly; Signal receiving module 94 receives with the corresponding preset feedback signal of the detection signal of different preset confirms that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10, and second control module 28 receives with the corresponding preset enabling signal of the detection signal of different preset confirms that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10.Considering simplifies procedures takes into account higher reliability simultaneously; Preferred embodiment only comprise first group of terminal once confirming automatic walking arrangement 50 and dock successful substep with second group of terminal of charging station 10 for first group of terminal taking to confirm each time automatic walking arrangement 50 docks successful step with second group of terminal of charging station 10; First group of terminal of the automatic walking arrangement 50 of twice affirmation docks in the successful step with second group of terminal of charging station 10; Signal transmitting module 92 is sent the detection signal of different preset; Correspondingly; Signal receiving module 94 receives with the corresponding preset feedback signal of the detection signal of different preset confirms that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10, and second control module 28 receives with the corresponding preset enabling signal of the detection signal of different preset confirms that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10.

In above-mentioned butt joint and the charging process, the 3rd terminal 16, the 4th terminal 18, the first terminal 60, second terminal 62 both be used for the signal transmission of docking operation, were used for the rechargeable energy transmission of charging process again.The a kind of of this programme is deformed into, and the 3rd terminal 16, the 4th terminal 18, the first terminal 60, second terminal 62 all only are used for the signal transmission, are used for the transmission of rechargeable energy through the terminal that other is set in addition.Above-mentioned preset detection signal is after signal transmitting module 92 sends; Pass to the first terminal 60 through first signal conversion unit 70; The signal that second terminal 62 receives passes to signal receiving module 94 after secondary signal converting unit 72; No matter be the signal that signal transmitting module 92 is sent; Still the signal that receives of signal receiving module 94 all passes through the conversion of signal conversion unit, is to be convenient to transmission, reception, the identification of subsequent conditioning circuit to signal through the purpose of conversion, is therefore satisfying under the primary condition that subsequent conditioning circuit can transmit, receive, discern signal; The signal that signal transmitting module 92 is sent can be through transmitting behind first signal conversion unit 70 more backward; Also can directly transmit backward without first signal conversion unit 70, second terminal 62 transmits after the signal that signal receiving module 94 transmits can pass through secondary signal converting unit 72 more backward, also can directly transmit backward without secondary signal converting unit 72.

For overcoming the deficiency that needs human intervention; Automatically walking arrangement 50 is provided with the mode that multiple startup is returned; As the working time to, work accomplish, electric weight is not enough, drench with rain, user's forced charge etc. all can be used as the condition that automatic walking arrangement 50 returns charging station 10; First control module 76 is controlled automatic walking arrangement 50 and is returned charging station 10 when detecting any above-mentioned condition.The detection that working time accomplishes to the work of reaching realizes through the working time timer is set in first control module 76.Preset Time arrives, and then controls automatic walking arrangement 50 and returns charging station 10, and concrete implementation is known for those skilled in the art, repeats no more at this.The detection that electric weight is not enough detects the dump energy situation of current energy storage units 56 constantly through stored energy detecting unit 82, and detected energy residue situation is fed back to first control module 76 realizes.When the energy of energy storage units 56 is reduced to predetermined threshold value; The automatic walking arrangement 50 of first control module, 76 controls returns charging station 10; Be energy storage units 56 chargings; Predetermined threshold value is according to the chemical property of energy storage units 56, information summaries such as the working condition consideration setting of walking arrangement 50 automatically; To guarantee that energy storage units 56 chargings once can make full use of, and can avoid in returning the way, energy storage units 56 energy drains occurring simultaneously again and cause automatic walking arrangement 50 can't return charging station 10; Drench with rain and realize through the checkout gear of drenching with rain in the surface of shell setting of automatic walking arrangement 50; The drench with rain checkout gear and first control module 76 electrically connects; When drenching with rain; The checkout gear of drenching with rain produces corresponding signal and passes to the automatic walking arrangement 50 of first control module, 76, the first control modules 76 control and return charging, and this mode can effectively avoid because the damage of drenching with rain automatic walking arrangement 50 being caused; User's forced charge is provided with the forced charge device through the surface of shell at automatic walking arrangement 50 and realizes; This forced charge device and first control module 76 electrically connect; When the forced charge device detects user's forced charge demand, can the form that user's request is converted into the signal of telecommunication be passed to the automatic walking arrangement 50 of first control module 76, the first control modules, 76 controls and return charging station 10; This mode is mainly used in the quick response user demand of charging; Even the energy of energy storage units 56 is higher, but the user can send charging instruction to first control module 76 through the forced charge device, after first control module 76 receives this charging instruction; Control automatic walking arrangement 50 and return charging station 10, be energy storage units 56 chargings.

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

First control module 76 comprises signal transmitting module 92 and signal receiving module 94, and therefore first control module 76 should have generation, the transmission of signal, the function of reception; First control module 76 carries out correlated judgment according to the signal that receives, and sends control signal corresponding, so the result that first control module 76 should have identification, judges and judge according to signal produces functions such as control signal.Based on the above-mentioned functions demand; First control module 76 can be set to the various ways that analog circuit, digital circuit, analog circuit mix with digital circuit; In the present embodiment; First control module 76 has adopted the form of digital circuit to realize above-mentioned functions, is specially the form of micro controller, promptly well known to those skilled in the artly can carry out the integrated circuit unit that relevant action is realized corresponding function through writing preset program.Adopt the advantage of micro controller to be that micro controller can be with detection, identification, the judgement of signal, the generation of signal, transmission, and functions such as timing, calculating roll into one, element is simplified.The model of micro controller has multiple, can select arbitrarily according to functional requirement, and the micro controller of selecting in the present embodiment has detection, identification, the judgement of signal, the generation of signal, transmission, and function such as timing, calculating.Select for use micro controller to realize that the function of signal transmitting module 92 and signal receiving module 94 is built in the micro controller under the situation of its all functions at first control module 76.Express clearly for making, the micro controller that first control module 76 comprises is micro controller MCU1.Micro controller MCU1 further comprises the first receiver port RX1, RX2, RX3, RX4, RX5 and the first signal sending end mouth TX1, TX2; Wherein, The first receiver port RX1 and secondary signal converting unit 72 electrically connect, and are used to receive the signal that secondary signal converting unit 72 is transmitted; The first receiver port RX2 and rechargeable energy detecting unit 80 electrically connects, and is used to receive the signal of the rechargeable energy of the first terminal 60 that rechargeable energy detecting unit 80 transmits and second terminal 62 to the energy storage units 56; The first receiver port RX3 and stored energy detecting unit 82 electrically connect, and are used to receive the energy of the current energy storage units 56 that transmits from stored energy detecting unit 82; The first receiver port RX4 and forced charge device electrically connect, and are used to receive the signal that transmits from the forced charge device; The first receiver port RX5 electrically connects with the checkout gear of drenching with rain, and is used to receive the signal that transmits from the checkout gear of drenching with rain; The first signal sending end mouth TX1 and first signal conversion unit 70 electrically connect, and are used to send the preset detection signal that micro controller MCU1 produces; The first signal sending end mouth TX2 and the first energy control module 88 electrically connect, and are used to transmit control signal to the energy transmission of the first energy control module 88 with the control the first terminal 60 and second terminal 62 to the energy storage units 56.The signal controlling first signal sending end mouth TX1 that first control module 76 receives according to the first receiver port RX1, RX2, RX3, RX4, RX5, the output of the signal of TX2.

Automatically walking arrangement 50 is in the process of returning, and micro controller MCU1 ceaselessly sends preset detection signal, and preset detection signal can be various ways, like sine wave, square wave, pulse signal etc.Compared to pulse signal, the square-wave signal interference free performance is more excellent, compared to sine wave signal; Square-wave signal is generated and identification by micro controller more easily, and based on above-mentioned advantage, present embodiment adopts square-wave signal; Square-wave signal can be pulse width and changeless square-wave signal of cycle; Also can be that the cycle immobilizes but square-wave signal that pulse width increases gradually, perhaps immobilize but the square-wave signal that increases gradually of cycle the square-wave signal that pulse width and cycle all increase gradually for pulse width; And one of pulse width and cycle increase the various ways such as square-wave signal that another reduces gradually gradually, do not enumerate one by one at this.In the present embodiment; Adopted all changeless square-wave signal of amplitude as shown in Figure 5, pulse width and cycle as preset detection signal; The amplitude of detection signal that should be preset is identical with the operating voltage amplitude Vcc of micro controller MCU1; The operating voltage of general micro controller MCU1 can be 3V-5V, adopts 5V in the present embodiment, and the amplitude of detection signal that therefore should be preset is 5V.After the detection signal that should preset is changed through first signal conversion unit 70 accordingly, pass to the first terminal 60, also can be directly passed to the first terminal 60 without first signal conversion unit 70.

70 pairs of signals of flowing through of first signal conversion unit carry out necessary conversion; This conversion comprises amplification, dwindles, changes signal period, signal type etc., the amplification of signal or to dwindle realization easier, and the cycle or the type that change signal then need special chip to realize; Comparatively complicated; The purpose that 70 pairs of signals of first signal conversion unit are changed is to be convenient to transmission and the identification of signal in follow-up loop, and based on above-mentioned purpose, first signal conversion unit 70 only amplifies the signal of flowing through.The mode that signal is amplified has multiple; First signal conversion unit 70 can be set to the combination of resistance and switching transistor or the combination of resistance and operational amplifier; First signal conversion unit 70 is set to the combining form of resistance and switching transistor in the present embodiment; Comprise resistance R 8, R9 and switching transistor Q1, Q3, wherein the positive pole of the colelctor electrode of switching transistor Q1 and energy storage units 56 electrically connects, and the negative pole of switching transistor Q3 and energy storage units 56 electrically connects; Resistance R 9 one ends and the first signal sending end mouth electrically connect, and the base stage of the other end and switching transistor Q3 electrically connects.When preset detection signal is in high level state; Preset detection signal is through resistance R 9 gauge tap transistor Q3 conductings; Make the base stage of switching transistor Q1 be in low level through resistance R 8; Thereby switching transistor Q1 is in conducting state, and then the positive pole of energy storage units 56 and the first terminal 60 are electrically connected, and the signal that promptly is applied on the first terminal 60 this moment is a high level.Otherwise; When preset detection signal is in low level state; Preset detection signal breaks off through resistance R 9 gauge tap transistor Q3, makes the base stage of switching transistor Q1 be in high level through resistance R 8, and switching transistor Q1 is in off-state; Not having energy to be applied on the first terminal 60, is low level thereby make the signal that is applied on the first terminal 60.After the conversion through first signal conversion unit 70, be applied to signal on the first terminal 60 for preset detection signal cycle and pulse width is identical but square-wave signal that amplitude is different, its amplitude equals the voltage of energy storage units 56.Because the voltage of energy storage units 56 is higher than the operating voltage Vcc of micro controller MCU1; Therefore the amplitude of 70 pairs of preset detection signals of first signal conversion unit is amplified; Beneficial effect is to strengthen preset detection signal; Avoid this signal through subsequent conditioning circuit the time, further to be weakened, and cause and to detect unit to be detected.The colelctor electrode of switching transistor Q1 also can be set to and supply micro controller MCU1 working power Vcc to electrically connect, and under this state, first signal conversion unit 70 can not carry out any change to preset detection signal.The colelctor electrode of switching transistor Q1 also can be set to and be lower than the power Vcc electric connection that supplies micro controller MCU1 work, and under this state, 70 pairs of preset detection signals of first signal conversion unit dwindle.Preset detection signal is not amplified at first signal conversion unit 70; Or even under the state that dwindles; Also can make subsequent conditioning circuit detect this preset detection signal, it should be noted that the impedance of subsequent delivery and detecting unit need be provided with lessly; Avoiding too much consumption, and too much weaken signal to preset detection signal.

Identical with first signal conversion unit 70,72 pairs of signals of flowing through of secondary signal converting unit carry out necessary conversion, are convenient to transmission and the identification of follow-up loop to signal.Because secondary signal converting unit 72 is arranged between the receiver port of second terminal 62 and micro controller MCU1; The conversion of 72 pairs of signals of secondary signal converting unit is for the ease of the identification of micro controller MCU1 to signal; And 70 pairs of signals of first signal conversion unit amplify, so secondary signal converting unit 72 is set to the signal of flowing through is dwindled.Based on the above-mentioned functions requirement, secondary signal converting unit 72 can be set to the circuit that various ways such as resistance and operational amplifier, resistance and switching transistor or resistance and optocoupler constitute.In addition; Consider that second terminal 62 is exposed to the housing outer surface of automatic walking arrangement 50, the as easy as rolling off a log static that touches is for avoiding being applied to static on second terminal 62 to the damage of inner components and parts; Secondary signal converting unit 72 has adopted the circuit form of resistance and optocoupler; Thereby form the two parts of isolating each other, the part of first for being connected with second terminal 62, second portion is the part that is communicated with the first receiver port RX1; Realize that external circuit and internal circuit isolate each other, avoid the damage of static that second terminal 62 possibly touch internal circuit.Based on above-mentioned consideration; The concrete structure of secondary signal converting unit 72 is provided with as shown in Figure 4; Comprise the resistance R 6 that electrically connects with second terminal 62; The resistance R 5 that the working power Vcc of one end and the first receiver port RX1 electric connection, the other end and micro controller MCU1 electrically connects, and the optocoupler U1 that R5 and R6 are isolated each other.The luminous component of optocoupler U1 is connected with resistance R 6, and the receiving unit of optocoupler U1 is connected with resistance R 5, when the signal of the resistance R 6 of flowing through is high level; The luminous component of optocoupler U1 is luminous; The receiving unit conducting of optocoupler U1, the signal that this moment, the first receiver port RX1 received is a low level, when the signal of the resistance R 6 of flowing through is low level; The luminous component of optocoupler U1 is not luminous; The receiving unit of optocoupler U1 breaks off, and the signal that this moment, the first receiver port RX1 received is a high level, and the amplitude of this high level signal is the operational voltage value Vcc of micro controller MCU1.72 pairs of signals of flowing through of secondary signal converting unit have carried out anti-phase; Simultaneously signal is converted into the signal that amplitude is Vcc; Be that 72 pairs of signals of flowing through of secondary signal converting unit carry out anti-phase, dwindle; Again owing to adopted optic coupling element that signal is isolated, so 72 pairs of signals of flowing through of secondary signal converting unit carry out anti-phase, dwindle, isolate.Except that above-mentioned form; Resistance R 5 can be not electrically connect with the working power Vcc of micro controller MCU1 yet; And be connected with other constant voltage sources; When electrically connecting like constant voltage sources such as other 3V, 4V, 6V, the amplitude of the signal that the first receiver port RX1 receives is the correspondent voltage value, repeats no more at this.

Rechargeable energy detecting unit 80 is used in the process that 10 pairs of automatic walking arrangements 50 of charging station charge rechargeable energy being detected; And testing result passed to first control module 76; Function to rechargeable energy detecting unit 80; Rechargeable energy detecting unit 80 can be set to detect the functional circuit that electric current, detection voltage and current/voltage detect simultaneously; When rechargeable energy detecting unit 80 detected energy values surpass a certain preset range; When being electric current less than certain preset value or voltage greater than a certain preset value, micro controller MCU1 can stop the energy transmission of the first terminals 60 and second terminal 62 to the energy storage units 56 according to the signal controlling first energy control module 88 that rechargeable energy detecting unit 80 detects, thus the charging process of 10 pairs of automatic walking arrangements 50 of termination charging station.Only be provided with current detecting in the present embodiment, promptly rechargeable energy detecting unit 80 detects the current signal of the first terminal 60 and second terminal 62 to the energy storage units 56.The form of current detecting has multiple, in the present embodiment, adopts the mode of little resistance well known to those skilled in the art and operational amplifier to realize.As shown in Figure 4; Rechargeable energy detecting unit 80 comprises the little resistance R 24 that is arranged between the first terminal 60 to energy storage units 56 positive poles, to being applied to that voltage on the resistance R 24 amplifies and amplifying signal being passed to the operational amplifier A 1 of the first receiver port RX2.Micro controller MCU1 carries out corresponding operation after detecting the voltage that is applied on the resistance R 24 through the first receiver port RX2, judges the electric current of the resistance R 24 of flowing through, and can obtain the current value of the first terminal 60 and second terminal 62 to the energy storage units 56.When the detected current value of micro controller MCU1 during less than a certain predetermined current value; Control the first energy control module 88 and stop the energy transmission that energy provides unit 20 to the first terminal 60 and second terminal 62, thereby stop the charging process of 10 pairs of automatic walking arrangements 50 of charging station.The predetermined current value is according to the characteristic setting of energy storage units 56, and in the present embodiment, because energy storage units 56 is a lead-acid battery, according to its characteristic, the predetermined current value is 200mA.

The first energy control module 88 is used for the process of charging at 10 pairs of automatic walking arrangements 50 of charging station, according to the control signal that micro controller MCU1 sends, the energy transmission of the control the first terminal 60 and second terminal 62 to the energy storage units 56.Function to the first energy control module 88; The first energy control module 88 can be set to drive circuit at least and add the mode of metal-oxide-semiconductor or the mode that drive circuit adds relay; As shown in Figure 4; Adopted drive circuit to add the metal-oxide-semiconductor mode in the present embodiment; Wherein metal-oxide-semiconductor Q5 is arranged between the positive pole of the first terminal 60 and energy storage units 56, and drive circuit is arranged between the first signal sending end mouth TX2 and the metal-oxide-semiconductor, and drive circuit further comprises the resistance R 10 that is used for the driven MOS pipe and resistance R 12 and the R13 of R11, switching transistor Q4 and driving switch transistor Q4.Generally, micro controller MCU1 sends low level signal through the first signal sending end mouth TX2, and gauge tap transistor Q4 breaks off, and then control metal-oxide-semiconductor Q5 disconnection, avoids the energy consumption of control circuit to energy storage units 56.When in case micro controller MCU1 receives feedback signal from the first receiver port RX1; Micro controller MCU1 sends high level signal through the first signal sending end mouth TX2; Gauge tap transistor Q4 conducting; And then control metal-oxide-semiconductor Q5 conducting, thereby the energy transmission of the permission the first terminal 60 and second terminal 62 to the energy storage units 56 promptly allows the charging of 10 pairs of automatic walking arrangements 50 of charging station.After the charging beginning; Rechargeable energy detecting unit 80 detects the current delivery of the first terminal 60 and second terminal 62 to the energy storage units 56 constantly; And detection signal passed to micro controller MCU1 through the first receiver port RX2, in case when micro controller MCU1 detects electric current less than 200mA, promptly send low level signal through the first signal sending end mouth TX2; Gauge tap transistor Q4 breaks off; And then control metal-oxide-semiconductor Q5 disconnection, thereby the energy transmission of the termination the first terminal 60 and second terminal 62 to the energy storage units 56 promptly stops the charging of 10 pairs of automatic walking arrangements 50 of charging station.

Stored energy detecting unit 82 is mainly used in the energy of moment detected energy memory cell 56 in automatic walking arrangement 50 work and charging process; And detection signal passed to the first receiver port RX3; Micro controller MCU1 judges according to its signal that receives whether the energy of energy storage units 56 exceeds a certain preset value; Send control signal corresponding according to judged result, control the duty of the first energy control module 88.In automatic walking arrangement 50 courses of work, when the energy that detects energy storage units 56 as micro controller MCU1 is lower than a certain preset value, controls automatic walking arrangement 50 and return charging station 10; In automatic walking arrangement 50 charging processes, when the energy that detects energy storage units 56 as micro controller MCU1 is higher than a certain preset value, sends to the first energy control module 88 and to stop charging instruction and control automatic walking arrangement 50 and stop charging.Be the current energy state of detected energy memory cell 56; Can pass through detected energy memory cell 56 voltage status, also can be through the discharge current of detected energy memory cell 56 or the multiple modes such as stored energy of charging current and discharge or charging interval calculating energy memory cell 56.In the present embodiment, adopted the mode of measured energy memory cell 56 voltage status, the advantage of this mode is to realize simple.As shown in Figure 4, stored energy detecting unit 82 comprises resistance R 15, R16, and resistance R 15, R16 are composed in series voltage divider the voltage of energy storage units 56 is detected.The voltage preset value of charging process and the voltage preset value of discharge process are correspondingly set according to the characteristic of energy storage units 56; Preferably; In automatic walking arrangement 50 courses of work, this predeterminated voltage value is generally and is higher than 90% of energy storage units 56 nominal voltages, and setting both can guarantee the abundant work of automatic walking arrangement 50 like this; Can guarantee that again automatic walking arrangement 50 returned charging station 10 before the energy drain of energy storage units 56, be energy storage units 56 makeup energy; In automatic walking arrangement 50 charging processes, this predeterminated voltage value is traditionally arranged to be and is higher than 10% of energy storage units 56 nominal voltages.In the present embodiment; Because energy storage units 56 adopts lead-acid battery; The nominal voltage of this battery is 24V, so the predeterminated voltage value in the course of work is set to 21.6V, but because whether lead-acid battery generally adopts the form decision of judging charging current to stop charging; Therefore the signal of the stored energy detecting unit 82 in the present embodiment and being not used in judges whether the condition that stops charging predeterminated voltage in charging process not to be limited at this.

The forced charge device is used for responding fast user's charging demand, and its major function is response user's charging demand, and this demand is fed back to micro controller MCU1 with the form of the signal of telecommunication; This function of implemented in many forms can be arranged; As respond to user voice, sensing user touch etc., compared to the form of induction user voice, the mode of sensing user touch is more easy; Therefore adopt the mode of sensing user touch in the present embodiment; Based on this mode, the forced charge device can be set to normal open switch or trigger switch form, is specially the trigger switch form.As shown in Figure 4; Switch SW 1 one ends and energy storage units 56 negative poles electrically connect; The first receiver port RX4 of one end and first control module 76 electrically connects, and under normal conditions, the first receiver port RX4 is in high-impedance state; In case user's push switch SW1 is closed; The first receiver port RX4 can receive low level, and the low level that first control module, 76 responses, the first receiver port RX4 receives is promptly controlled automatic walking arrangement 50 and returned charging station 10, is energy storage units 56 chargings.

Whether the checkout gear of drenching with rain is used for detecting has the rainwater pouring to drop down onto automatic walking arrangement 50; Drench with rain if detect; Then detected signal is passed to first control module 76; The automatic walking arrangement 50 of first control module, 76 controls returns charging station 10 and takes shelter from rain, thereby avoids the erosion of rainwater to automatic walking arrangement 50.The checkout gear of drenching with rain can be realized through two sheet metals of isolating each other; The first receiver port RX5 of sheet metal and micro controller MCU1 electrically connects, and another sheet metal and 62 electric connections of second terminal be not when having rainwater; Two sheet metals keep separate state; The first receiver port RX5 is in vacant state, and when rainwater, two sheet metals interconnect through rainwater; The first receiver port RX5 receives low level signal, and micro controller MCU1 controls automatic walking arrangement 50 and returns charging station 10 and take shelter from rain.The function of two sheet metals is equivalent to the effect of switch, and therefore in Fig. 4, the checkout gear of drenching with rain is through switch SW 2 signals.

Detailed elaboration has been done in the concrete structure of each functional unit that foregoing is comprised first printed substrate 58, working method and influence each other, and concrete structure, working method and the influence each other of each functional unit that below will be comprised second printed substrate 14 are set forth in detail.

The major function of second control module 28 is for the signal that receives the 3rd signal conversion unit 24 and second energy detection unit 26 and transmit and according to the working condition of this signal controlling second energy control module 30.Based on above-mentioned functions; Second control module 28 can be set to the various ways that analog circuit, digital circuit, analog circuit mix with digital circuit; In the present embodiment, second control module 28 has adopted the form of micro controller, promptly well known to those skilled in the artly can carry out the integrated circuit unit that relevant action is realized corresponding function through writing preset program; The model of micro controller has multiple; Can select arbitrarily according to functional requirement, the micro controller of selecting in the present embodiment has detection, identification, judgement, the transmission of signal, and function such as timing, calculating.Express clearly for making, the micro controller that second control module 28 comprises is micro controller MCU2.Micro controller MCU2 further comprises secondary signal receiving port RX1, RX2 and secondary signal transmit port TX1, and wherein, secondary signal receiving port RX1 and the 3rd signal conversion unit 24 electrically connect, and are used to receive the signal that first converting unit is transmitted; The secondary signal receiving port RX2 and second energy detection unit 26 electrically connect, and being used to receive the energy that second energy detection unit 26 transmits provides unit 20 to be applied to the energy signal of the 3rd terminal 16 and the 4th terminal 18; The secondary signal transmit port TX1 and the second energy control module 30 electrically connect, and being used to transmit control signal provides the energy transmission of unit 20 to the 3rd terminals 16 and the 4th terminal 18 with the control energy to the second energy control module 30.Micro controller MCU2 exports according to the signal of the signal controlling secondary signal transmit port TX1 that secondary signal receiving port RX1, RX2 receive.

The 3rd signal conversion unit 24 major functions are for detecting the signal of flow through the 3rd terminal 16 and the 4th terminal 18; Detection signal is passed to second control module 28 for detecting the signal of flow through the 3rd terminal 16 and the 4th terminal 18, and the 3rd signal conversion unit 24 must possess the test section that is connected across between the 3rd terminal 16 and the 4th terminal 18 and the signal of test section detection is passed to the transmitting portions of micro controller MCU2.Consider that the 3rd terminal 16 and the 4th terminal 18 all are exposed to charging station 10 surface of shell; The as easy as rolling off a log static that touches; For avoiding being applied to static on the 3rd terminal 16 and the 4th terminal 18 to the damage of inner components and parts, test section and transmitting portions are isolated each other, and isolated component adopts optocoupler.As previously mentioned; The function of bridge circuit 78 is for being communicated with the 3rd terminal 16 and the 4th terminal 18; This function is identical with the function that the test section of the 3rd signal conversion unit 24 has; Based on the purpose of simplifying circuit; With the function setting of the test section of the 3rd signal conversion unit 24 in bridge circuit 78, thereby the function of two circuit is realized through a circuit, as shown in Figure 4; Bridge circuit 78 comprises that series connection is arranged at resistance R 2 and the luminous component of optocoupler U2 between the 3rd terminal 16 and the 4th terminal 18; The transmitting portions of the 3rd signal conversion unit 24 comprises that series connection is arranged at working power and resistance R 1 between the 4th terminal 18 and the receiving unit of optocoupler U2 of micro controller MCU2, between the secondary signal receiving port RX1 of the contact place of the receiving unit of resistance R 1 and optocoupler U2 and micro controller MCU2, guide line is set, and is convenient to detection signal is passed to micro controller MCU2.The receiving unit of resistance R 1 and optocoupler U2 also can be connected according to actual needs and is arranged between other working powers and the 4th terminal 18.When signal is flowed through the 3rd terminal 16; The signal bridge circuit 78 that the illuminating part of resistance R 2 and optocoupler U2 is formed of further flowing through is if the voltage of signals value is enough to driven for emitting lights portion when luminous, light from light source; As well-known to those skilled in the art, this magnitude of voltage is generally more than or equal to 0.6V.When the signal of the 3rd terminal 16 of flowing through is high level; The luminous component of optocoupler U2 is luminous, and the receiving unit of optocoupler U2 receives light source and conducting simultaneously, and micro controller MCU2 receives the low level signal that is transmitted by the 4th terminal 18 thus; When the signal of the bridge circuit 78 of flowing through is low level; The luminous component of optocoupler U2 is not luminous, and the receiving unit of optocoupler U2 does not receive light source thereby disconnection simultaneously, and micro controller MCU2 receives the high level signal that is transmitted by resistance R 1 thus; The voltage magnitude of this high level signal equals to be arranged at the supply voltage value on the resistance R 1; Be the operating voltage VDD of micro controller MCU2 in the present embodiment, because VDD generally is lower than the voltage of energy storage units 56, therefore 24 pairs of warps of the 3rd signal conversion unit, first signal conversion unit, 70 amplifying signals have carried out dwindling and anti-phase.The operating voltage Vcc of the operating voltage VDD of micro controller MCU2 and micro controller MCU1 can be identical, also can be inequality, and preferably, VDD is identical with Vcc.

Second energy detection unit 26 is used for the energy transmission that detected energy provides unit 20 to the 3rd terminals 16 and the 4th terminal 18; The signal that detects is passed to second control module 28; When second energy detection unit, 26 detected energy values surpass a certain preset range; Micro controller MCU2 controls the second energy control module 30 and stops the energy transmission that energy provides unit 20 to the 3rd terminals 16 and the 4th terminal 18, thereby stops the charging process of 10 pairs of automatic walking arrangements 50 of charging station.Generally can be set to detect electric current, detect voltage and current/voltage detects realization simultaneously the detection of energy; Only be provided with current detecting in the present embodiment, promptly second energy detection unit, 26 detected energy provide the current signal of unit 20 to the 3rd terminals 16 and the 4th terminal 18.The form of current detecting has multiple, in the present embodiment, adopts the mode of little resistance well known to those skilled in the art and operational amplifier to realize.As shown in Figure 4; Second energy detection unit 26 comprises that being arranged at energy provides the little resistance R 17 between unit 20 and the 4th terminal 18, to being applied to that voltage on the resistance R 17 amplifies and amplifying signal being passed to the operational amplifier A 2 of secondary signal receiving port RX2.Micro controller MCU2 carries out corresponding operation after detecting the voltage that is applied on the resistance R 17 through secondary signal receiving port RX2, judges the electric current of the resistance R 17 of flowing through, and can obtain the current value that energy provides unit 20 to the 3rd terminals 16 and the 4th terminal 18.When the detected current value of micro controller MCU2 during less than a certain predetermined current value; Control the second energy control module 30 and stop the energy transmission that energy provides unit 20 to the 3rd terminals 16 and the 4th terminal 18, thereby stop the charging process of 10 pairs of automatic walking arrangements 50 of charging station.The predetermined current value is according to the characteristic setting of energy storage units 56, and in the present embodiment, because energy storage units 56 is a lead-acid battery, according to its characteristic, the predetermined current value is 200mA.

The function of the second energy control module 30 operationally allows for the control signal of sending according to micro controller MCU2 or forbids that energy provides the energy transmission of unit 20 to the 3rd terminals 16 and the 4th terminal 18.At least drive circuit be can be set to based on the above-mentioned functions second energy control module 30 and the mode of metal-oxide-semiconductor or the mode that drive circuit adds relay added.As well known to those skilled in the art; Metal-oxide-semiconductor can break off the energy transmission that energy provides unit 20 to the 3rd terminals 16 and the 4th terminal 18; But it still has little electric current to flow through the 3rd terminal 16 and the 4th terminal 18 after breaking off, if energy provides unit 20 to be the power supply of non-isolation, even then only there is little electric current to flow through the 3rd terminal 16 and the 4th terminal 18; And contacted by human body, then still can cause the damage of getting an electric shock to human body.For guaranteeing that energy provides the reliable disconnection of energy between unit 20 to the 3rd terminals 16 and the 4th terminal 18; When avoiding automatic walking arrangement 50 not dock with charging station 10; The 3rd terminal 16 that exposes at charging station 10 outer surfaces possibly contacted and the electric shock that human body causes is damaged with the 4th terminal 18 by human body, and the second energy control module 30 is set to the mode that drive circuit adds relay.As shown in Figure 4; The second energy control module 30 comprise be arranged at energy provide unit 20 anodal with energy drive circuit and the relay coil KM between unit 20 negative poles is provided and is arranged at energy the relay switch K1 between anodal and the 3rd terminal 16 in unit 20 is provided and is arranged at energy the relay switch K2 between unit 20 negative poles and the 4th terminal 18 is provided, wherein drive circuit further comprises resistance R 3, R4, switching transistor Q2 and in the parallelly connected sustained diode 4 of relay coil KM.Under normal conditions, K switch 1 and K2 are in off-state, and to guarantee the 3rd terminal 16 and the 4th not output of terminal 18, avoiding maybe be to the damage of human body.When in case micro controller MCU2 receives enabling signal from secondary signal receiving port RX1; Micro controller MCU2 is through secondary signal transmit port TX1 high level signal; Gauge tap transistor Q2 conducting; Relay coil KM makes K switch 1 and K2 closed owing to there is electric current to flow through generation magnetic force, thereby allows energy that the energy transmission of unit 20 to the 3rd terminals 16 and the 4th terminal 18 is provided, and promptly allows the charging of 10 pairs of automatic walking arrangements 50 of charging station.After the charging beginning; Second energy detection unit 26 detected energy constantly provides the current delivery of unit 20 to the 3rd terminals 16 and the 4th terminal 18, and detection signal is passed to micro controller MCU2 through secondary signal receiving port RX2, in case when micro controller MCU2 detects electric current less than 200mA; Promptly through secondary signal transmit port TX1 low level signal; Gauge tap transistor Q2 breaks off, and relay coil KM loses magnetic force, K switch 1 and K2 disconnection owing to whether have electric current to flow through; Thereby interrupt the energy transmission that energy provides unit 20 to the 3rd terminals 16 and the 4th terminal 18, promptly stop the charging of 10 pairs of automatic walking arrangements 50 of charging station.

Energy provides unit 20 to be used for converting the power supply of outside into be suitably for automatic walking arrangement 50 chargings power supply; External power source comprises AC power or dc source; The power supply that is suitably for automatic walking arrangement 50 chargings is decided according to the electrology characteristic of the energy storage units 56 in the automatic walking arrangement 50, and generally speaking being the power supply that is suitably for automatic walking arrangement 50 chargings is dc source, therefore if external power source is a dc source; Then energy provides unit 20 only to need the voltage of dc source is adjusted into the voltage that is suitably for automatic walking arrangement 50 chargings; In the case, energy provides unit 20 to can be designed as voltage-regulating circuit and gets final product, as well-known to those skilled in the art; The form of voltage-regulating circuit has multiple, does not give unnecessary details at this.If external power source is an AC power; Then energy provides the circuit that unit 20 can be designed as Switching Power Supply pattern or transformer pattern external ac power source to be converted into the dc source that is suitably for automatic walking arrangement 50 chargings; Perhaps can also can realize converting external ac power source into be suitably for automatic walking arrangement 50 chargings dc source through the step-down rectifying circuit of routine, wherein Switching Power Supply pattern and transformer pattern be buffer circuits well known to those skilled in the art, and conventional step-down rectifying circuit is non-buffer circuit; The advantage of non-buffer circuit is that cost is low; But shortcoming is also clearly, and promptly heating problem is serious, and owing to do not isolate with external ac power source; High to the human body risk factor, cause the damage of getting an electric shock easily.

When the 3rd terminal 16 and the 4th terminal 18 electrically connected with the first terminal 60 and second terminal 62 respectively, micro controller MCU1 sent preset detection signal through the first signal sending end mouth TX1, and the amplitude of the detection signal that this moment is preset is Vcc; Preset detection signal is behind first signal conversion unit 70, and converting amplitude into is the signal of the voltage at energy storage units 56 two ends, so detection signal is behind first signal conversion unit 70; Amplitude is elevated, and promptly 70 pairs of first signal conversion units signal of flowing through amplifies, and the signal that is exaggerated further passes to the first terminal 60; Further pass to the 3rd terminal 16; The 3rd terminal 16 further passes to the 4th terminal 18 through bridge circuit 78, because bridge circuit 78 only comprises resistance element, energy this bridge circuit 78 of flowing through only can produce consume; But can not change its other characteristics; The 4th terminal 18 further passes to second terminal, 62, the second terminals 62 and passes to secondary signal converting unit 72, and secondary signal converting unit 72 its operating voltages are Vcc; Comprise optic coupling element simultaneously; Signal is after secondary signal converting unit 72, and converting the opposite and amplitude of phase place into is the signal of Vcc, and the signal after 72 conversions of secondary signal converting unit finally passes to the first receiver port RX1 of micro controller MCU1; Through after the conversion of above-mentioned connected loop, the preset detection signal that micro controller MCU1 sends through the first signal sending end mouth TX1 finally converts into the opposite feedback signal of detection signal cycle same phase and is back to the first receiver port RX1.In above-mentioned transfer process; Only signal is amplified and dwindle, do not change the type of signal, therefore; When preset detection signal is the signal of rule variation; The final preset feedback signal that generates is the signal that rule changes after the conversion of above-mentioned loop, and when preset detection signal was square-wave signal, the final preset feedback signal that generates was a square-wave signal after the conversion of above-mentioned loop; Any change does not take place in the electric parameter of signal; Electric parameter comprises the amplitude, cycle, dutycycle of signal etc., the conversion through above-mentioned loop, and it is opposite that the difference of the detection signal of presetting that the preset feedback signal that micro controller MCU1 finally receives and micro controller MCU1 send is merely phase place.After the first receiver port RX1 receives the preset feedback signal identical with the preset detection signal cycle; Promptly think the 3rd terminal 16 and the 4th terminal 18 respectively with the first terminal 60 and the 62 corresponding electric connections of second terminal, confirm that promptly first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10; Otherwise; When the 3rd terminal 16 and the 4th terminal 18 do not electrically connect with the first terminal 60 and second terminal 62 respectively; Micro controller MCU1 detects less than the preset feedback signal identical with the preset detection signal cycle; First group of terminal then not confirming automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10, and micro controller MCU1 continues to send preset detection signal.

When the 3rd terminal 16 and the 4th terminal 18 electrically connect with the first terminal 60 and second terminal 62 respectively; The preset detection signal that micro controller MCU1 sends through the first signal sending end mouth TX1; The connected loop that forms through first signal conversion unit 70, the first terminal 60 and the 3rd terminal 16, bridge circuit 78, the 4th terminal 18 and second terminal 62, secondary signal converting unit 72 is final when generating preset feedback signal and return the first receiver port RX1, and the preset detection signal that the first signal sending end mouth TX1 sends converts into the preset corresponding preset enabling signal of detection signal through the transmitting portions of first signal conversion unit 70, the first terminal 60 and the 3rd terminal 16, bridge circuit 78, the 3rd signal conversion unit 24 and received by secondary signal receiving port RX1.Preset detection signal only is exaggerated behind first signal conversion unit 70, the first terminal 60 and the 3rd terminal 16, bridge circuit 78.Through amplifying signal through bridge circuit 78 the time; The luminous component of optocoupler U2 that is positioned at bridge circuit 78 is according to the high-low level of signal; Selectively luminous or not luminous; Thereby secondary signal receiving port RX1 is selectively disconnected with VDD or connects, i.e. the conversion of 24 pairs of signals of the 3rd signal conversion unit as previously mentioned, it is that the signal feedback of VDD is given secondary signal receiving port RX1 that the signal of the bridge circuit 78 of flowing through the most at last converts the opposite amplitude of phase place into; Because Vcc is identical with VDD in the present embodiment, therefore preset enabling signal is the opposite signal of amplitude same phase with preset detection signal.Based on above-mentioned transformation only to signal amplify earlier, after dwindle and anti-phase; Therefore preset enabling signal and the preset identical signal of detection signal type; When preset detection signal was the signal of rule variation, the final preset enabling signal that generates was the signal of rule variation after the conversion of above-mentioned loop, when preset detection signal is square-wave signal; The final preset enabling signal that generates is a square-wave signal after the conversion of above-mentioned loop; In the present embodiment, because preset detection signal is a fixing square-wave signal of cycle, therefore preset enabling signal is to be the square-wave signal of preset value in the cycle.Micro controller MCU2 confirms that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10 after detecting preset enabling signal.Can know based on foregoing description; Micro controller MCU1 confirms that first group of terminal of automatic walking arrangement 50 docks with second group of terminal of charging station 10 successful the time, and micro controller MCU2 confirms that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10.

First group of terminal that micro controller MCU1 confirms automatic walking arrangement 50 is with after second group of terminal of charging station 10 docks successfully; Control automatic walking arrangement 50 and stop walking; Micro controller MCU1 also can be through repeatedly confirming automatic walking arrangement 50 first group of terminal with after second group of terminal of charging station 10 docks successfully; Just control automatic walking arrangement 50 and stop walking; First group of terminal repeatedly confirming automatic walking arrangement 50 docks in the successful process with second group of terminal of charging station 10; Each preset detection signal that sends can be identical, also can be inequality, and for example forms such as the frequency through changing pulse signal, dutycycle make the detection signal of each transmission inequality; Preferably, micro controller MCU1 through first group of terminal once confirming automatic walking arrangement 50 dock with second group of terminal of charging station 10 successfully promptly control automatic walking arrangement 50 stop the walking; Automatically after walking arrangement 50 stops walking; Micro controller MCU1 sends preset detection signal once more; If micro controller MCU1 detects and the preset corresponding preset feedback signal of detection signal of sending once more; First group of terminal promptly confirming automatic walking arrangement 50 docks success once more with second group of terminal of charging station 10; Then control automatic walking arrangement 50 and continue the state that maintenance stops to walk; Do not detect and the preset corresponding preset feedback signal of detection signal of sending once more as if micro controller MCU1, do not confirm that promptly first group of terminal of automatic walking arrangement 50 docks success once more with second group of terminal of charging station 10, then control the state startup walking that automatic walking arrangement 50 terminations stop to walk.Stopping to walk the detection signal of presetting that sends before first group of terminal that the back confirms automatic walking arrangement 50 and second group of terminal of charging station 10 dock the preset detection signal that sends in the successful process once more and stop to walk at automatic walking arrangement 50 can be identical; Also can be different; Be preferably inequalityly, be convenient to micro controller MCU1 identification.Confirm or do not confirm that first group of terminal of automatic walking arrangement 50 docks in the successful process with second group of terminal of charging station 10 at above-mentioned micro controller MCU1; Micro controller MCU2 also confirms simultaneously or does not confirm that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10; First group of terminal that micro controller MCU2 confirms automatic walking arrangement 50 is with after second group of terminal of charging station 10 docks successfully; Start charging, control the second energy control module 30 and be in the state that allows energy to provide unit 20 to the 3rd terminals 16 and the 4th terminal 18 energy to transmit.Micro controller MCU2 can dock with second group of terminal of charging station 10 through first group of terminal once confirming automatic walking arrangement 50 and successfully promptly start charging; Also can dock with second group of terminal of charging station 10 and successfully just start charging through first group of terminal with the automatic walking arrangement 50 of automatic walking arrangement 50 corresponding twice affirmation; If dock successfully i.e. startup charging with second group of terminal of charging station 10, preferably detect with the preset corresponding preset enabling signal of detection signal that micro controller MCU1 sends for the second time and confirm that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10 through micro controller MCU2 through first group of terminal once confirming automatic walking arrangement 50.

In this embodiment, preset detection signal through first signal conversion unit 70, the first terminal 60, the 3rd terminal 16, bridge circuit 78, the 4th terminal 18, second terminal 62, secondary signal converting unit 72 finally converts into and the preset corresponding preset feedback signal of detection signal.In the transmittance process of above-mentioned signal; 70 pairs of signals of flowing through of first signal conversion unit amplify, bridge circuit 78 not to signal change, 72 pairs of signals of flowing through of secondary signal converting unit dwindle and anti-phase accordingly, therefore preset feedback signal and the detection signal of presetting be that signal type is identical, amplitude is identical, the cycle is identical, the opposite signal of phase place only.This embodiment a kind of is deformed into automatic walking arrangement 50 first signal conversion unit 70 and secondary signal converting unit 72 are not set; Preset detection signal only through the first terminal 60, the 3rd terminal 16, bridge circuit 78, the 4th terminal 18, second terminal 62 converts into and the preset corresponding preset feedback signal of detection signal; Under this embodiment, preset feedback signal is all identical signals of all parameters with preset detection signal.The another kind of this embodiment is deformed into automatic walking arrangement 50 one in first signal conversion unit 70 and the secondary signal converting unit 72 is set; Preset detection signal converts into and the preset corresponding preset feedback signal of detection signal through one in the first terminal 60, the 3rd terminal 16, bridge circuit 78, the 4th terminal 18, second terminal 62 and first signal conversion unit 70 and the secondary signal converting unit 72; In first signal conversion unit 70 and the secondary signal converting unit 72 one can amplify or dwindle or change signal type to signal; Under this embodiment; Preset feedback signal can be provided with according to one in first signal conversion unit 70 and the secondary signal converting unit 72 conversion that signal is carried out in advance; This mode is known for those skilled in the art, repeats no more at this.This embodiment also had more other distortion; Like automatic walking arrangement 50 first signal conversion unit 70 both had been set; Secondary signal converting unit 72 is set again; But 70 pairs of signals of first signal conversion unit dwindle, change other transformations such as type, and 72 pairs of signals of secondary signal converting unit also carry out corresponding conversion, also repeat no more at this.

In this embodiment, preset detection signal through first signal conversion unit 70, the first terminal 60, the 3rd terminal 16, the 4th terminal 18, the 3rd signal conversion unit 24 finally converts into and the preset corresponding preset enabling signal of detection signal.Also various deformation can be arranged to this embodiment; As the 3rd signal conversion unit 24 is not set in the charging station 10; Perhaps the 3rd signal conversion unit 24 changes the type of the signal of flowing through; Perhaps the 3rd signal conversion unit 24 changes according to the distortion of first signal conversion unit 70 accordingly, and its basic skills repeats no more at this with the variation of the secondary signal converting unit 72 and first signal conversion unit 70.

In this embodiment; Introduced micro controller MCU1 sends signal, second terminal, 62 reception signals through the first terminal 60 situation; Below introduce micro controller MCU1 sends signal, the first terminal 60 reception signals through second terminal 62 situation; Compare the change that will do in the case only is first signal conversion unit 70 and second terminal 62 are electrically connected with the situation of aforementioned introduction; Secondary signal converting unit 72 electrically connects with the first terminal 60, and the direction anti-phase that resistance of cross-over connection simultaneously 78 and the 3rd terminal 16 and the 4th terminal 18 electrically connect gets final product.Except that passing through with the bridge circuit 78 anti-phases connection; Can also realize through the form of setting up one the 3rd signal conversion unit 24; This 3rd signal conversion unit 24 of setting up is electrically connected to micro controller MCU2 equally; Only be the direction anti-phase that bridge circuit 78 and aforementioned bridge circuit 78 and the 3rd terminal 16 and the 4th terminal 18 electrically connect with the difference of aforesaid the 3rd signal conversion unit 24, no matter signal the 3rd terminal 16 gets into or warp the 4th terminal 18 entering charging stations 10 thus, all can be detected by micro controller MCU2; Because this mode is well known to those skilled in the art, and repeats no more at this.Can know based on above-mentioned distortion scheme; The 3rd terminal 16, the 4th terminal 18 can not have correspondence with being connected of the first terminal 60, second terminal 62; Promptly the 3rd terminal 16 docks with the first terminal 60, the 4th terminal 18 docks with second terminal 62; Micro controller MCU1 and micro controller MCU2 can confirm that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10; The 3rd terminal 16 docks with the first terminal 60 with second terminal 62, the 4th terminal 18, and micro controller MCU1 and micro controller MCU2 can confirm that also first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10.

Above combined circuit block diagram has carried out detailed description to function, concrete structure, the mutual Collaboration of each functional unit of second printed substrate 14 and first printed substrate 58, automatic walking arrangement 50 and docking operation, the charging process of charging station 10 is carried out the detailed description of integral body below in conjunction with the workflow diagram of micro controller MCU1 and micro controller MCU2.

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

Automatically after the walking arrangement 50 startup work, micro controller MCU1 gets into step S0 and carries out initialization, initialization finish back micro controller MCU1 control automatic walking arrangement 50 in the working region 102 of boundary line 100 planning according to preset rules work, shown in step S1; Whether micro controller MCU1 gets into step S2 sense switch SW1 closed, and whether judges forces to send charging instruction through the forced charge device, if judged result is for being; Then change step S5 over to, if judged result then changes step S3 over to for not; Whether sense switch SW2 is closed, judges whether to drench with rain, if judged result is for being; Then change step S5 over to, whether the magnitude of voltage through stored energy detecting unit 82 detected energy memory cell 56 is lower than 21.6V if judged result, then changes step S4 over to for not; Whether the current energy that is energy memory cell 56 is lower than preset value, if judged result is then returned step S1 for not; If judged result then changes step S5 startup over to and returns for being, micro controller MCU1 controls automatic walking arrangement 50 and returns charging station 10; In the return course, get into step S7 and send preset detection signal; After preset detection signal sent, micro controller MCU1 got into the corresponding preset feedback signal of detection signal that step S9 judges whether to receive and presets, if the result who judges is for denying; Then return step S5; If the result who judges then gets into step S10 for being, confirm that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10; Change over to immediately step S11 control automatic walking arrangement 50 stop the walking, change step S12 subsequently over to and send preset detection signal once more; Get into step S13; Judge whether to receive once more and the preset corresponding preset feedback signal of detection signal, if the result who judges shows then that for not first group of terminal of automatic walking arrangement 50 do not dock successfully with second group of terminal of charging station 10 once more; Step S5 is returned in micro controller MCU1 control; Control automatic walking arrangement 50 and start walking, trial is docked with charging station 10 again, if the result who judges is for being; First group of terminal confirming automatic walking arrangement 50 docks success once more with second group of terminal of charging station 10; Get into step S14 and confirm that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10, get into the state that step S15 keeps automatic walking arrangement 50 to stop to walk, wait for that charging station 10 starts charging.

Charging station 10 is with after external power source is connected, and micro controller MCU1 initialization shown in step S20, gets into step S22 and forbids that energy provides the energy transmission of unit 20 to the 3rd terminals 16 and the 4th terminal 18; Get into step S23 and detect whether receive preset enabling signal, when second group of terminal during with first group of corresponding electric connection of terminal, the detection signal of presetting of micro controller MCU1 transmission behind the 3rd signal conversion unit 24 by micro controller MCU1 reception in; Also received by micro controller MCU2; After micro controller MCU2 detects preset enabling signal, confirm that first group of terminal of automatic walking arrangement 50 docks successfully with second group of terminal of charging station 10, shown in step S24; This moment, micro controller MCU2 did not do any action; Continue to detect whether receive preset enabling signal once more, shown in step S25, if judged result is for being; Then change step S26 over to, confirm that first group of terminal of automatic walking arrangement 50 docks success once more with second group of terminal of charging station 10; Change step S27 subsequently over to, charging station 10 starts charging, controls the second energy control module 30, allows energy that the energy transmission of unit 20 to the 3rd terminals 16 and the 4th terminal 18 is provided.If judged result is for denying; Then change step S23 over to and continue to detect whether receive preset enabling signal; Also can not comprise step S23, S24 among the micro controller MCU2, be to strengthen the anti-interference that micro controller MCU2 starts charging in this purpose of setting up step S23, S24.

After charging station 10 started charging, micro controller MCU2 got into step S27, controlled the second energy control module 30 and was in the energy transmission that allows energy that unit 20 to the 3rd terminals 16 and the 4th terminal 18 are provided; Getting into step S28 provides the electric current of unit 20 to the 3rd terminals 16 and the 4th terminal 18 through second energy detection unit, 26 detected energy; Change step S30 subsequently over to; Whether judge electric current less than 200mA, if judged result is then returned step S28 for not; If judged result is for being; Then get into step S32, control the second energy control module 30 and forbid that energy provides the energy transmission of unit 20 to the 3rd terminals 16 and the 4th terminal 18, thus the charging of 10 pairs of automatic walking arrangements 50 of termination charging station.In the process of charging; Not only micro controller MCU2 detects and controls charging process; Micro controller MCU1 can detect and control too charging process; Step S16 as shown in Figure 6, first group of terminal confirming automatic walking arrangement 50 at micro controller MCU1 detect the electric current of the first terminal 60 and second terminal 62 to the energy storage units 56 with after second group of terminal of charging station 10 docks successfully; In following step S17; Whether micro controller MCU1 further judges electric current less than predetermined current value 200mA, if judged result is then returned step S16 for not; If judged result is for being; Then forbid the energy transmission of the first terminal 60 and second terminal 62 to the energy storage units 56 through the first energy control module 88, shown in step S18, thus the charging process of the 10 pairs of automatic walking arrangements 50 in complete charge station.

Need to prove at this; Automatically be respectively equipped with rechargeable energy detecting unit 80 in walking arrangement 50 and the charging station 10 and detect charging currents, be respectively equipped with in walking arrangement 50 and the charging station 10 automatically simultaneously according to charging current and judge whether first control module 76 and second control module 28 that continue to charge with second energy detection unit 26.Because the setting of rechargeable energy detecting unit 80 is more near energy storage units 56, its testing result is more accurate with respect to the result of second energy detection unit 26, overcharges for effectively preventing, must in the walking arrangement 50 rechargeable energy detecting unit 80 be set automatically.Keep the 3rd terminal 16 and the 4th terminal 18 respectively with the situation of the first terminal 60 and the 62 corresponding electric connections of second terminal under; Micro controller MCU1 can detect charging current less than 200mA prior to micro controller MCU2; After micro controller MCU1 controls the energy transmission of the first energy control module, the 88 termination the first terminals 60 and second terminal 62 to the energy storage units 56 subsequently; The energy transmission of the first terminal 60 and second terminal 62 to the energy storage units 56 is blocked; Owing to can't form the loop; Cause the energy on same series circuit to provide the energy transmission of unit 20 to the 3rd terminals 16 and the 4th terminal 18 to be blocked; Micro controller MCU2 can detect electric current that energy provides unit 20 to the 3rd terminals 16 and the 4th terminal 18 less than 200mA, and therefore also can control the second energy control module 30 forbids that energy provides the energy transmission of unit 20 to the 3rd terminals 16 and the 4th terminal 18.The purpose that charging current detecting unit and energy control module are set in charging station 10 equally is to tackle a group or two groups of situation that terminal is thrown off each other in the 3rd terminal 16 and the 4th terminal 18 and the first terminal 60 and second terminal 62.When because accidental situation; When in the 3rd terminal 16 that causes originally being in charging station 10 and walking arrangement 50 automatically in the charging process and the 4th terminal 18 and the first terminal 60 and second terminal 62 one group or two groups of terminals are thrown off each other; Energy does not provide unit 20 that energy to the three terminals 16 and the 4th terminal 18 are provided all the time if charging station 10 does not possess the energy expiry feature; If human body touches the 3rd terminal 16 or the 4th terminal 18; Then can cause the damage of getting an electric shock, so micro controller MCU2 control energy provides the energy of unit 20 to the 3rd terminals 16 and the 4th terminal 18 to stop effectively preventing that human body from possibly touch the 3rd terminal 16 or the 4th terminal 18 and maybe the electric shock that human body causes be damaged to human body.

In the present invention, automatic walking arrangement 50 can be various ways such as mower, dust catcher, industrial robot.When walking arrangement 50 is mower automatically, also further comprise cutting mechanism, cutting mechanism comprises cutting motor 52 and cutting blade, and when mower was worked in the working region 102 of boundary line 100 planning, cutting motor 52 drove cutting blades rotation, cutting lawns.

Claims

1. an automatic walking arrangement selectively docks with charging station, and obtains energy from charging station; Said automatic walking arrangement comprises first group of terminal; First group of terminal comprises the first terminal and second terminal at least, and said charging station comprises second group of terminal, and second group of terminal comprises the 3rd terminal and the 4th terminal at least; Second group of terminal can with first group of corresponding electric connection of terminal, said automatic walking arrangement also comprises:

Energy storage units is given automatic walking arrangement power supply;

First control module is controlled the duty of automatic walking arrangement;

It is characterized in that said first control module comprises:

Signal transmitting module is sent preset detection signal and is electrically connected with the first terminal;

Signal receiving module electrically connects with second terminal;

When said signal receiving module received with the corresponding preset feedback signal of preset detection signal, first control module confirmed that automatic walking arrangement docks successfully with charging station.

2. automatic walking arrangement according to claim 1 is characterized in that: preset detection signal and preset feedback signal are the signal that rule changes.

3. automatic walking arrangement according to claim 2 is characterized in that: preset feedback signal is and preset identical signal of detection signal cycle.

4. automatic walking arrangement according to claim 3 is characterized in that: preset feedback signal is and preset identical square-wave signal of detection signal cycle.

5. automatic walking arrangement according to claim 1; It is characterized in that: walking arrangement also comprises first signal conversion unit that is arranged between signal transmitting module and the first terminal at least or is arranged in the secondary signal converting unit between second terminal and the signal receiving module automatically, and first signal conversion unit and secondary signal converting unit change the electric parameter of the signal of flowing through.

6. automatic walking arrangement according to claim 5 is characterized in that: first signal conversion unit and secondary signal converting unit zoom in or out to the signal of flowing through.

7. automatic walking arrangement according to claim 6; It is characterized in that: said automatic walking arrangement comprises first signal conversion unit and secondary signal converting unit; First signal conversion unit amplifies the signal of flowing through, and the secondary signal converting unit is dwindled the signal of flowing through.

8. automatic walking arrangement according to claim 7 is characterized in that: the secondary signal converting unit is isolated the signal that transmits between second terminal and the signal receiving module.

9. automatic walking arrangement according to claim 1 is characterized in that: after first control module confirms that automatic walking arrangement docks successfully with charging station, control automatic walking arrangement and stop walking.

10. automatic walking arrangement according to claim 9; It is characterized in that: after walking arrangement stops walking automatically; Signal transmitting module is sent preset detection signal once more; When signal receiving module received with the corresponding preset feedback signal of preset detection signal, first control module was controlled automatic walking arrangement and is kept the state that stops to walk; When signal receiving module did not receive with the corresponding preset feedback signal of preset detection signal, first control module was controlled automatic walking arrangement and is started walking.

11. automatic walking arrangement according to claim 1; It is characterized in that: walking arrangement also comprises the stored energy detecting unit automatically; Be used for the current energy state of detected energy memory cell; And detection signal passed to first control module, when the energy of energy storage units was lower than preset value, first control module was controlled automatic walking arrangement and is returned charging station.

12. automatic walking arrangement according to claim 1; It is characterized in that: walking arrangement also comprises the forced charge device automatically; Be used for selectively sending charging instruction to first control module; When the forced charge device sent charging instruction, first control module was controlled automatic walking arrangement and is returned charging station.

13. automatic walking arrangement according to claim 1; It is characterized in that: walking arrangement also comprises the checkout gear of drenching with rain automatically; The said checkout gear of drenching with rain passes to first control module with detection signal, and when detecting when drenching with rain, first control module is controlled automatic walking arrangement and returned charging station.

14. automatic walking arrangement according to claim 1 is characterized in that: walking arrangement is a mower automatically, comprises the cutting mechanism of cutting lawns.

15. an automatic walking arrangement selectively docks with charging station, and obtains energy from charging station; Said automatic walking arrangement comprises first group of terminal; First group of terminal comprises the first terminal and second terminal at least, and said charging station comprises second group of terminal, and second group of terminal comprises the 3rd terminal and the 4th terminal at least; Second group of terminal can with first group of corresponding electric connection of terminal, said automatic walking arrangement also comprises:

Energy storage units is given automatic walking arrangement power supply;

First control module is controlled the duty of automatic walking arrangement;

It is characterized in that said automatic walking arrangement also comprises:

Signal transmitting module is sent preset detection signal and is outwards transmitted through the first terminal;

Signal receiving module receives the signal that second terminal inwardly transmits;

When said signal receiving module receives with the corresponding preset feedback signal of preset detection signal, confirm that first group of terminal of automatic walking arrangement docks successfully with second group of terminal of charging station.

16. automatic walking arrangement according to claim 15 is characterized in that: preset detection signal and preset feedback signal are the signal that rule changes.

17. automatic walking arrangement according to claim 16 is characterized in that: preset feedback signal is and preset identical signal of detection signal cycle.

18. automatic walking arrangement according to claim 17 is characterized in that: preset feedback signal is and preset identical square-wave signal of detection signal cycle.

19. an automatic walking arrangement selectively docks with charging station, and obtains energy from charging station; Said automatic walking arrangement comprises first group of terminal; First group of terminal comprises the first terminal and second terminal at least, and said charging station comprises second group of terminal, and second group of terminal comprises the 3rd terminal and the 4th terminal at least; Second group of terminal can with first group of corresponding electric connection of terminal

It is characterized in that said automatic walking arrangement sends preset detection signal and outwards transmits through the first terminal, and receives the signal that second terminal inwardly transmits;

When automatically walking arrangement receives with the corresponding preset feedback signal of preset detection signal, confirm that first group of terminal of automatic walking arrangement docks successfully with second group of terminal of charging station.

20. automatic walking arrangement according to claim 19 is characterized in that: preset detection signal and preset feedback signal are the signal that rule changes.

21. automatic walking arrangement according to claim 20 is characterized in that: preset feedback signal is and preset identical signal of detection signal cycle.

22. automatic walking arrangement according to claim 21 is characterized in that: preset feedback signal is and preset identical square-wave signal of detection signal cycle.