CN103576678A - Automatic return system and method for controlling automatic walking equipment to return to stopping station - Google Patents
Automatic return system and method for controlling automatic walking equipment to return to stopping station Download PDFInfo
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- CN103576678A CN103576678A CN201210252419.7A CN201210252419A CN103576678A CN 103576678 A CN103576678 A CN 103576678A CN 201210252419 A CN201210252419 A CN 201210252419A CN 103576678 A CN103576678 A CN 103576678A
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Abstract
The invention discloses a method for controlling automatic walking equipment to return to a stopping station. The stopping station is provided with a generator used for generating ultrasonic wave signals, and the automatic walking equipment comprises a controller and a receiving device. The receiving device is used for detecting the ultrasonic wave signals, and the controller controls the walking direction of the automatic walking equipment and enables the automatic walking equipment to return to the stopping station according to signal receiving situations of at least two receiving angle ranges of the receiving device. The invention further provides an automatic return system.
Description
Technical field
The present invention relates to a kind of auto-returned system and control the method that automatic running device returns to bus stop.
Background technology
Along with the continuous progress of computer technology and artificial intelligence technology, the automatic working system that is similar to intelligent robot has started the life of coming into people slowly.The company such as Samsung, Electrolux has all developed automatic dust catcher and has put goods on the market.The common volume of this automatic dust catcher is small and exquisite, is integrated with environmental sensor, from drive system, dust collecting system, battery and charging system, can be without manual control, indoor, cruise voluntarily, auto-returned bus stop when energy is low, docks and charges, and then continues the dust suction of cruising.Meanwhile, the companies such as Haas Ke Wana have developed similar automatic mower, and it can mow automatically in user's lawn, charging, without user, interferes.Due to this automatic working system once arrange after just without dropping into again energy management, user is uninteresting from clean, lawn maintenance etc. and the housework work of wasting time and energy, free, so be subject to very big welcome.
Please refer to Fig. 1, existing automatic mower 100 is worked in the closed region being surrounded by boundary line 10, when its electric weight is lower or other reasons need to turn back to bus stop 200, automatic mower 100 strides across boundary line 10, and 10 returns to clockwise or counterclockwise bus stop 200 along boundary line.
Yet when automatic mower 100 was located in apart from nearer some position of bus stop 200 originally, position as residing in automatic mower in Fig. 1 100, when returning, automatic mower 100 finds immediate boundary line 10, and by returning to counterclockwise bus stop 200, return route unreasonable and waste electric energy.Therefore be necessary existing mower and bus stop to improve.
Summary of the invention
The deficiency existing for prior art, the invention provides a kind of fast automatic auto-returned system of returning and controls the method that automatic running device returns to bus stop.
Technical scheme of the present invention is achieved in that a kind of method that automatic running device returns to bus stop of controlling, described bus stop is provided with for sending the generating means of ultrasonic signal, described automatic running device comprises for the receiving trap of received ultrasonic signal and controller, described automatic running device is worked in default working range, described receiving trap has at least two receiving angle scopes, said method comprising the steps of: described automatic running device starts while returning, and described controller is controlled described receiving trap and started to detect ultrasonic signal; Described controller is the signal reception condition at least two receiving angle scopes according to described receiving trap, controls the direction of travel of described automatic running device, makes described automatic running device return to described bus stop.
Preferably, described receiving trap comprises the first receiver and the second receiver, and described the first receiver, the second receiver have receiving angle scope separately.
Preferably, described receiving trap rotates and is arranged on described automatic running device, and described controller is controlled described receiving trap rotation or swung, thereby at least two receiving angle scope received ultrasonic signals.
Preferably, described working range is defined by the boundary line of sealing, described controller is the signal reception condition at least two receiving angle scopes according to described receiving trap, control the avris region that described automatic running device moves to described working range, when described automatic running device arrives behind described avris region, described controller is controlled described automatic running device and is returned to bus stop along boundary line.
Further, described receiving trap comprises the first receiver and the second receiver, described the first receiver, the second receiver lays respectively at the left and right sides of described automatic running device axis, and the receiving angle scope of described the first receiver and the receiving angle scope of the second receiver is non-intersect or part intersects, when the first receiver receives ultrasonic signal, described controller is controlled automatic running device and is kept direction of travel, when the second receiver receives ultrasonic signal, described controller is controlled automatic running device rotation, until the first receiver receives ultrasonic signal, thereby determine direction of travel.
Preferably, described generating means comprises at least two generators, described at least two generators send different ultrasonic signals, the emission angle of described at least two generators partly overlaps, thereby the transmitting boundary of described generating means is divided into mono signal overlay area and one or more overlapped signals overlay area, described receiving trap has two receiving angle scopes, the left and right sides and described two receiving angle range sections towards described automatic running device axis intersect respectively, the ultrasonic signal that described controller receives according to described receiving trap judges the residing region of described automatic running device, and according to the signal reception condition of described receiving trap, control described automatic running device and move to specific overlapped signal overlay area, when described automatic running device is positioned at specific overlapped signal overlay area, described controller is controlled described automatic running device according to the signal reception condition of described receiving trap and is walked towards described bus stop.
Further, when described automatic running device is positioned at described mono signal overlay area, described controller is controlled described automatic running device rotation, make described receiving trap receive ultrasonic signal in predetermined receiving angle scope, in another receiving angle scope, do not receive ultrasonic signal, and with the direction of travel that is oriented of described automatic running device now, thereby control described automatic running device, move to specific overlapped signal overlay area.
Further, when described automatic running device is positioned at described specific overlapped signal overlay area, described controller is controlled described automatic running device rotation, make described receiving trap two receiving angle scopes all receive described at least two signals that ultrasonic generator sends, thereby control described automatic running device, towards described bus stop, walk.
Further, before the judgement residing region of described automatic running device, described controller is controlled described automatic running device and is rotated a circle, and the ultrasonic signal receiving according to described receiving trap afterwards judges the residing region of described automatic running device.
Further, described generating means comprises the first generator and the second generator, and described specific overlapped signal overlay area is dual signal overlay area.
Further, described generating means comprises the first generator, the second generator and the 3rd generator, described the 3rd generator is arranged between the first generator and the second generator, the emission angle of described the first generator, the second generator and the 3rd generator partly overlaps each other, thereby the transmitting boundary of described generating means is divided into mono signal overlay area, dual signal overlay area and triple signal coverage areas, and described specific overlapped signal overlay area is triple signal coverage areas.
The present invention also provides a kind of auto-returned system, comprise bus stop and automatic running device, described bus stop is provided with for sending the generating means of ultrasonic signal, described automatic running device comprises for the receiving trap of received ultrasonic signal and controller, described automatic running device is worked in default working range, described receiving trap has at least two receiving angle scopes, described controller is controlled described receiving trap and is started to detect ultrasonic signal when described automatic running device starts recurrence, and according to receiving trap, in the signal reception condition of at least two receiving angle scopes, control the direction of travel of described automatic running device, make described automatic running device return to described bus stop.
Preferably, described receiving trap comprises the first receiver and the second receiver, and described the first receiver, the second receiver have receiving angle scope separately.
Preferably, described receiving trap rotates and is arranged on described automatic running device, and described controller is controlled described receiving trap rotation or swung, thereby at least two receiving angle scope received ultrasonic signals.
Preferably, described working range is defined by the boundary line of sealing, described controller is the signal reception condition at least two receiving angle scopes according to described receiving trap, control the avris region that described automatic running device moves to described working range, when described automatic running device arrives behind described avris region, described controller is controlled described automatic running device and along boundary line, is returned to described bus stop.
Further, described receiving trap comprises the first receiver and the second receiver, described the first receiver, the second receiver lays respectively at the left and right sides of described automatic running device axis, and the receiving angle scope of described the first receiver and the receiving angle scope of the second receiver is non-intersect or part intersects, when the first receiver receives ultrasonic signal, described controller is controlled automatic running device and is kept direction of travel, when the second receiver receives ultrasonic signal, described controller is controlled automatic running device rotation, until the first receiver receives ultrasonic signal, thereby determine direction of travel.
Preferably, described generating means comprises at least two generators, described at least two generators send different ultrasonic signals, the emission angle of described at least two generators partly overlaps, thereby the transmitting boundary of described generating means is divided into mono signal overlay area and one or more overlapped signals overlay area, described receiving trap has two receiving angle scopes, the left and right sides and described two receiving angle range sections towards described automatic running device intersect respectively, the ultrasonic signal that described controller receives according to described receiving trap judges the residing region of described automatic running device, and according to the signal reception condition of described receiving trap, control described automatic running device and move to specific overlapped signal overlay area, when described automatic running device is positioned at specific overlapped signal overlay area, described controller is controlled described automatic running device according to the signal reception condition of described receiving trap and is walked towards described bus stop.
Further, when described automatic running device is positioned at described mono signal overlay area, described controller is controlled described automatic running device rotation, make described receiving trap receive ultrasonic signal in predetermined receiving angle scope, in another receiving angle scope, do not receive ultrasonic signal, and with the direction of travel that is oriented of described automatic running device now, thereby control described automatic running device, move to specific overlapped signal overlay area.
Further, when described automatic running device is positioned at described specific overlapped signal overlay area, described controller is controlled described automatic running device rotation, make described receiving trap two receiving angle scopes all receive described at least two signals that ultrasonic generator sends, thereby control described automatic running device, towards described bus stop, walk.
Further, before the judgement residing region of described automatic running device, described controller is controlled described automatic running device and is rotated a circle, and the ultrasonic signal receiving according to described receiving trap afterwards judges the residing region of described automatic running device.
Further, described generating means comprises the first generator and the second generator, and described specific overlapped signal overlay area is dual signal overlay area.
Further, described generating means comprises the first generator, the second generator and the 3rd generator, described the 3rd generator is arranged between the first generator and the second generator, the emission angle of described the first generator, the second generator and the 3rd generator partly overlaps each other, thereby the transmitting boundary of described generating means is divided into mono signal overlay area, dual signal overlay area and triple signal coverage areas, and described specific overlapped signal overlay area is triple signal coverage areas.
The method that auto-returned system of the present invention and control automatic running device return to bus stop, according to the signal reception condition of at least two receiving angle scopes of receiving trap, is controlled the direction of travel of automatic running device, makes automatic running device return to bus stop.So make automatic running device to return to bus stop nearby to intelligent, mode is simple and reliable.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the schematic diagram that existing automatic mower returns to bus stop.
Fig. 2 is the schematic diagram that in auto-returned system the first better embodiment of the present invention, automatic mower travel direction is adjusted.
Fig. 3 is the schematic diagram that in auto-returned system the first better embodiment of the present invention, automatic mower returns to bus stop.
Fig. 4 is the front elevation of bus stop in auto-returned system the second better embodiment of the present invention.
Fig. 5 is the schematic diagram that in auto-returned system the second better embodiment of the present invention, automatic mower is adjusted at mono signal overlay area travel direction.
Fig. 6 is that in auto-returned system the second better embodiment of the present invention, automatic mower is entered the schematic diagram of dual signal overlapping region by mono signal overlay area.
Fig. 7 is the schematic diagram that in auto-returned system the second better embodiment of the present invention, automatic mower is adjusted at dual signal overlapping region travel direction.
Fig. 8 is the schematic diagram of automatic mower in dual signal overlapping region in auto-returned system the second better embodiment of the present invention.
Fig. 9 is the schematic diagram that when automatic mower leaves dual signal overlapping region in auto-returned system the second better embodiment of the present invention, travel direction is adjusted.
Figure 10 is the schematic diagram that in auto-returned system the second better embodiment of the present invention, automatic mower advances towards bus stop.
Figure 11 is the schematic diagram that in auto-returned system the second better embodiment of the present invention, automatic mower advances along the perpendicular bisector between two generators.
Figure 12 is that in auto-returned system the 3rd better embodiment of the present invention, automatic mower is entered the schematic diagram of dual signal overlapping region by mono signal overlay area.
Figure 13 is that in auto-returned system the 3rd better embodiment of the present invention, automatic mower is entered the schematic diagram in triple signal overlaps region by dual signal overlapping region.
Figure 14 is the schematic diagram that in auto-returned system the 3rd better embodiment of the present invention, automatic mower is adjusted at triple signal overlaps region travel direction.
Figure 15 be in auto-returned system the 3rd better embodiment of the present invention automatic mower at the schematic diagram in triple signal overlaps region.
Figure 16 is that in auto-returned system the 3rd better embodiment of the present invention, automatic mower is entered the schematic diagram of mono signal overlay area by triple signal overlaps region.
Figure 17 is the schematic diagram that in auto-returned system the 3rd better embodiment of the present invention, automatic mower advances towards bus stop.
Figure 18 is that the present invention controls the schematic flow sheet that automatic running device returns to the method for bus stop.
Figure 19 is that the present invention controls the schematic flow sheet of the first better embodiment that automatic running device returns to the method for bus stop.
Figure 20 is that the present invention controls the schematic flow sheet of the second better embodiment that automatic running device returns to the method for bus stop.
Figure 21 is that the present invention controls the schematic flow sheet of the 3rd better embodiment that automatic running device returns to the method for bus stop.
Wherein,
100, automatic mower; 200, bus stop; 10, boundary line;
A, the first generator; B, the second generator; C, the 3rd generator;
A, first signal overlay area; B, secondary signal overlay area; C, the 3rd signal coverage areas;
Ab, the first overlapping region; Ac, the second overlapping region; Bc, triple-overlapped region;
Abc, the 4th overlapping region; M, white space; 110, the first receiver;
120, the second receiver; 210, anodal charging terminal; 220, negative pole charging terminal;
Embodiment
Shown in Fig. 2, the invention provides a kind of auto-returned system and control the method that automatic running device returns to bus stop.Auto-returned system of the present invention comprises automatic running device and bus stop 200.Automatic running device is walked in the default working range being surrounded by boundary line 10, and bus stop 200 is for stopping when not working for automatic running device.Preferably, bus stop is provided with charging device, for automatic running device makeup energy when the energy deficiency.
In present embodiment, automatic running device is automatic mower 100.Automatic mower 100 is provided with the receiving trap for received ultrasonic signal, and receiving trap has at least two receiving angle scopes.In present embodiment, receiving trap comprises that the first receiver 110 and the second receiver 120, the first receivers 110 and the second receiver 120 are towards different orientation, makes both signal receiving angle scopes non-intersect or partly crossing.In present embodiment, the first receiver 110 is towards the left side of automatic mower 100 and be arranged at the left side of the longitudinal central axis line of automatic mower 100, and the second receiver 120 is towards the right side of automatic mower 100 and be arranged at the right side of the longitudinal central axis line of automatic mower 100.So, the first receiver 110 receives or part receives the ultrasonic signal transmitting from automatic mower 100 left sides, and the second receiver 120 receives or part receives the ultrasonic signal transmitting from automatic mower 100 right sides.In other embodiments, the position that the first receiver 110 and the second receiver 120 arrange can exchange.
Please also refer to Fig. 2 and Fig. 3, in the first preferred embodiment of the present invention, the charging terminal (not shown) on bus stop 200 is arranged at the right side of bus stop 200 and over against boundary line 10.The signal range of receiving of the first receiver 110 and the second receiver 120 is non-intersect, and the first receiver 110 receives the ultrasonic signal transmitting from automatic mower 100 left sides, and the second receiver 120 receives the ultrasonic signal transmitting from automatic mower 100 right sides.In other embodiments, the signal range of receiving of the first receiver 110 and the second receiver 120 also can partly intersect.
When the first receiver 110 of automatic mower 100 receives ultrasonic signal, described controller is controlled automatic mower 100 and is kept direction of travel; When the second receiver 120 receives ultrasonic signal, described controller is controlled automatic mower 100 rotations, until the first receiver 110 receives ultrasonic signal, to determine direction of travel.So make automatic mower 100 move to the avris region of working range.
In present embodiment, auto-returned system guides automatic mower 100 to move to right-hand avris region of working range by ultrasonic signal, control again automatic mower 100 along boundary line 10 right sides that turn back to bus stop 200, reduced the return path of automatic mower 100, saved time of return, improve the efficiency of returning to bus stop 200, and realized Dock With Precision Position, simple and reliable.
Charging terminal on bus stop 200 also can be arranged at the left side of bus stop 200, by ultrasonic signal, guide automatic mower 100 to advance to the boundary line 10 of bus stop 200 lefts, then control automatic mower 100 and dock in 10 left sides that turn back to bus stop 200 along boundary line.
In other embodiments, receiving trap also can only have the first receiver 110, the first receiver 110 is fixing or be rotationally connected with on automatic mower 100, the first receiver 110 have at least two different from orientation, thereby there are at least two receiving angle scopes.
If the first receiver 110 is rotationally connected with on automatic mower 100, controller is controlled the first receiver 110 rotations or is swung within the scope of certain radian when automatic mower 100 returns, thereby make the first receiver 110 in difference towards orientation received ultrasonic signal, controller is the signal reception condition towards orientation according to receiver difference, controls the direction of travel of automatic mower 100.
If the first receiver 110 is fixedly connected on automatic mower 100, controller is controlled when automatic mower 100 often advances a segment distance and is rotated a circle or swing within the scope of certain radian when automatic mower 100 returns, thereby make the first receiver 110 in difference towards orientation received ultrasonic signal, controller is the signal reception condition towards orientation according to receiver difference, controls the direction of travel of automatic mower 100.
Please refer to Fig. 4, in the second preferred embodiment of the present invention, the anodal charging terminal 210 on bus stop 200 and negative pole charging terminal 220 are towards working range and the horizontal parallel setting of automatic mower 100.Generating means comprises that horizontal interval is arranged at the first generator A and the second generator B on bus stop 200.The first generator A sends the first ultrasonic signal, and the second generator B sends the second ultrasonic signal that is different from the first ultrasonic signal.
Please also refer to Fig. 5, the emission angle of the first generator A and the second generator B partly overlaps, make the transmitting boundary of generating means there is overlapping signal coverage areas, thereby bus stop 200 near zones are divided into some subregions: mono signal overlay area, dual signal overlapping region and white space m.Mono signal overlay area comprises the secondary signal overlay area b that only covers the first signal overlay area a of the first ultrasonic signal and only cover the second ultrasonic signal.Dual signal overlapping region is for covering the first overlapping region ab of the first ultrasonic signal and the second ultrasonic signal.Wherein, dual signal overlapping region and white space m are positioned at the dead ahead of anodal charging terminal 210 and the negative pole charging terminal 220 of bus stop 200.
The front center of automatic mower 100 is outstanding forward, and the first receiver 110 and the second receiver 120 are arranged at respectively the left and right sides of automatic mower 100 front end edge longitudinal central axis lines.So, the signal receiving angle range section of the first receiver 110 and the second receiver 120 intersects.The first ultrasonic signal that receiver 110 mainly receives from automatic mower 100 left sides and the place ahead is transmitted, the second ultrasonic signal that receiver 120 mainly receives from automatic mower 100 right sides and the place ahead is transmitted.
Controller is controlled the direction of travel of automatic mower 100 and enters specific subregion according to the signal reception condition of the signal reception condition of the first receiver 110 and the second receiver 120, particularly with bus stop 200 over against the first overlapping region ab and white space m.Controller is controlled automatic mower 100 towards bus stop 200 walkings according to the signal reception condition of the signal reception condition of the first receiver 110 and the second receiver 120 afterwards.So make automatic mower 100 return to bus stop 200 nearby, avoid automatic mower 100 to take a roundabout way and return, improved the efficiency that automatic mower 100 returns to bus stop 200, improved the dock probability of automatic mower 100 with bus stop 200.
As shown in Figure 5, when automatic mower 100 need return or receive ultrasonic signal first, controller control automatic mower 100 first rotates a circle and carries out initial position judgement, to determine current affiliated subregion.After if automatic mower 100 rotates a circle, receiving trap only receives the first ultrasonic signal, and controller judgement current region is first signal overlay area a; After if automatic mower 100 rotates a circle, receiving trap only receives the second ultrasonic signal, and controller judgement current region is secondary signal overlay area b; After if automatic mower 100 rotates a circle, receiving trap receives the first ultrasonic signal and the second ultrasonic signal, and controller judgement current region is the first overlapping region ab; After if automatic mower 100 rotates a circle, receiving trap does not receive any signal, and controller is controlled automatic mower 100 and continued according to projected route or random path walking.
If the initial position of automatic mower 100 is first signal overlay area a, controller is controlled automatic mower 100 rotations, until only the first receiver 110 receives the first ultrasonic signal, as shown in Figure 6, with the direction of travel that is oriented of automatic mower 100 now, control automatic mower 100 and enter the first overlapping region ab.In like manner, when the initial position of automatic mower 100 is secondary signal overlay area b, controller is controlled automatic mower 100 rotations, until only the second receiver 120 receives the second ultrasonic signal, and with the direction of travel that is oriented of automatic mower 100 now.
Please refer to Fig. 7, when automatic mower 100 enters into the first overlapping region ab by first signal overlay area a, the first receiver 110 receives the first ultrasonic signal and the second ultrasonic signal, controller is controlled automatic mower 100 rotations, until the first receiver 110, the second receiver 120 all receive the first ultrasonic signal and the second ultrasonic signal, make automatic mower 100 towards bus stop 200.Controller Sustainable Control automatic mower 100, makes the first receiver 110, the second receiver 120 all keep receiving the first ultrasonic signal and the second ultrasonic signal afterwards.
As shown in Figure 8, automatic mower 100 is positioned at a limit situation of the first overlapping region ab and is: automatic mower 100 is positioned at the signal boundary place in the second generator B left side.This Time Controller is controlled automatic mower 100, makes the first receiver 110 keep receiving the first ultrasonic signal, second receiver 120 maintenance reception the second ultrasonic signals.Automatic mower 100 advances the signal boundary along the second generator B left side.
In like manner, when automatic mower 100 enters into the first overlapping region ab by secondary signal overlay area b, the second receiver 120 receives the first ultrasonic signal and the second ultrasonic signal, controller is controlled automatic mower 100 rotations, until the first receiver 110, the second receiver 120 all receive the first ultrasonic signal and the second ultrasonic signal.A limit situation is now: controller control automatic mower 100 advances along the signal boundary on the first generator A right side.
If the initial position of automatic mower 100 is the first overlapping region ab, controller is still controlled automatic mower 100 rotation, until the first receiver 110, the second receiver 120 all receive the first ultrasonic signal and the second ultrasonic signal.
Please refer to Fig. 9, when automatic mower 100 is about to leave the first overlapping region ab and enters white space m, if the first receiver 110 does not receive any signal, controller is controlled automatic mower 100 and is rotated counterclockwise, until the first receiver 110 receives the first ultrasonic signal, as shown in figure 10, make automatic mower 100 over against bus stop 200.At white space m, controller maintains the direction of travel of automatic mower 100.Due to anodal charging terminal 210 and the 220 horizontal parallel settings of negative pole charging terminal, automatic mower 100 can dock with bus stop 200 reliably.
In like manner, when if automatic mower 100 is about to leave the first overlapping region ab and enters white space m, if the second receiver 120 does not receive any signal, controller is controlled automatic mower 100 and is turned clockwise, until the second receiver 120 receives the second ultrasonic signal.After this, controller maintains the direction of travel of automatic mower 100, until automatic mower 100 docks with bus stop 200 in white space m.
Please refer to Figure 11, a kind of special case that automatic mower 100 enters white space m is: automatic mower 100 advances along the perpendicular bisector between the first generator A and the second generator B, the first receiver 110 and the second receiver 120 will not receive any signal simultaneously, this Time Controller is controlled automatic mower 100 straight ahead, until automatic mower 100 docks with bus stop 200.
The judgement of the initial position of automatic mower 100 in generator coverage, enter region decision and control mode is as shown in table 1:
Table 1
In present embodiment, two generators on bus stop 200 are divided into some subregions by near zone, and auto-returned system moves to specific subregion by two kinds of ultrasonic signals guiding automatic mowers 100, particularly with bus stop 200 over against subregion.Controller is controlled automatic mower 100 according to the signal reception condition of the signal reception condition of the first receiver 110 and the second receiver 120 and is moved towards bus stop 200 afterwards, and with bus stop 200 over against subregion dock with bus stop 200.So, make automatic mower 100 return to bus stop 200 nearby, avoid automatic mower 100 to take a roundabout way and return, improved automatic mower 100 and returned to the efficiency of bus stop 200, and improved the dock probability of automatic mower 100 with bus stop 200.
Please refer to Figure 12, the 3rd preferred embodiment of the present invention is on the basis of the second preferred embodiment, for the dock probability of further raising automatic mower 100 with bus stop 200, generating means also comprises the 3rd generator C, and the 3rd generator C is between the first generator A and the second generator B.The 3rd generator C sends the 3rd ultrasonic signal that is different from the first ultrasonic signal and the second ultrasonic signal.
The emission angle of the first generator A, the second generator B and the 3rd generator C all partly overlaps, make the transmitting boundary of generating means there is overlapping signal coverage areas, thereby bus stop 200 near zones are divided into some subregions: mono signal overlay area, dual signal overlapping region and triple signal overlaps region.
Mono signal overlay area comprises the first signal overlay area a that only covers the first ultrasonic signal, only cover the secondary signal overlay area b of the second ultrasonic signal and only cover the 3rd signal coverage areas c of the 3rd ultrasonic signal.Dual signal overlapping region comprises: cover the first ultrasonic signal and the 3rd ultrasonic signal the second overlapping region ac, cover the triple-overlapped region bc of the second ultrasonic signal and the 3rd ultrasonic signal.Triple signal overlaps region is for covering the 4th overlapping region abc of the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal.Wherein, triple signal overlaps region and the 3rd signal coverage areas c are positioned at the dead ahead of anodal charging terminal 210 and the negative pole charging terminal 220 of bus stop 200.
In present embodiment, auto-returned system moves to specific subregion by three kinds of ultrasonic signals guiding automatic mowers 100, particularly with bus stop 200 over against subregion.Control afterwards automatic mower 100 and shift to bus stop 200, and with bus stop 200 over against subregion dock with bus stop 200.So, make automatic mower 100 return to bus stop 200 nearby, avoid automatic mower 100 to take a roundabout way and return, improved the efficiency that automatic mower 100 returns to bus stop 200.Due to bus stop 200 over against triple signal overlaps region much smaller than the first overlapping region ab that covers the first ultrasonic signal and the second ultrasonic signal, further improved the dock probability of automatic mower 100 with bus stop 200.
Particularly, when automatic mower 100 need return or receive ultrasonic signal first, controller control automatic mower 100 first rotates a circle and carries out initial position judgement, to determine current affiliated subregion.
After if automatic mower 100 rotates a circle, receiving trap only receives the first ultrasonic signal, and controller judgement current region is first signal overlay area a; After if automatic mower 100 rotates a circle, receiving trap only receives the second ultrasonic signal, judges that current region is secondary signal overlay area b; After if automatic mower 100 rotates a circle, receiving trap only receives the 3rd ultrasonic signal, judges that current region is the 3rd signal coverage areas c; After if automatic mower 100 rotates a circle, receiving trap only receives the first ultrasonic signal and the 3rd ultrasonic signal, judges that current region is the second overlapping region ac; After if automatic mower 100 rotates a circle, receiving trap only receives the second ultrasonic signal and the 3rd ultrasonic signal, judges that current region is triple-overlapped region bc; After if automatic mower 100 rotates a circle, receiving trap receives the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal, judges that current region is the 4th overlapping region abc; After if automatic mower 100 rotates a circle, receiving trap does not receive any signal, and controller is controlled automatic mower 100 and continued according to projected route or random path walking.
When if the initial position of automatic mower 100 is first signal overlay area a, controller is controlled automatic mower 100 rotations, until only the first receiver 110 receives the first ultrasonic signal, thereby determines direction of travel.In like manner, when the initial position of automatic mower 100 is secondary signal overlay area b, controller is controlled automatic mower 100 rotations, until only the second receiver 120 receives the second ultrasonic signal, thereby determines direction of travel.
Please refer to Figure 13, when automatic mower 100 enters into the second overlapping region ac by first signal overlay area a, the first receiver 110 receives the first ultrasonic signal and the 3rd ultrasonic signal, controller is controlled automatic mower 100, makes the first receiver 110 receive the first ultrasonic signal and the 3rd ultrasonic signal, the second receiver 120 does not receive signal.In like manner, when automatic mower 100 enters into triple-overlapped region bc by secondary signal overlay area b, the second receiver 120 receives the second ultrasonic signal and the 3rd ultrasonic signal, controller is controlled automatic mower 100, makes the second receiver 120 receive the second ultrasonic signal and the 3rd ultrasonic signal, the first receiver 110 does not receive signal.
Please refer to Figure 14, when automatic mower 100 enters the 4th overlapping region abc by the second overlapping region ac, the first receiver 110 receives the 3rd ultrasonic signal and the second ultrasonic signal.Controller is controlled automatic mower 100 rotations, until the first receiver 110, the second receiver 120 all receive the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal.Controller Sustainable Control automatic mower 100, makes the first receiver 110, the second receiver 120 all receive the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal afterwards.
As shown in figure 15, automatic mower 100 is positioned at a limit situation of the 4th overlapping region abc and is: automatic mower 100 is positioned at the signal boundary place in the second generator B left side.This Time Controller is controlled automatic mower 100, makes first receiver 110 reception the first ultrasonic signals and the 3rd ultrasonic signal, the second receiver 120 receive the second ultrasonic signal and the 3rd ultrasonic signals.Automatic mower 100 advances the signal boundary along the second generator B left side.
In like manner, when automatic mower 100 enters the 4th overlapping region abc by triple-overlapped region bc, the second receiver 120 receives the 3rd ultrasonic signal and the first ultrasonic signal.Controller is controlled automatic mower 100 rotations, until the first receiver 110, the second receiver 120 all receive the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal.A limit situation is now: controller control automatic mower 100 advances along the signal boundary on the first generator A right side.
Please refer to Figure 16, when automatic mower 100 enters the 3rd signal coverage areas c by the 4th overlapping region abc, if the first receiver 110 only receives the 3rd ultrasonic signal, controller is controlled automatic mower 100 and is rotated counterclockwise, until the first receiver 110 receives the first ultrasonic signal and the 3rd ultrasonic signal, as shown in figure 17.After this, controller maintains the direction of travel of automatic mower 100, until automatic mower 100 docks with bus stop 200.
In like manner, if the second receiver 120 only receives the 3rd ultrasonic signal, controller is controlled automatic mower 100 and is turned clockwise, until the second receiver 120 receives the second ultrasonic signal and the 3rd ultrasonic signal.After this, controller maintains the direction of travel of automatic mower 100, until automatic mower 100 docks with bus stop 200.
A kind of special case that automatic mower 100 enters the 3rd signal coverage areas c by the 4th overlapping region abc is: automatic mower 100 advances along the perpendicular bisector between the first generator A and the second generator B, the first receiver 110 and the second receiver 120 only receive the 3rd ultrasonic signal by the while, this Time Controller is controlled automatic mower 100 straight ahead, until automatic mower 100 docks with bus stop 200.
If the initial position of automatic mower 100 is the second overlapping region ac, controller is controlled automatic mower 100 rotations, until the first receiver 110 receives the first ultrasonic signal and the 3rd ultrasonic signal, the second receiver 120 does not receive signal.In like manner, if the initial position of automatic mower 100 is triple-overlapped region bc, controller is controlled automatic mower 100 rotations, until the second receiver 120 only receives the second ultrasonic signal and the 3rd ultrasonic signal, the first receiver 110 does not receive signal.
If the initial position of automatic mower 100 is the 4th overlapping region abc, controller is controlled automatic mower 100 rotations, until the first receiver 110, the second receiver 120 all receive the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal.
When if the initial position of automatic mower 100 is the 3rd signal coverage areas c, controller is controlled automatic mower 100 rotations, until the first receiver 110 and the second receiver 120 all receive the 3rd ultrasonic signal.After this, controller maintains the direction of travel of automatic mower 100, until automatic mower 100 docks with bus stop 200.
In the present embodiment, the judgement of the initial position of automatic mower 100 in generator coverage, enter region decision and controller control mode is as shown in table 2:
Table 2
The present invention also provides a kind of method that automatic running device returns to bus stop 200 of controlling, and bus stop 200 is provided with generating means.Automatic running device is automatic mower 100, and automatic mower 100 is provided with the first receiver 110 and the second receiver 120, the first receivers 110 and the second receiver 120 towards different orientation, makes both signal range of receiving non-intersect or partly crossing.In present embodiment, the first receiver 110 is arranged at the left side of the longitudinal central axis line of automatic mower 100, and the second receiver 120 is arranged at the right side of the longitudinal central axis line of automatic mower 100.
Please refer to Figure 18, said method comprises the following steps:
Step S1: controller starts while returning at automatic mower 100, controls the first receiver and the second receiver and starts and detect ultrasonic signal.
Step S2: controller is according to the signal reception condition of the signal reception condition of the first receiver 110 and the second receiver 120, control the direction of travel of described automatic mower 100, make described automatic mower 100 move to the specific region in described working range.
Step S3: when automatic mower 100 arrives behind specific region, controller is controlled the track route of automatic mower 100, makes automatic mower 100 return to described bus stop 200.
Please refer to Figure 19, in the present invention, control in the first preferred embodiment of method that automatic running device returns to bus stop 200, above-mentioned steps S2 comprises:
Step S21: judge that whether the first receiver 110 receives ultrasonic signal, is to enter step S22, otherwise enters step S23.
Step S22: the direction of travel that keeps automatic mower 100.
Step S23: control automatic mower 100 rotations, until the first ultrasound wave 110 receivers receive ultrasonic signal, make automatic mower 100 move to the avris region of working range, and return to step S22.
Above-mentioned steps S3 comprises:
Step S31: detecting boundary line signal.
Step S32: if receive boundary line signal, control automatic mower 100 along boundary line 10 by predetermined direction walking, as counterclockwise.
Please refer again to Fig. 5, in the present invention's the second preferred embodiment, generating means comprises the first generator A and the second generator B.The first generator A sends the first ultrasonic signal, and the second generator B sends the second ultrasonic signal that is different from the first ultrasonic signal.
The emission angle of the first generator A and the second generator B partly overlaps, make the transmitting boundary of generating means there is overlapping signal coverage areas, thereby bus stop 200 near zones are divided into some subregions: mono signal overlay area, dual signal overlapping region and white space m.
Please refer to Figure 20, in the present invention's the second preferred embodiment, above-mentioned steps S1 is: controller, when automatic mower 100 starts recurrence, is controlled automatic mower 100 and rotated a circle, and controls the first receiver 110 and the second receiver 120 detecting ultrasonic signals simultaneously.Above-mentioned steps S2 comprises:
Step S2a: the initial position that judges automatic mower 100 when detecting ultrasonic signal.According to the first receiver 110, whether receive ultrasonic signal and whether the second receiver 120 receives ultrasonic signal, the judgement current residing region of automatic mower 100 is mono signal overlay area or dual signal overlapping region, if mono signal overlay area enters step S2b, otherwise enter step S3a.
Step S2b: if the initial position of automatic mower 100 is mono signal overlay area, controls automatic mower 100 and enter dual signal overlapping region.
Above-mentioned steps S3 comprises:
Step S3a: when automatic mower 100 is positioned at dual signal overlapping region, control automatic mower 100, make the first receiver 110, the second receiver 120 all receive the first ultrasonic signal and the second ultrasonic signal.
Step S3b: being oriented direction of travel and controlling automatic mower 100 and advance with automatic mower 100 now.
Please refer again to Figure 12, in the present invention's the 3rd preferred embodiment, generating means comprises the first generator A, the second generator B and the 3rd generator C, and the 3rd generator C is between the first generator A and the second generator B.
The first generator A sends the first ultrasonic signal, and the second generator B sends the second ultrasonic signal that is different from the first ultrasonic signal, and the 3rd generator C sends the 3rd ultrasonic signal that is different from the first ultrasonic signal and the second ultrasonic signal.
The emission angle of the first generator A, the second generator B and the 3rd generator C all partly overlaps, make the transmitting boundary of generating means there is overlapping signal coverage areas, thereby bus stop 200 near zones are divided into some subregions: mono signal overlay area, dual signal overlapping region and triple signal overlaps region.
Mono signal overlay area comprises the first signal overlay area a that only covers the first ultrasonic signal, only cover the secondary signal overlay area b of the second ultrasonic signal and only cover the 3rd signal coverage areas c of the 3rd ultrasonic signal.Dual signal overlapping region comprises: cover the first ultrasonic signal and the 3rd ultrasonic signal the second overlapping region ac, cover the triple-overlapped region bc of the second ultrasonic signal and the 3rd ultrasonic signal.Triple signal overlaps region is for covering the 4th overlapping region abc of the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal.
Please refer to Figure 21, in the present invention's the 3rd preferred embodiment, above-mentioned steps S1 is: controller, when automatic mower 100 starts recurrence, is controlled automatic mower 100 and rotated a circle, and controls the first receiver 110 and the second receiver 120 detecting ultrasonic signals simultaneously.
Above-mentioned steps S2 comprises:
Step S2A: the initial position that judges automatic mower 100 when detecting ultrasonic signal.According to the first receiver 110, whether receive ultrasonic signal and whether the second receiver 120 receives ultrasonic signal, the judgement current residing region of automatic mower 100 is mono signal overlay area, dual signal overlapping region or triple signal overlaps region, if the first signal overlay area a in mono signal overlay area or secondary signal overlay area b enter step S2B, if dual signal overlapping region enters step S2C, if triple signal overlaps region enters step S3A.
Step S2B: when the initial position of automatic mower 100 is first signal overlay area a in mono signal overlay area or secondary signal overlay area b, controls automatic mower 100 and enter dual signal overlapping region.
Step S2C: when automatic mower 100 is positioned at dual signal overlapping region, controls automatic mower 100 and enter triple signal overlaps region.
Above-mentioned steps S3 comprises:
Step S3A: when automatic mower 100 is positioned at triple signal overlaps region, control automatic mower 100 and enter the 3rd signal coverage areas c in mono signal overlay area.
Step S3B: control automatic mower 100 and advance towards bus stop 200.
The method that auto-returned system of the present invention and control automatic running device return to bus stop 200 is according to the signal reception condition of at least two receiving angle scopes of receiving trap, the direction of travel of controlling automatic mower 100, makes automatic mower 100 return to bus stop 200.So make automatic mower 100 to return to bus stop 200 nearby to intelligent, mode is simple and reliable.
What it may occur to persons skilled in the art that is; concrete structure in auto-returned system of the present invention and the present invention control the method that automatic running device returns to bus stop 200 can a lot of versions; but technical characteristics and the present invention of the used technical solution are same or similar, all should be covered by protection domain of the present invention.
Claims (22)
1. control the method that automatic running device returns to bus stop for one kind, described bus stop is provided with for sending the generating means of ultrasonic signal, described automatic running device comprises for the receiving trap of received ultrasonic signal and controller, described automatic running device is worked in default working range, it is characterized in that: described receiving trap has at least two receiving angle scopes, said method comprising the steps of:
Described automatic running device starts while returning, and described controller is controlled described receiving trap and started to detect ultrasonic signal;
Described controller is the signal reception condition at least two receiving angle scopes according to described receiving trap, controls the direction of travel of described automatic running device, makes described automatic running device return to described bus stop.
2. method according to claim 1, is characterized in that: described receiving trap comprises the first receiver and the second receiver, and described the first receiver, the second receiver have receiving angle scope separately.
3. method according to claim 1, is characterized in that: described receiving trap rotates and is arranged on described automatic running device, and described controller is controlled described receiving trap rotation or swung, thereby at least two receiving angle scope received ultrasonic signals.
4. method according to claim 1, it is characterized in that: described working range is defined by the boundary line of sealing, described controller is the signal reception condition at least two receiving angle scopes according to described receiving trap, control the avris region that described automatic running device moves to described working range, when described automatic running device arrives behind described avris region, described controller is controlled described automatic running device and along boundary line, is returned to described bus stop.
5. method according to claim 4, it is characterized in that: described receiving trap comprises the first receiver and the second receiver, described the first receiver, the second receiver lays respectively at the left and right sides of described automatic running device axis, and the receiving angle scope of described the first receiver and the receiving angle scope of the second receiver is non-intersect or part intersects, when the first receiver receives ultrasonic signal, described controller is controlled automatic running device and is kept direction of travel, when the second receiver receives ultrasonic signal, described controller is controlled automatic running device rotation, until the first receiver receives ultrasonic signal, thereby determine direction of travel.
6. method according to claim 1, it is characterized in that: described generating means comprises at least two generators, described at least two generators send different ultrasonic signals, the emission angle of described at least two generators partly overlaps, thereby the transmitting boundary of described generating means is divided into mono signal overlay area and one or more overlapped signals overlay area, described receiving trap has two receiving angle scopes, the left and right sides and described two receiving angle range sections towards described automatic running device intersect respectively, the ultrasonic signal that described controller receives according to described receiving trap judges the residing region of described automatic running device, and according to the signal reception condition of described receiving trap, control described automatic running device and move to specific overlapped signal overlay area, when described automatic running device is positioned at specific overlapped signal overlay area, described controller is controlled described automatic running device according to the signal reception condition of described receiving trap and is walked towards described bus stop.
7. method according to claim 6, it is characterized in that: when described automatic running device is positioned at described mono signal overlay area, described controller is controlled described automatic running device rotation, make described receiving trap receive ultrasonic signal in predetermined receiving angle scope, in another receiving angle scope, do not receive ultrasonic signal, and with the direction of travel that is oriented of described automatic running device now, thereby control described automatic running device, move to specific overlapped signal overlay area.
8. method according to claim 6, it is characterized in that: when described automatic running device is positioned at described specific overlapped signal overlay area, described controller is controlled described automatic running device rotation, make described receiving trap two receiving angle scopes all receive described at least two signals that ultrasonic generator sends, thereby control described automatic running device, towards described bus stop, walk.
9. method according to claim 6, it is characterized in that: before the judgement residing region of described automatic running device, described controller is controlled described automatic running device and is rotated a circle, and the ultrasonic signal receiving according to described receiving trap afterwards judges the residing region of described automatic running device.
10. method according to claim 6, is characterized in that: described generating means comprises the first generator and the second generator, and described specific overlapped signal overlay area is dual signal overlay area.
11. methods according to claim 6, it is characterized in that: described generating means comprises the first generator, the second generator and the 3rd generator, the emission angle of described the first generator, the second generator and the 3rd generator partly overlaps each other, thereby the transmitting boundary of described generating means is divided into mono signal overlay area, dual signal overlay area and triple signal coverage areas, and described specific overlapped signal overlay area is triple signal coverage areas.
12. 1 kinds of auto-returned systems, comprise bus stop and automatic running device, described bus stop is provided with for sending the generating means of ultrasonic signal, described automatic running device comprises for the receiving trap of received ultrasonic signal and controller, described automatic running device is worked in default working range, it is characterized in that: described receiving trap has at least two receiving angle scopes, described controller is controlled described receiving trap and is started to detect ultrasonic signal when described automatic running device starts recurrence, and according to receiving trap, in the signal reception condition of at least two receiving angle scopes, control the direction of travel of described automatic running device, make described automatic running device return to described bus stop.
13. auto-returned systems according to claim 12, is characterized in that: described receiving trap comprises the first receiver and the second receiver, and described the first receiver, the second receiver have receiving angle scope separately.
14. auto-returned systems according to claim 12, it is characterized in that: described receiving trap rotates and is arranged on described automatic running device, described controller is controlled described receiving trap rotation or is swung, thereby at least two receiving angle scope received ultrasonic signals.
15. auto-returned systems according to claim 12, it is characterized in that: described working range is defined by the boundary line of sealing, described controller is the signal reception condition at least two receiving angle scopes according to described receiving trap, control the avris region that described automatic running device moves to described working range, when described automatic running device arrives behind described avris region, described controller is controlled described automatic running device and along boundary line, is returned to described bus stop.
16. auto-returned systems according to claim 15, it is characterized in that: described receiving trap comprises the first receiver and the second receiver, described the first receiver, the second receiver lays respectively at the left and right sides of described automatic running device axis, and the receiving angle scope of described the first receiver and the receiving angle scope of the second receiver is non-intersect or part intersects, when the first receiver receives ultrasonic signal, described controller is controlled automatic running device and is kept direction of travel, when the second receiver receives ultrasonic signal, described controller is controlled automatic running device rotation, until the first receiver receives ultrasonic signal, thereby determine direction of travel.
17. auto-returned systems according to claim 12, it is characterized in that: described generating means comprises at least two generators, described at least two generators send different ultrasonic signals, the emission angle of described at least two generators partly overlaps, thereby the transmitting boundary of described generating means is divided into mono signal overlay area and one or more overlapped signals overlay area, described receiving trap has two receiving angle scopes, the left and right sides and described two receiving angle range sections towards described automatic running device intersect respectively, the ultrasonic signal that described controller receives according to described receiving trap judges the residing region of described automatic running device, and according to the signal reception condition of described receiving trap, control described automatic running device and move to specific overlapped signal overlay area, when described automatic running device is positioned at specific overlapped signal overlay area, described controller is controlled described automatic running device according to the signal reception condition of described receiving trap and is walked towards described bus stop.
18. auto-returned systems according to claim 17, it is characterized in that: when described automatic running device is positioned at described mono signal overlay area, described controller is controlled described automatic running device rotation, make described receiving trap receive ultrasonic signal in predetermined receiving angle scope, in another receiving angle scope, do not receive ultrasonic signal, and with the direction of travel that is oriented of described automatic running device now, thereby control described automatic running device, move to specific overlapped signal overlay area.
19. auto-returned systems according to claim 17, it is characterized in that: when described automatic running device is positioned at described specific overlapped signal overlay area, described controller is controlled described automatic running device rotation, make described receiving trap two receiving angle scopes all receive described at least two signals that ultrasonic generator sends, thereby control described automatic running device, towards described bus stop, walk.
20. auto-returned systems according to claim 17, it is characterized in that: before the judgement residing region of described automatic running device, described controller is controlled described automatic running device and is rotated a circle, and the ultrasonic signal receiving according to described receiving trap afterwards judges the residing region of described automatic running device.
21. auto-returned systems according to claim 17, is characterized in that: described generating means comprises the first generator and the second generator, and described specific overlapped signal overlay area is dual signal overlay area.
22. auto-returned systems according to claim 17, it is characterized in that: described generating means comprises the first generator, the second generator and the 3rd generator, described the 3rd generator is arranged between the first generator and the second generator, the emission angle of described the first generator, the second generator and the 3rd generator partly overlaps each other, thereby the transmitting boundary of described generating means is divided into mono signal overlay area, dual signal overlay area and triple signal coverage areas, and described specific overlapped signal overlay area is triple signal coverage areas.
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