CN102890509B - Automatic drive device, guidance system and moving method thereof - Google Patents
Automatic drive device, guidance system and moving method thereof Download PDFInfo
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- CN102890509B CN102890509B CN201210243550.7A CN201210243550A CN102890509B CN 102890509 B CN102890509 B CN 102890509B CN 201210243550 A CN201210243550 A CN 201210243550A CN 102890509 B CN102890509 B CN 102890509B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
The present invention relates to a kind of automatic drive device, comprise housing; Be positioned at housing and drive the driver element of automatic drive device movement, driver element is included in the driving wheel of movement in scope that outer lead limits; Produce the cycle setting unit of detect cycle; Deflection sniffer, deflection sniffer detects the amount of deflection of automatic drive device in detect cycle; Control the control module of driving wheel translational speed, wherein automatic drive device also comprises the comparing unit compared amount of deflection and preset value, if amount of deflection is greater than preset value, control module controls automatic drive device and leaves described wire; If amount of deflection is not more than preset value, control module controls automatic drive device and moves along described wire.Automatic drive device in the present invention accurately can identify different wires along in wire moving process.
Description
Technical field
The present invention relates to a kind of automatic drive device, the guidance system of automatic drive device and the moving method of automatic drive device.
Background technology
At present, along with the quickening of human lives's rhythm, the household equipment of robotization more and more receives an acclaim in the whole world.Work voluntarily because it has automatic operation program, do not need manpower to manipulate all the time like this.People can free from heavy home tasks, save a large amount of energy thus obtain more lie Fallow Time.The household equipment of this robotization comprises the automatic cleaner that picture is mainly used in home cleaning, also comprises the automatic mower etc. that picture is mainly used in family garden.
The household equipment of this kind of robotization has some technical issues that need to address, although the equipment of such as robotization can work voluntarily, still needs artificial to arrange perform region to it, to make it work in the perform region of specifying.A kind of way solving this kind of problem in current technology is, before automation equipment work, is arranged and perform region is converted to electronic chart, and input in automation equipment by the mode of scanning.Automation equipment, according to the electronic chart of input, identifies perform region.But this kind of method needs more electronic component, cause whole automation equipment complicated structure.Also have a kind of way to be route wires on the ground, and the region surrounded by wire is as perform region.Automation equipment is made to sense the existence of wire because wire can send signal, the boundary that corresponding avoiding action avoids crossing wire formation can be produced like this when automation equipment runs into wire, so just guarantee that automation equipment works all the time in perform region.This quadrat method effectiveness comparison is good, and cost is low.
But use the method for wire yet to have problems.Such as, in the perform region of reality, always have some barriers.Such as the furniture in room, or the trees, pond etc. in garden.These barriers are bumped against when people do not wish that automation equipment works in perform region.Therefore solution be at barrier all around around wire, the signal utilizing wire to send make automation equipment respond to thus avoid producing with barrier colliding.But such solution exists shortcoming, because automation equipment runs into after the wire of barrier, often think by mistake be positioned at border, perform region wire and walk along wire constantly.And often form the less closed circle of a radius around the wire of barrier, cause automation equipment can be absorbed in the endless loop of walking around this closed circle.Therefore still there is a lot of weak points in actual applications in automation equipment, needs to improve.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of automatic drive device that accurately can identify different conductor.
The present invention solves the technical scheme that prior art problem adopts: a kind of automatic drive device, comprises housing; Be positioned at housing and drive the driver element of automatic drive device movement, driver element is included in the driving wheel of movement in scope that outer lead limits; Produce the cycle setting unit of detect cycle; Deflection sniffer, deflection sniffer detects the amount of deflection of automatic drive device in detect cycle; Control the control module of driving wheel translational speed, wherein automatic drive device also comprises the comparing unit compared amount of deflection and preset value, if amount of deflection is greater than preset value, control module controls automatic drive device and leaves described wire; If amount of deflection is not more than preset value, control module controls automatic drive device and moves along described wire.
Preferably, amount of deflection is the absolute value only representing size.
Preferably, amount of deflection is represent size and positive and negative value.
Preferably, cycle setting unit is timer, and the detect cycle that timer produces is the time cycle.
Preferably, cycle setting unit is viameter, and the detect cycle that viameter produces is the distance cycle.
Preferably, automatic drive device also comprises input block, and control module produces preset value according to the input value of input block.
Preferably, amount of deflection is the angle variable quantity of automatic drive device.
Preferably, preset value is greater than 360 degree.
Preferably, preset value is between 360 degree to 720 degree.
Preferably, driver element comprises the first driving wheel and the second driving wheel, and amount of deflection is the difference of the displacement of the first driving wheel and the second driving wheel.
Preferably, deflecting sniffer is the first rotating speed detector be arranged on the first driving wheel and the second rotating speed detector be arranged on the second driving wheel.
Preferably, if the difference of the displacement of the first driving wheel and the second driving wheel is greater than set preset value, the rotating speed that control module controls the first driving wheel diminishes and the moving direction change of the rotating speed of the second driving wheel change ambassador automatic drive device, if the difference of the displacement of the first driving wheel and the second driving wheel is not more than set preset value, the constant automatic drive device that makes of transient speed that control module controls maintenance first driving wheel and the second driving wheel moves along described wire.
Preferably, the first driving wheel and the second driving wheel are by same drive motor, and CD-ROM drive motor is by the first actuator drives first driving wheel, and CD-ROM drive motor is by the second actuator drives second driving wheel.
Preferably, the angular range that the moving direction of automatic drive device changes is 90 degree to 270 degree.
Preferably, the first driving wheel is by a drive motor, and the second driving wheel is by another drive motor.
Preferably, automatic drive device is mower.
Another kind of technical scheme of the present invention is: a kind of guidance system of automatic drive device, comprise the wire producing pilot signal and the automatic drive device receiving pilot signal, wire forms closed region and area of isolation, automatic drive device in closed region, area of isolation works outward.
Preferably, the wire forming closed region connects bus stop.
Preferably, bus stop comprises the electrode slice that can charge for automatic drive device.
Another kind of technical scheme of the present invention is: the moving method of automatic drive device comprises the steps, automatic drive device is walked along wire; The amount of deflection of deflection detection automatic drive device, amount of deflection and preset value compare by comparing unit, if amount of deflection is greater than preset value, automatic drive device leaves wire, if amount of deflection is not more than preset value, automatic drive device moves along wire.
Preferably, after automatic drive device leaves wire, again find wire.
Preferably, walk along wire according to the pilot signal of wire after automatic drive device finds wire.
Preferably, wire connects bus stop, and described automatic drive device is manoeuvred into bus stop along wire and stops.
Compared with prior art, beneficial effect of the present invention is: in the process along wire movement, and automatic drive device can detect the amount of deflection of driving wheel, and judges that making relevant position changes according to amount of deflection, thus can accurately identify different wires.
Accompanying drawing explanation
Above-described object of the present invention, technical scheme and beneficial effect by the detailed description that can realize specific embodiments of the invention below, can describe and clearly obtain simultaneously by reference to the accompanying drawings.
Identical label in accompanying drawing and instructions and symbol are for representing identical or equivalent element.
Fig. 1 is the schematic diagram of the automatic drive device of one embodiment of the invention.
Fig. 2 is the schematic diagram of the automatic drive device of another embodiment of the present invention.
Fig. 3 is the schematic diagram that the automatic drive device shown in Fig. 1 is positioned at perform region.
Fig. 4 is the schematic diagram that the automatic drive device shown in Fig. 1 is walked along the wire forming area of isolation.
Fig. 5 is the schematic diagram that the automatic drive device shown in Fig. 1 is walked along the wire forming closed region.
Fig. 6 is the schematic diagram that the automatic drive device shown in Fig. 1 changes moving direction.
Fig. 7 is the schematic diagram along wire walking in perform region of the automatic drive device shown in Fig. 1.
Fig. 8 is the workflow diagram of the automatic drive device shown in Fig. 7.
Fig. 9 is the schematic diagram of the automatic drive device of further embodiment of this invention.
Figure 10 is the workflow diagram of the automatic drive device shown in Fig. 9.
1, automatic drive device 2, housing 3, power unit
4, driver element 5, deflection probe unit 6, comparing unit
7, storage unit 8, control module 9, cutter unit
10, cycle setting unit 11, perform region 12, wire
13, area of isolation 14, bus stop 15, axis
20, control system 41, first driving wheel 42, second driving wheel
43, the first motor 44, second motor 45, first gearing
46, the second gearing 48, motor 81, CPU
A, A ', moving direction d, distance o, fixed point
α, angle 410,410 ' first driving wheel move the 420,420 ' second driving wheel and move
Track moves track
Embodiment
Be illustrated in figure 1 the automatic drive device of one embodiment of the invention.Automatic drive device can carry out moving to perform work in every according to the instruction pre-set voluntarily on the ground.Automatic drive device includes numerous embodiments.Such as automatic cleaner, automatic mower, automatic pruning machine etc.In the present embodiment, automatic drive device 1 is automatic mower, and it has cutter unit 9.As shown in Figure 1, automatic drive device 1 is roughly square.Automatic drive device 1 has housing 2, has power unit 3 in housing 2.The effect of power unit 3 is to provide power to other elements of automatic drive device 1.Power unit 3 can have different power sources.Such as, adopt internal combustion engine to produce power, adopt electric energy, adopt the form such as sun power or hybrid power.In the present embodiment, automatic drive device 1 adopts electric energy to provide the form of electric power.Battery is provided with in housing 2.When work, battery release electric energy works to maintain automatic drive device 1.When inoperative, battery can be connected to external power source to store electric energy.Especially, for more humane design, when the electricity detecting battery is not enough, automatic drive device 1 can carry out electric energy supplement by searching charging station voluntarily.
Automatic drive device 1 is also provided with driver element 4.Driver element 4 mainly comprises the driving wheel be located at outside housing 2, drives the motor of driving wheel movement and the gearing of connecting motor and driving wheel.The driving wheel of automatic drive device is arranged can have numerous embodiments.The quantity of driving wheel can be 1,2, or more than 2.As shown in Figure 1, using automatic drive device moving direction as shown by arrow A as front side, the side relative with front side is rear side, and the both sides adjacent with side, front and back are respectively the left and right sides.In the present embodiment, the driving wheel of automatic drive device is 2, and wherein the first driving wheel 41 is positioned at left side, and the second driving wheel 42 is positioned at right side.And the first driving wheel 41 and the second driving wheel 42 are symmetrical arranged about the axis 15 of automatic drive device.Because the center of gravity of whole automatic drive device 1 is closer to rear side, therefore for the consideration of balance, the first driving wheel 41 and the second driving wheel 42 are located at the place closer to rear side.And be also provided with angle sheave in the place near front side.Certainly in other embodiments, driving wheel can be 1.In a further embodiment, driving wheel can be 4, and wherein two are positioned at left side, and two are positioned at right side.
In addition, in the present embodiment, the first driving wheel 41 is identical with the radius of the second driving wheel 42.When the first driving wheel 41 is identical with the rotating speed of the second driving wheel 42, because the axis 15 of the first driving wheel 41 with the relative automatic drive device 1 of the second driving wheel 42 is symmetrical arranged, therefore automatic drive device moves along a straight line.And the rotating speed of the first driving wheel 41 and the second driving wheel 42 is larger, and the speed of automatic drive device 1 is also larger.When the first driving wheel 41 is not identical with the rotating speed of the second driving wheel 42, automatic drive device 1 can deflect to side, no longer keeps rectilinear motion.Particularly, if the rotating speed of the first driving wheel 41 is greater than the rotating speed of the second driving wheel 42, automatic drive device to the little side of rotating speed, namely can be turned to the right side residing for the second driving wheel 42.If the rotating speed of the second driving wheel 42 is greater than the rotating speed of the first driving wheel 41, automatic drive device 1 is understood to the little side of rotating speed, namely turns to the left side residing for the first driving wheel 41.Wherein, the difference of the rotating speed of the first driving wheel 41 and the second driving wheel 42 is larger, then the angle of turn of automatic drive device 1 is then larger.
What drive driving wheel to roll on the ground is motor.In the present embodiment, the quantity of driving wheel is 2, and the quantity of motor is 2 too.First motor 43 drives the first driving wheel 41, second motor 44 to drive the second driving wheel 42 independently independently.Also be provided with gearing between motor and driving wheel, gearing can be planet circular system etc. common in the art.Certainly in other examples, as shown in Figure 2, the quantity of driving wheel is 2, and the quantity of motor is 1.Motor 48 drives the first driving wheel 41 by the first gearing 45, and motor 48 drives the second driving wheel 42 by the second gearing 46.Namely same motor is by different actuator drives first driving wheels 41 and the second driving wheel 42.
As shown in Figure 1, automatic drive device 1 is also provided with deflection probe unit 5.Automatic drive device 1 is driven to move a certain distance due to driver element 4 or after a period of time, the position of automatic drive device 1 creates change.As long as automatic drive device 1 changes position and just creates amount of deflection.Amount of deflection has various ways, can be the variable quantity of displacement, also can be the variable quantity of angle.In addition, the change in location track in moving process, average translational speed etc. characterize automatic drive device 1 move the reference quantity of change can as the form of expression of amount of deflection.Such as, shown in Fig. 3, some o is fixed point, and automatic drive device 1 moves certain hour or stretch journey around this fixed point o, and automatic drive device 1 just creates angle variable quantity.Such angle variable quantity can be just amount of deflection.And deflect probe unit 5 and can detect this amount of deflection and feed back to control system 20.Control system 20 is analyzed for the amount of deflection detected by deflection probe unit 5, thus makes corresponding control to automatic drive device 1.In one embodiment, control system 20 can be one piece of integrated chip, and control system 20 comprises multiple functional control module and is integrated on this chip, so multiple functional control module physically possibly cannot distinguish.
The factor wherein affecting amount of deflection size is the interval length of the amount of deflection of detection automatic drive device 1.Be provided with cycle setting unit 10 in control system 20 for this reason.Cycle setting unit 10 can produce detect cycle signal, and passes to deflection probe unit 5.After receiving signal, deflection probe unit 5 detects side-play amount in periodic interval.And cycle setting unit 10 can have various ways.Such as, cycle setting unit 10 can for being arranged on the timer on automatic drive device 1, its generation time cycle.Within this time cycle, the driving wheel of driver element 4 moves and produces amount of deflection.Again such as, cycle setting unit 10 can be viameter, and it produces the distance cycle.Automatic drive device 1 moves a certain distance the distance cycle reaching default, and the driving wheel of driver element 4 creates side-play amount within this distance cycle.In the present embodiment, amount of deflection is the difference of the first driving wheel 41 and the second driving wheel 42 displacement of section at one time.If when automatic drive device 1 linearly moves, the rotating speed of two driving wheels is equal, then the difference of its displacement is 0.If automatic drive device 1 is along curve movement, the rotating speed of two driving wheels is unequal, and within identical time or mobile distance, bent curvature of a curve is less, and the difference of the displacement of two driving wheels is less.
Deflection probe unit 5 utilizes magnetic induction principle to detect.Deflection probe unit 5 comprises magnetic generator and magnetic detector.First driving wheel 41 arranges the first magnetic generator (not shown), second driving wheel 42 is fixedly installed the second magnetic generator (not shown), magnetic generator can be magnet or other can produce the form in magnetic field, magnetic generator can be used for detecting the rotating speed of driving wheel.In housing 2, near the position of the first driving wheel 41 and the second driving wheel 42, Magnetic Induction device is set respectively for sensing the changes of magnetic field of magnetic generator.Whenever revolving the magnetic generator on the driving wheel turned around near Magnetic Induction device, Magnetic Induction device just can detect line item of going forward side by side, and it represents driving wheel and have rotated a circle.At the appointed time or in distance, the number of turns that girth and the driving wheel of driving wheel roll is multiplied and namely can be used as the displacement of driving wheel within this time period or in distance.The displacement of the first driving wheel 41 detected and the second driving wheel 42 is carried out subtraction process by deflection probe unit 5, and the difference of both displacement is exported as result of detection signal.Certainly, deflection probe unit 5 is not limited to the above-mentioned magnetic generator mentioned and magnetic detector, and all detectors that can detect driving wheel rotating speed are all fine.
Storage unit 7 is provided with in control system 20.Storage unit 7 is used for storing some data, comprises the data used in automatic drive device 1 computing, and some reference datas that user inputs according to the working condition of reality better work to help automatic drive device 1.In the present embodiment, storage unit 7 stores the preset value relevant to amount of deflection.
Comparing unit 6 is also comprised in control system 20.Comparing unit 6 inside is provided with comparer, and Main Function is that the storage preset value amount of deflection in the result of detection signal and storage unit 7 exported by deflection probe unit 5 compares, and corresponding output comparative result.In the present embodiment, comparing unit 6 first receives the preset value in the amount of deflection and storage unit 7 deflecting probe unit 5, then compares.If when the difference that comparing unit 6 compares the displacement of the first driving wheel 41 and the second driving wheel 42 is greater than preset value, comparing unit 6 exports the first compare result signal; If when the difference comparing the displacement of the first driving wheel 41 and the second driving wheel 42 is not more than preset value, comparing unit 7 exports the second compare result signal.Certainly in other embodiments, the comparing unit 6 mobile deflection angle that also can detect deflection probe unit 5 and other can represent the displacement of driving wheel movement and preset value compares.Similarly, when mobile deflection angle is greater than angle preset value, comparing unit 6 exports the first compare result signal; When mobile deflection angle is not more than angle preset value, comparing unit 6 exports the second compare result signal.
As shown in Figure 1, control module 8 is also provided with in control system 20.The effect of control module 8 is the signals receiving comparing unit 6 output, and produces steering order to the respective motors driving driving wheel, controls the rotating speed of driving wheel.In the present embodiment, control module 8 contains CPU81.After CPU81 receives compare result signal, Logic judgment can be carried out to it.If CPU81 receives the first compare result signal, then show that the difference of the displacement of the first driving wheel 41 and the second driving wheel 42 is greater than preset value, then control module 8 exports corresponding steering order to the motor of control first driving wheel 41 and the second driving wheel 42.Finally make the rotating speed of the first driving wheel 41 diminish and make the rotating speed of the second driving wheel 42 become large.If CPU81 receives the second compare result signal, then show that the difference of the displacement of the first driving wheel 41 and the second driving wheel 42 is less than preset value, then control module 8 exports corresponding steering order to the motor of control first driving wheel 41 and the second driving wheel 42.The transient speed of the first driving wheel 41 and the second driving wheel 42 is finally made to remain unchanged.
The perform region of automatic drive device 1 is determined by wire.As shown in Figure 2, route wires 12 on the whole border of perform region 11, such wire defines a closed region.This closed region is perform region 11.The boundary line of perform region 11 is made up of wire 12.Automatic drive device 1 carries out work in this perform region 11.In the present embodiment, automatic drive device 1 is mower.Mower, in this region, is walked with certain route.In the process of walking, the grass that cutter unit 9 rotates being positioned on route cuts.After in perform region 11, all places are all gone over, cutter unit 9 also just completes cutting work to the grass in perform region 11.All the time be positioned at perform region 11 in order to ensure automatic drive device 1, limitrophe wire 12 can send pilot signal.Automatic drive device 1 is provided with receiving trap and receives this pilot signal.When automatic drive device 1 is close or when being across borderline wire, this pilot signal can corresponding grow.So automatic drive device 1 will move to other directions after sensing situation change, thus avoid walking out perform region 11.
And according to working environment actual in the present embodiment, the one piece meadow of perform region 11 normally in the garden of garden.And meadow in perform region 11 has pond, trees etc.Around these ponds, trees, also around upper conductor 12, can ensure that automatic drive device can not knock the barrier such as pond, trees like this.These wires 12 around barrier, around curvilinear inner be area of isolation 13.Automatic drive device 1 work in closed region 11, outside area of isolation 13, as shown in Figure 3.And these wires 12 send pilot signal equally.The barrier such as pond, trees is positioned at area of isolation 13, and area of isolation 13 is all positioned at outside perform region 11.In the present embodiment, area of isolation 13 is circular.And the area of area of isolation 13 is less compared to the area of perform region 11.That is, the radius that the wire 12 around area of isolation 13 is arranged is less, so larger around the radian of the wire 12 of area of isolation 13.
In addition as shown in Figure 2, the wire 12 around perform region 11 is connected with bus stop 14.Due in the present embodiment, automatic drive device 1 adopts electrical energy drive, may occur the situation of electricity deficiency during work.Therefore on automatic drive device 1, electricity detecting element (not shown) is provided with, when detecting dump energy deficiency, automatic drive device 1 can Automatic-searching enter bus stop 14 li and charge, and bus stop 14 li is provided with and carries out the electrode slice (not shown) of charging for automatic drive device 1.In the present embodiment, if when automatic drive device 1 works in perform region 11, detect self electric quantity when not meeting certain condition, automatic drive device 1 can quit work any one working point in perform region 11, advances until find wire 12 according to the pilot signal that wire 12 sends along a direction.Certain automatic drive device 1 also can under other conditions, from other patten transformation to the pattern finding wire.After automatic drive device 1 searches out wire 12, according to the guiding of the pilot signal of wire 12, automatic drive device 1 is walked along wire 12, and finally enters bus stop 14 and charge.We claim this searching wire 12 and are bootmode along the pattern that wire 12 is walked.
Automatic drive device 1, from the process of working point set off in search wire 12, may run into all difficulties and make it cannot correctly enter bus stop 14.As shown in Figure 7, wire 12 around perform region 11 and the wire 12 around area of isolation 13 are in fact identical wires, therefore be interconnective around the wire 12 of perform region 11 and the wire 12 around area of isolation 13, circulate identical electric current in these wires.When walking on the wire 12 of perform region 11, automatic drive device 1 likely can move to around on the wire 12 of area of isolation 13.And walk around area of isolation 13 while automatic drive device 1 iterative cycles can be caused along wire 12 walking around area of isolation 13, and can not return around on the wire 12 of perform region 11, make automatic drive device 1 even forever all cannot correctly get back to bus stop 14 within very long a period of time.Therefore be necessary to make automatic drive device 1 can distinguish the wire 12 around perform region 11 and the wire 12 around area of isolation 13, and then automatic drive device 1 is walked along on the wire 12 of perform region 11 to take corresponding action to guarantee, and finally enter the bus stop 14 be positioned on wire 12.
A kind of method utilizes that perform region 11 is different with the radian of area of isolation 13 to be distinguished.The region camber ratio formed around the wire 12 of area of isolation 13 is comparatively large, and the region camber ratio formed around the wire 12 of perform region 11 is milder.When therefore walking on different wires, the first driving wheel 41 on automatic drive device 1 is different with the second driving wheel 42 displacement difference within the identical time.As shown in Figure 4, when automatic drive device 1 is walked along the wire 12 around area of isolation 13, the motion track 410 of the first driving wheel 41 and the motion track 420 of the second driving wheel 42 are different, and the difference of the displacement of the first driving wheel 41 and the second driving wheel 42 is larger.More specifically, if automatic drive device 1 to be walked a complete circle along wire 12, then the difference of the displacement of the first driving wheel 41 and the second driving wheel 42 equals the spacing d that 2 π are multiplied by the first driving wheel and the second driving wheel.And the first driving wheel 41 and the second driving wheel 42 are arranged on automatic drive device 1 respectively, the distance d between two driving wheels is changeless, can not change because the position of automatic drive device 1 changes.In addition, as shown in Figure 5,410 ' and 420 ' represents the motion track of the first driving wheel 41 and the motion track of the second driving wheel 42 respectively.When automatic drive device 1 is walked along the wire 12 that radian is mild, the first driving wheel 41 and the second driving wheel 42 that are positioned at the left and right sides are also different in regular hour displacement, but the difference of the displacement of the first driving wheel 41 and the second driving wheel 42 is very little.Therefore, if arrange a rational preset value, and the difference of the displacement of the first driving wheel 41 and the second driving wheel 42 and preset value are made comparisons, then can pick out automatic drive device 1 according to comparative result is walk along the wire 12 that radian is large or walk along the wire 12 that radian is little.If automatic drive device 1 is walked along the wire 12 that radian is little, then show that this device walks along the wire 12 around perform region 11, continue to walk can successfully enter bus stop 14 along this wire 12.If automatic drive device 1 is walked along the wire 12 that radian is large, then show that this device walks along the wire 12 around area of isolation 13, need automatic drive device 1 to change moving direction and depart from the guiding around the wire 12 of area of isolation 13, then continue to find wire 12.
In this embodiment, automatic drive device 1 identifies around the wire of perform region 11 and the wire around area of isolation 13, and the radian of main these the two kinds of wires relied on is different.And such otherness is without directivity, directly comparing just can compare.In this case, the amount of deflection of measurement is the absolute value only representing size, without the need for the introducing of sign.Correspond in specific embodiment, amount of deflection is the difference of the first driving wheel 41 of automatic drive device 1 and the displacement of the second driving wheel 42.If the displacement such as the first driving wheel 41 is 5 meters, the displacement of the second driving wheel 42 is 3 meters, then the difference of the displacement of the first driving wheel 41 and the second driving wheel 42 is 2 meters.It is 3 meters with the displacement of the first driving wheel 41, the displacement of the second driving wheel 42 is that the result that the situation of 5 meters obtains is the same, because in that case, then the difference of the displacement of the first driving wheel 41 and the second driving wheel 42 is still 2 meters, and is not-2 meters.Sum up, if utilize around the wire of perform region 11 and be direct difference in size around the otherness of the wire of area of isolation 13, and not there are the words of directional difference, the amount of deflection so detected can be just the absolute value only representing size, and this improves the convenience measured remarkable benefit.In other examples, as long as the difference remaining non-directional between the wire around perform region 11 and the wire around area of isolation 13 utilized, so the tilt value of this measurement is still for only representing the absolute value of size, the tilt value measured can be such as the difference of the average translational speed of the first driving wheel and the second driving wheel, or the deflection angle etc. of the direction of travel of automatic drive device.
Get back in this enforcement, in the process that automatic drive device 1 is walked along wire 12 under bootmode, cycle setting unit 10 produces the detectable signal cycle, and before described deflection probe unit 5 starts the difference detecting the first driving wheel 41 and the displacement of the second driving wheel 42 within this cycle.And the difference of the first driving wheel displacement detected and the second driving wheel displacement is passed to comparing unit 6 compare.If when the difference of the displacement of the displacement of the first driving wheel 41 and the second driving wheel 42 is greater than preset value, control module 8 controls the guiding that automatic drive device 1 departs from wire 12, and moves to a direction, again find the process of wire 12.If when the difference of the displacement of the displacement of the first driving wheel 41 and the second driving wheel 42 is not more than preset value, the constant automatic drive device 1 that makes of transient speed that control module 8 maintains the first driving wheel 41 and the second driving wheel 42 continues to move along wire 12, and finally enters bus stop 14 and charge.So, needing, preset value is reasonably set automatic drive device 1 can be told around the wire of perform region 11 and the wire around area of isolation 13.
In the present embodiment, be set preset value like this.The area of isolation 13 that user first finds area maximum, and measure the radius of this area of isolation 13.Then the radius input automatic drive device 1 will measured.Wherein, the housing 2 of automatic drive device 1 is provided with the input block (not shown) that can input for user.After input radius, CPU81 carries out computing according to the radius value of input thus draws preset value, and preset value is stored into storage unit 6.Certainly in other embodiments, user also can be arranged according to the radius of area of isolation 13, but input can represent other parameters of area of isolation 13.In addition, also can in automatic drive device 1 a built-in fixing preset value, such as 5 meters, 8 meters or 10 meters and other numerals.The form of preset value is also not limited to distance, is that in the embodiment of offset, preset value also should be angle value mutually at amount of deflection.
The factor that another one affects the difference of the first driving wheel 41 and the second driving wheel 42 displacement is detect cycle length.For the cycle during time, the time cycle is long, is no matter that amount of deflection is all increasing along with the elongation of time, thus exceedes preset value along the little wire of radian or radian large wire walking.And time-count cycle is too short, amount of deflection, again all lower than preset value, still cannot reach the effect of the wire 12 distinguished around area of isolation 13 and perform region 11.In the present embodiment, according to the calculating of great many of experiments, and according to the general translational speed of automatic drive device 1, the time cycle be set to 60 seconds the most suitable.In other embodiments, distance the cycle arrange and the time cycle similar.
As shown in Figure 6 and Figure 7, the better effects if guided for making disengaging, the angle [alpha] that the moving direction A ' of the automatic drive device after change to the moving direction A of the automatic drive device before changing is formed is between 90 degree to 270 degree.If judge on the wire 12 that automatic drive device 1 is positioned at around area of isolation 13, the displacement of the first driving wheel 41 to the second driving wheel 42 is little, then control module 8 controls the rotating speed change of the first driving wheel 41 greatly, the rotating speed of the second driving wheel 42 diminishes, thus makes automatic drive device 1 turn around to change moving direction.Automatic drive device 1 moves to the direction away from this wire 12, until pick up wire 12.After finding new wire 12, re-start above-mentioned differentiation process, just do not add to have repeated at this.Final automatic drive device 1 moves into bus stop 14 along wire 12 thus charges.
As shown in Figure 8, first automatic drive device 1 enters guiding mode of operation.In this mode, automatic drive device 1 finds wire 12.After finding wire 12, automatic drive device 1 starts to walk along wire 12.In the process of walking along wire 12, automatic drive device 1 periodically detects its amount of deflection within this cycle, and this amount of deflection and a preset value are compared, if amount of deflection is greater than preset value, then automatic drive device 1 changes moving direction and departs from the guiding of wire 12, then again finds wire 12; If amount of deflection is not more than preset value, then automatic drive device 1 continues to walk along this wire 12, and finally enters bus stop 14.After entering bus stop 14, automatic drive device 1 rests in bus stop 14, can carry out charging or other work.
Be illustrated in figure 9 another embodiment of the present invention.Similar with previous embodiment, comprise the deflection probe unit 5 of detection automatic drive device 1 in automatic drive device 1 equally and the amount of deflection that detects of deflection probe unit 5 analyzed and then the control system 20 of corresponding control automatic drive device 1.Control system 20 includes comparing unit 6, storage unit 7 and control module 8 equally.Storage unit 7 is for storing preset value and the process data of control system 20 in analysis and Control process.Comparing unit 6 is for comparing to amount of deflection the preset value stored corresponding output comparative result.The signal that control module 8 exports for receiving comparing unit 6, and produce steering order to driver element 4.The present embodiment and the maximum difference of previous embodiment are that deflection probe unit 5 is also aperiodically measured amount of deflection.Therefore in the present embodiment, cycle setting unit 10 is not had in control system 20.Control system 20 carries out accumulative superposition to the amount of deflection that deflection probe unit 5 detects.Comparing unit 6 compares the preset value of accumulative amount of deflection and storage export corresponding compare result signal.If comparing unit 6 compares accumulative amount of deflection when being greater than preset value, comparing unit 6 exports the first compare result signal; If comparing unit 6 compares accumulative amount of deflection when being not more than preset value, comparing unit 6 exports the second compare result signal.After control module 8 receives the compare result signal of comparing unit 6 output, corresponding output steering order, makes automatic drive device 1 continue along the walking of this wire or leave wire.
As shown in Figure 3, the wire 12 round perform region 11 forms a closed loop, and its length is longer.When automatic drive device 1 is walked on this wire 12, its amount of deflection accumulative within the regular hour is less.And forming a closed loop equally around the wire 12 of area of isolation 13, its length is less.When automatic drive device 1 is walked on this wire 12, its amount of deflection accumulative within the regular hour is larger.Therefore one rational preset value is set, then by the wire 12 around perform region 11 being walked accumulative amount of deflection and comparing with preset value respectively around the wire 12 of area of isolation 13 accumulative amount of deflection of walking, then can obtain two kinds of different results, a meeting is greater than amount of deflection, and another then can be less than amount of deflection.Therefore according to the result compared, it is walking around the wire 12 of perform region 11 or walking at the wire 12 around area of isolation 13 that automatic drive device 1 just can be told current.That is, automatic drive device 1 can identify current is around barrier walking or the bus stop 14 can correctly walked on connection wire 12.
In a specific embodiment, amount of deflection can be set to the angle of the direction of travel deflection of automatic drive device 1.Preset value can be set to 360 degree.When automatic drive device 1 is being walked until enter bus stop 14 on the wire 12 of perform region 11, angle of its accumulative deflection is less than 360 degree all the time.And the angle of time factor to deflection does not have an impact.Therefore control module 8 controls automatic drive device 1 walking on this wire 12 all the time, and finally enters bus stop 14 smoothly.When automatic drive device 1 when walking on the wire 12 of area of isolation 13, there will be automatic drive device 1 can around the situation of barrier pitch of the laps.Angle of its accumulative deflection can be greater than 360 degree, and therefore control module 8 can control automatic drive device 1 and departs from this wire and search other wires.Finally can find the wire 12 around perform region 11 and enter bus stop 14.Therefore preset value can be set to and be greater than or any one numerical value of 360 degree.Preferably, the scope of preset value is between 360 degree to 720 degree.Same reason, amount of deflection also can be other parameter, as long as the setting that preset value is corresponding.
In the life of reality, wire 12 around area of isolation 13 in be likely trees, be likely also swimming pool.Trees due to Area comparison little, therefore the radius of this area of isolation 13 is smaller.And the Area comparison of swimming pool is large, therefore the radius ratio of this area of isolation 13 is larger.And no matter be that radius is less or the area of isolation that radius is larger 13, automatic drive device 1 is walked along the wire 12 around this area of isolation 13, its accumulative deflection angle will inevitably be greater than 360 degree, and therefore automatic drive device 1 still can judge no being positioned at around on the wire 12 of area of isolation 13.Such automatic drive device 1, for no matter being that radius is less or the area of isolation that radius is larger 13 can both identify, improves the scope of application of automatic drive device 1.
In a preferred embodiment, control system 20 also comprises clearing cell.The effect of clearing cell is when the amount of deflection that automatic drive device 1 is accumulative is greater than preset value, and make control module 8 control automatic drive device 1 when leaving this wire, clearing cell removes current amount of deflection, to calculate amount of deflection next time.Clearing cell can to amount of deflection clearing or the removing means adopting other.
The working condition of automatic drive device 1 is described below.As shown in Figure 10, automatic drive device 1 meets trigger condition and enters guiding mode of operation.In this mode, automatic drive device 1 starts to find wire 12 and walks along wire 12 after finding.In the process of walking, the amount of deflection that deflection probe unit 5 detects is added up.If comparing unit 6 compares accumulative amount of deflection when being less than preset value, then comparing unit 6 sends signal to control module 8, and control module 8 makes automatic drive device 1 continue along wire walking, and amount of deflection also proceeds to add up.If comparing unit 6 compares accumulative amount of deflection when being greater than preset value, then comparing unit 6 sends corresponding signal to control module 8, and control module 8 controls automatic drive device 1 and changes moving direction and the guiding departing from wire 12.On the one hand, automatic drive device 1 starts again the process finding wire 12, and clearing cell is removed amount of deflection on the other hand.After finding wire 12, automatic drive device 1 starts to walk along this wire 12, starts again to add up amount of deflection simultaneously.So move in circles, and finally make automatic drive device 1 carry out bus stop 14.
As front narrated except utilizing the difference of non-directional between the wire around perform region 11 and the wire around area of isolation 13, the difference of directivity between the wire around perform region 11 and the wire around area of isolation 13 can also be utilized, thus realize the wire that automatic drive device 1 identifies this two place.Such as shown in Figure 7, automatic drive device 1 guides according to the current signal sent in wire 12.Automatic drive device 1 is provided with detector to detect the flow direction of electric current in wire 12.If flow clockwise around the electric current in the wire 12 of perform region 11, so flow counterclockwise around the electric current in the wire 12 of area of isolation 13; If be counterclockwise flowing around the electric current in the wire 12 of perform region 11, then corresponding around the electric current in the wire 12 of area of isolation 13 is clockwise direction flowing.Just the opposite around the direction of current in the wire 12 of perform region 11 with around the direction of current in the wire 12 of area of isolation 13 thus.If therefore automatic drive device 1 is being walked along on the wire 12 of perform region 11, so the direction of travel of automatic drive device 1 is being clockwise; If walked along on the wire 12 of area of isolation 13, so the direction of travel of automatic drive device 1 is counterclockwise.Therefore utilize the wire 12 of the difference identification of this directivity around perform region 11 and the wire 12 around area of isolation 13, then the amount of deflection of corresponding detection also needs to adopt and has positive and negative numerical value.
In a certain embodiment as shown in Figure 7, the direction of current of supply in wire 12 is fixing, specifically, be clockwise direction around the direction of current on the wire 12 of perform region 11, and the direction of current on the wire around area of isolation 13 is counterclockwise.And automatic drive device 1 is according to the guiding of electric current on wire, when it along when walking on the wire 12 of perform region 11, automatic drive device 1 is walked clockwise; And when it along when walking on the wire 12 of area of isolation 13, automatic drive device 1 is along counterclockwise walking.Then automatic drive device 1 is when walking clockwise, the first driving wheel 41 being positioned at left side is positioned at the outside of wire 12, and the second driving wheel 42 being positioned at right side is positioned at the inner side of wire, therefore the rotation number of turns of the first driving wheel 41 is the rotation number of turns being greater than the second driving wheel 42 in this process.And when automatic drive device 1 is when walking counterclockwise, the first driving wheel 41 being positioned at left side is positioned at the inner side of wire 12, and the second driving wheel 42 being positioned at right side is positioned at the outside of wire, therefore the rotation number of turns of the first driving wheel 41 is the rotation number of turns being less than the second driving wheel 42 in this process.In the present embodiment, that amount of deflection can be set to the first driving wheel 41 of automatic drive device 1 with difference that the is rotation number of turns of the second driving wheel 42, the result that the rotation number of turns gained that namely the rotation number of turns of the first driving wheel 41 deducts the second driving wheel 42 arrives.The result obtained has sign, and specifically, when automatic drive device 1 is when walking counterclockwise, the rotation number of turns of the first driving wheel 41 is less than the rotation number of turns of the second driving wheel 42, and the result therefore obtained is negative.When automatic drive device 1 is when walking clockwise, the rotation number of turns of the first driving wheel 41 is greater than the rotation number of turns of the second driving wheel 42, and the result therefore obtained is positive number.When preset value is set to 0, this amount of deflection and this preset value are compared, when amount of deflection is greater than 0, then shows that automatic drive device 1 is being walked along on the wire 12 of perform region 11, when amount of deflection is less than 0, then surperficial automatic drive device 1 is being walked on the wire 12 of area of isolation 13.Certainly in order to reduce the consideration of error, also preset value can be set to a non-zero numerical value.Therefore according to different comparative results, control automatic drive device 1 and take corresponding action.Such as, when automatic drive device 1 identifies along when walking on the wire 12 of perform region 11, control module 8 controls automatic drive device 1 to be continued to walk along this wire 12; When automatic drive device 1 identifies along when walking on the wire 12 of area of isolation 13, control module 8 controls automatic drive device 1 and leaves this wire 12.If automatic drive device 1 is around the direction of travel on the wire 12 of perform region 11 from when becoming counterclockwise clockwise, then result is just in time with above-mentioned contrary.
Certainly in other examples, also similar way can be used.As long as the wire 12 around perform region 11 and the directive difference of wire 12 tool around area of isolation 13, tilt value can for representing size and positive and negative value.
The present invention is not limited to lifted specific embodiment structure, and the structure based on the present invention's design all belongs to scope.
Claims (19)
1. an automatic drive device, comprises housing; Be positioned at described housing and drive the driver element of described automatic drive device movement, described driver element is included in the driving wheel of movement in scope that wire limits; Detect the deflection sniffer of the amount of deflection of described automatic drive device; Control the control module of described driving wheel translational speed, it is characterized in that: described automatic drive device also comprises the comparing unit compared described amount of deflection and preset value, if described amount of deflection is greater than preset value, described control module controls described automatic drive device and leaves described wire; If described amount of deflection is not more than preset value, described control module controls described automatic drive device and moves along described wire.
2. automatic drive device according to claim 1, is characterized in that: described amount of deflection is the absolute value only representing size.
3. automatic drive device according to claim 1, is characterized in that: described amount of deflection is represent size and positive and negative value.
4. automatic drive device according to claim 1, is characterized in that: described automatic drive device comprises the cycle setting unit producing detect cycle, and described deflection sniffer detects the amount of deflection of described automatic drive device in described detect cycle.
5. automatic drive device according to claim 4, is characterized in that: described cycle setting unit is timer, and the described detect cycle that described timer produces is the time cycle.
6. automatic drive device according to claim 4, is characterized in that: described cycle setting unit is viameter, and the described detect cycle that described viameter produces is the distance cycle.
7. automatic drive device according to claim 1, is characterized in that: described automatic drive device also comprises input block, and described control module produces described preset value according to the input value of described input block.
8. automatic drive device according to claim 1, is characterized in that: described amount of deflection is angle variable quantity.
9. automatic drive device according to claim 8, is characterized in that: described preset value is greater than 360 degree.
10. automatic drive device according to claim 9, is characterized in that: described preset value is between 360 degree to 720 degree.
11. automatic drive devices according to claim 1, is characterized in that: described driver element comprises the first driving wheel be positioned on the left of described automatic drive device and the second driving wheel being positioned at right side.
12. automatic drive devices according to claim 11, is characterized in that: described amount of deflection is the difference of the displacement of described first driving wheel and described second driving wheel.
13. automatic drive devices according to claim 11, is characterized in that: described amount of deflection is the difference of the rotation number of turns of described first driving wheel and described second driving wheel.
14. automatic drive devices according to claim 1, is characterized in that: described automatic drive device is mower.
The guidance system of 15. 1 kinds of automatic drive devices, comprise the wire producing pilot signal and the automatic drive device according to any one of claim 1 to 14 receiving described pilot signal, described wire forms closed region and area of isolation, described automatic drive device in described closed region, described area of isolation works outward.
The moving method of 16. 1 kinds of automatic drive devices, is characterized in that: described moving method comprises the steps, according to any one of claim 1 to 14, automatic drive device is walked along wire; The amount of deflection of automatic drive device described in described deflection detection, described amount of deflection and described preset value compare by described comparing unit, if described amount of deflection is greater than described preset value, described automatic drive device leaves described wire, if described amount of deflection is not more than described preset value, described automatic drive device moves along described wire.
17. moving methods according to claim 16, is characterized in that: after described automatic drive device leaves described wire, again find described wire.
18. moving methods according to claim 17, is characterized in that: the pilot signal according to described wire after described automatic drive device finds described wire moves along described wire.
19. moving methods according to claim 17, is characterized in that: described wire connects bus stop, and described automatic drive device is manoeuvred into described bus stop along described wire and stops.
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| CN201210243550.7A CN102890509B (en) | 2011-07-18 | 2012-07-13 | Automatic drive device, guidance system and moving method thereof |
| PCT/CN2012/078746 WO2013010475A1 (en) | 2011-07-18 | 2012-07-17 | Self-driving apparatus, guidance system, and moving method therefor |
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| CN201210243550.7A CN102890509B (en) | 2011-07-18 | 2012-07-13 | Automatic drive device, guidance system and moving method thereof |
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| CN102687620B (en) * | 2011-03-21 | 2015-04-22 | 苏州宝时得电动工具有限公司 | Self-driving device |
| CN104111651A (en) * | 2013-04-22 | 2014-10-22 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and method for automatic walking equipment to return to stop station |
| CN104808656A (en) * | 2014-01-24 | 2015-07-29 | 苏州宝时得电动工具有限公司 | Regression guiding method and system based on positioning system |
| CN107371562B (en) | 2016-05-16 | 2020-07-17 | 南京德朔实业有限公司 | Power tool, mower and control method thereof |
| CN107632596B (en) * | 2016-07-18 | 2021-01-05 | 苏州宝时得电动工具有限公司 | Method and system for controlling regression path of self-moving equipment |
| CN110168466B (en) * | 2017-11-16 | 2022-05-24 | 南京泉峰科技有限公司 | Intelligent mowing system |
| US11998152B2 (en) | 2018-07-30 | 2024-06-04 | Lg Electronics Inc. | Nozzle of cleaner and methods for controlling same |
| CN111941419B (en) * | 2019-05-15 | 2023-03-14 | 苏州科瓴精密机械科技有限公司 | Control method of self-moving robot and self-moving robot system |
| CN112740889B (en) * | 2020-12-25 | 2023-09-12 | 格力博(江苏)股份有限公司 | Path planning method, system and equipment for automatic mower and automatic mower |
| CN112293038B (en) * | 2020-09-28 | 2021-09-10 | 深圳拓邦股份有限公司 | Method for preventing lawn from being worn by fixed-point mowing and automatic mower |
| CN112526986B (en) * | 2020-10-28 | 2022-11-22 | 苏州极目机器人科技有限公司 | Ridge-following operation method and device |
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| US4962453A (en) * | 1989-02-07 | 1990-10-09 | Transitions Research Corporation | Autonomous vehicle for working on a surface and method of controlling same |
| JPH06289930A (en) * | 1993-03-31 | 1994-10-18 | Fujitsu General Ltd | Autonomous traveling vehicle |
| JP2009037378A (en) * | 2007-08-01 | 2009-02-19 | Panasonic Corp | Autonomous travelling device and program |
| KR100919698B1 (en) * | 2007-08-14 | 2009-09-29 | 포항공과대학교 산학협력단 | Cleaning method using cleaning robot |
| CN101714000B (en) * | 2009-09-30 | 2012-07-04 | 刘瑜 | Route planning method of automatic dust collector |
| KR101406186B1 (en) * | 2009-11-18 | 2014-06-13 | 삼성전자주식회사 | Control method for a robot cleaner |
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