CN103576681A - Automatic traveling device and control method thereof - Google Patents
Automatic traveling device and control method thereof Download PDFInfo
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- CN103576681A CN103576681A CN201210261668.2A CN201210261668A CN103576681A CN 103576681 A CN103576681 A CN 103576681A CN 201210261668 A CN201210261668 A CN 201210261668A CN 103576681 A CN103576681 A CN 103576681A
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Abstract
The invention relates to an automatic traveling device and a control method thereof, in particular to a method for controlling the automatic traveling device to return to a stop. The automatic traveling device comprises a power module capable of providing energy. The control method includes the following steps that the automatic traveling device is controlled to start returning; the energy level of the power module is detected; the change rate of the energy level of the power module is calculated; when the change rate arrives at or exceeds a preset threshold value, the automatic traveling device is controlled to stop returning. According to the automatic traveling device and the control method of the automatic traveling device, in the return process, the change rate of the energy level of the power module is obtained in real time, whether the change rate arrives at or exceeds the preset threshold value is judged, the effect that the automatic traveling device is controlled to stop returning at appropriate time is realized, the situation that the power module is over-discharged and damaged due to the fact that the automatic traveling device performs returning continuously is avoided, and the effects that the power module is protected and the service life of the power module is prolonged are realized.
Description
Technical field
The present invention relates to a kind of automatic running device, particularly a kind of when returning bus stop, there is the automatic running device of power module Cross prevention function.
The invention still further relates to a kind of control method of automatic running device, particularly a kind of control method of power module being carried out the automatic running device of Cross prevention when returning bus stop that realizes.
Background technology
Along with scientific and technical development, intelligentized automatic running device is well known gradually.Because automatic running device can be carried out inter-related task according to pre-set programs automatically, need not manual operation and intervention, therefore the application on commercial Application and family product is very extensive, for example, industrial application has the robot that carries out various functions, and the application on family product has mower, suction cleaner etc.These intelligent automatic running devices have greatly been saved people's time, have reduced people's labour intensity, thereby have improved production efficiency or quality of the life.
Automatic running device is often used chargeable power brick as energy source, and can the charging of auto-returned charging station.But because power brick is crossed after putting and can be damaged, conventionally, automatic running device to a lower preset level, but while also not reaching the degree of putting, can start the action of returning to charging station charging in the energy decreases of power brick.Automatic running device generally can both return to charging station before excessively putting.Yet, because the circumstance complication of a lot of perform regions is changeable, work and return in also often can there are some situations beyong contemplation, likely there is difficulty in automatic running device, thereby continue walking when returning charging station, power brick crossed put and damaged.
Another situation is that the automatic running device of some intermittences or seasonal work can be taken out use after depositing for a long time again.For example mower, is not often stored while not needing to mow in the winter time, to spring, time the regrowth of lawn, takes out use again.In this case, the power module of automatic running device is due to self discharge meeting natural wastage to very low energy level, and this energy level may be far below the default energy level that returns to charging.Now, if the action of charging station is still found and return to automatic running device according to normal flow, also probably make power module cross and put and damage.
Summary of the invention
The technical matters that the present invention solves is: provide a kind of can avoid automatic returning time power module cross the control method of the automatic running device of putting damage.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of automatic running device returns the control method of bus stop, described automatic running device comprises the power module that energy is provided, and described control method comprises the steps: to control automatic running device and starts recurrence; Detect the energy level of power module; Calculate the rate of change of the energy level of power module; When the absolute value of the rate of change of described energy level meets or exceeds predetermined threshold value, control automatic running device and stop returning.
Preferably, described control method also comprises the step of setting predetermined threshold value.
Preferably, according at least one parameter in the type of power module, load level or discharge temp, set predetermined threshold value.
Preferably, the rate of change of described energy level is that energy level is to the first order derivative of time, second derivative or higher derivative.
Preferably, the energy level of described power module with the voltage of power module or/and discharge current represent.
Preferably, described power module comprises the power brick with at least one battery unit, and the energy level of described power module is at least one in the energy level of the whole bag of power brick or the energy level of battery unit.
Preferably, when the energy level of power module is during lower than default energy level, control automatic running device and start and return.
Preferably, when the absolute value of the rate of change of the energy level of power module is during lower than predetermined threshold value, drive automatic running device to walk to bus stop.
Preferably, drive automatic running device in the process of bus stop walking, when automatic running device revert to bus stop, control automatic running device and stop returning.
Preferably, described driving automatic running device comprises to the step of bus stop walking: find the pilot signal relevant to bus stop position; According to pilot signal, drive automatic running device to walk to bus stop.
Preferably, described pilot signal is the electric signal on guide line, and described guide line is connected to bus stop, and described driving automatic running device is specially to the step of bus stop walking: find described electric signal; According to described electric signal, run to guide line, drive automatic running device to walk to bus stop along described guide line.
Preferably, described automatic running device is carried out dust suction work or mowing work.
Beneficial effect of the present invention is: in the process returning; know in real time the rate of change of the energy level of energy module; and judge whether described rate of change meets or exceeds predetermined threshold value; realization is in time controlled automatic running device and is stopped returning; avoided the continual execution of automatic running device return and cause the mistake of power module to put damage; reach protection power source module, extended the effect in its life-span.
Another technical matters that the present invention solves is: provide a kind of can avoid automatic returning time power module cross the automatic running device of putting damage.
For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of automatic running device, selectively revert to bus stop, and described automatic running device comprises: walking module, drives automatic running device walking; Power module, for automatic running device provides energy; Energy detection unit, the energy level of detection power module; Control module, by energy detection unit, obtain the energy level of current power module, and control the duty of walking module, control module is controlled walking module and is driven automatic running device to return bus stop, control module is calculated the rate of change of the energy level of power module according to the energy level of current power module, when the absolute value of the rate of change of described energy level meets or exceeds predetermined threshold value, control module is controlled walking module and is stopped walking.
Preferably, described control module is set described predetermined threshold value in the course of the work.
Preferably, described automatic running device also comprises the type identification unit of sign power module type, and described control module is according to predetermined threshold value described in the signal sets of described type identification unit transmission.
Preferably, described automatic running device also comprises the load detecting unit of the load level that detects power module, and described control module is according to predetermined threshold value described in the signal sets of load detecting unit transmission.
Preferably, described energy detection unit detects the discharge temp of power module, and described control module is according to predetermined threshold value described in the signal sets of energy detection unit transmission.
Preferably, the rate of change of described energy level is that energy level is to the first order derivative of time, second derivative or higher derivative.
Preferably, the energy level of described power module with the voltage of power module or/and discharge current represent.
Preferably, described power module comprises the power brick with at least one battery unit, and the energy level of described power module is at least one in the energy level of the whole bag of power brick or the energy level of battery unit.
Preferably, the energy level that control module is confirmed current power module during lower than default energy level, is controlled walking module and is driven automatic running device to return bus stop.
Preferably, the absolute value of rate of change of energy level that control module is confirmed power module during lower than predetermined threshold value, is controlled walking module and is driven automatic running device to walk to bus stop.
Preferably, at automatic running device, in the process of bus stop walking, when control module confirms that automatic running device revert to bus stop, control walking module and stop walking.
Preferably, described automatic running device also comprises pilot signal sensing unit, the pilot signal that described pilot signal sensing units sense is relevant to the position of bus stop, described control module is controlled walking module according to pilot signal, drives automatic running device to walk to bus stop.
Preferably, described pilot signal is the electric signal on guide line, and described guide line is connected to bus stop; Electric signal described in described pilot signal sensing units sense, control module, according to the electric signal sensing, is controlled walking module and is travelled to guide line, along described guide line, drives automatic running device to walk to bus stop.
Preferably, described automatic running device also comprises operational module, and described operational module is carried out mowing work or dust suction work.
Beneficial effect of the present invention is: in the process returning; control module is known the rate of change of the energy level of energy module in real time; and judge whether described rate of change meets or exceeds predetermined threshold value; realization is in time controlled automatic running device and is stopped returning; avoided the continual execution of automatic running device return and cause the mistake of power module to put damage; reach protection power source module, extended the effect in its life-span.
Accompanying drawing explanation
Technical matters, technical scheme and the beneficial effect that above-described the present invention solves can, by the detailed description that can realize preferably specific embodiment of the present invention below, be described and clearly acquisition simultaneously by reference to the accompanying drawings.
Identical label in accompanying drawing and instructions and symbol are for representing element identical or that be equal to.
Fig. 1 is the schematic diagram of the automatic running device work system of a kind of better embodiment of the present invention;
Fig. 2 is the circuit module figure of the automatic running device shown in Fig. 1;
Fig. 3 is the workflow of Fig. 1 illustrated embodiment;
Fig. 4 is the power module discharge curve of Fig. 1 illustrated embodiment.
2 automatic running device 18 energy detection unit
4 charging station 20 pilot signal sensing units
6 charging guide line 22 processors
8 roller 24 storeies
10 control module 26 load detecting unit
12 walking module 28 type identification unit
14 power module I electric signal
16 operational modules
Embodiment
About detailed description of the present invention and technology contents, coordinate accompanying drawing to be described as follows, yet appended accompanying drawing only provide reference and explanation, is not used for the present invention to be limited.
Figure 1 shows that the schematic diagram of the automatic running device work system of a kind of better embodiment of the present invention.Automatic running device work system comprises automatic running device 2, charging station 4 and the charging guide line 6 being connected with charging station 4, pilot signal transmitter unit when 6 conducts of charging guide line return.In the present embodiment, charging guide line 6 is drawn from charging station 4, working range around automatic running device 2 is got back to charging station 4 after one week, also form the boundary line of automatic running device work system simultaneously, the Yi Neiwei perform region, region that charging guide line 6 surrounds is inoperative region beyond the region that charging guide line 6 surrounds.
In conjunction with Fig. 2, automatic running device 2 mainly comprises control module 10, walking module 12, power module 14, operational module 16, energy detection unit 18, pilot signal sensing unit 20, load detecting unit 26 and type identification unit 28.
One of the common composition of pilot signal sensing unit 20 and pilot signal transmitter unit returns guidance system, for guiding automatic running device 2 to return to charging station 4.
In the present embodiment, pilot signal transmitter unit is specially an electric signal generator, this signal generator and automatic running device 2 are separated, and the charging guide line 6 that connects this electric signal generator, electric signal generator sends electric signal I on charging guide line 6, pilot signal as from guiding automatic running device 2 to charging station walking, this signal generator is preferably integrated in charging station 4.Pilot signal sensing unit 20 is specially one or more inductance that are positioned on automatic running device 2.On charging guide line 6, carry vicissitudinous current signal I, it can produce the corresponding magnetic field changing in space around, and inductance by the variation magnetic field in inductive spacing the signal of induction charging guide line 6, and the signal sensing is passed to control module 10.Control module 10 is analyzed each feature of the signal sensing, and as the sensitive time, signal is strong and weak, and in the sigtnal interval etc., judgement automatic running device 2 is the relative position of charging guide line 6 relatively, and distance is far and near.Like this, when needs return, control module 10, according to the information obtaining, sends instruction to walking module 12, makes it drive automatic running device 2 to drive near charging guide line 6 or the top of charging guide line 6, and then returns to charging station 4 along charging guide line 6.
Returning guidance system can also have other implementation.Pilot signal transmitter unit can be ultrasonic transmission device, and pilot signal sensing unit 20 can be corresponding ultrasonic sensing device, return guidance system and by ultrasound wave, locate the position of charging station 4, and guiding automatic running device 2 returns to charging station 4.Pilot signal transmitter unit can also be infrared transmitting device, and pilot signal sensing unit 20 can be corresponding infrared induction device, return guidance system and by infrared ray, locate the position of charging station 4, and guiding automatic running device 2 returns to charging station 4.Pilot signal transmitter unit can also be for being arranged on the image collecting device on automatic running device 2, pilot signal sensing unit is pattern recognition device, and the image information that wherein pattern recognition device gathers according to image collecting device is confirmed the pilot signal relevant to charging station 4 positions.Pilot signal transmitter unit can also be gps satellite, pilot signal sensing unit is for being arranged on the GPS chip on automatic running device 2, GPS chip is determined the position of automatic running device 2 relative charging stations 4 by gps satellite, thereby determines the pilot signal relevant to charging station 4 positions.
Under the common cooperation of above introduced various piece, the present invention by described flow process below in other words method realize and return charging, and return the power brick Cross prevention in charging process.
It is recurrence in operational module 16 execution work processes charging judgement that workflow diagram as shown in Figure 3 had both been applicable in automatic running device 2 execution work processes, return that charging is carried out and power brick protection, recurrence charging judgement when operational module 16 not yet starts work while being also applicable to automatic running device 2 start, returns that charging is carried out and power brick protection.
In initial step S0, automatic running device 2 is in open state, and now automatic running device 2 not yet starts execution work.
Enter subsequently step S1, control module 10 is by the energy level of energy detection unit 18 monitoring power brick.The energy level of power brick can be the residual capacity of power brick, sparking voltage, discharge current, discharge time, discharge temp etc.; The energy level of power brick can be the energy level of the whole bag of power brick, the energy level of the energy level of some battery units, certain several battery unit, the combination of the energy level of each battery unit or aforementioned energy level.As previously mentioned, in the present embodiment, energy detection unit 18 detects the whole bag voltage of power brick of the energy level that has represented power brick, and sends it to control module 10.
After step S1, enter step S2, whether the energy level of the power module 14 that control module 10 judgements are obtained by energy detection unit 18 is lower than the first default energy level.This first default energy level is pre-stored in the storer 24 of control module 10, the processor 22 of control module 10 compares this first default energy level with the energy level of the power module 14 detecting, if the energy level of power module 14, lower than the first default energy level, enters step S6.In step S6, control module 10 is controlled automatic running device and is started recurrence.If the energy level of power module 14 is not less than the first default energy level, enter step S3.As previously mentioned, in the present embodiment, because the energy level of power module 14 represents with the whole bag voltage of power brick, in storer 24, storage is a first predeterminated voltage value, and processor 22 is also by comparing the magnitude relationship of the whole bag voltage of power brick and described the first predeterminated voltage value, judge the magnitude relationship of the first default energy level and the energy level of the power module 14 detecting.Although in the present embodiment, when the energy level of power module 14 equals the first default energy level, flow process is returned to step S3, if now flow process to enter step S6 be also feasible.
In step S3, control module 10 is controlled operational module 16 startup work, thereby carries out corresponding work, as dust suction or mowing work.After step S3, enter step S4.In step S4, carry out the work identical with step S1, control module 10 is the whole bag voltage of power brick by the energy level of energy detection unit 18 monitoring power modules 14.
After step S4, enter step S5, control module 10 judges that whether the energy level of power module 14 is lower than the second default energy level.This second default energy level is pre-stored in the storer 24 of control module 10, the processor 22 of control module 10 compares this second default energy level with the energy level of the power module 14 detecting, if the energy level of power module 14 is not less than the described second default energy level, get back to step S3, automatic running device 2 works on, and does not carry out other actions; Otherwise, if the energy level of power module 14 is lower than the described second default energy level, enter step S6, start and make automatic running device return to the action of charging station.In the present embodiment, because the energy level of power module 14 represents with the voltage of power brick, in storer 24, storage is a second predeterminated voltage value, and processor 22 is also by comparing the magnitude of voltage of power brick and the magnitude relationship of described the second predeterminated voltage value, judge the magnitude relationship of the second default energy level and the energy level of the power module 14 detecting.Although in the present embodiment, when the energy level of power module 14 equals the second default energy level, flow process is returned to step S3, if now flow process to enter step S6 be also feasible.
As previously mentioned, in the storer 24 of control module 10, the first default energy level and the second default energy level have been stored respectively.Wherein, the first default energy level is that, before operational module 16 execution works of automatic running device, control module 10 judges whether to control automatic running device and starts the condition returning; The second default energy level is that, in the operational module 16 execution work processes of automatic running device, control module 10 judges whether to control automatic running device and starts the condition returning.The first default energy level can be identical with the second default energy level, also can be not identical.If when identical, the storer 24 of control module 10 only needs to store a default energy level, under this situation, in step S2 and step S5, being used as the first default energy level and the second default energy level that the energy level with the power module 14 detecting compares is same default energy level.Preferably, the first default energy level is not identical, more preferred with the second default energy level, and the storer 24 of control module 10 is according to the default energy level of difference storage first of power module 14 load levels and the second default energy level.When the energy level of power module 14 and the first default energy level are compared due to processor 22, operational module 16 not yet starts execution work, the less energy intensive of automatic running device to power module 14, and the load level of power module 14 is little; And processor 22 is while comparing the energy level of power module 14 and the second default energy level, operational module 16 has started execution work, automatic running device is more to the power consumption of power module 14, the load level of power module 14 is large, so the first default energy level of storer 24 storages of control module 10 is not higher than the second default energy level.When the first default energy level and the second default energy level are set, need to consider whether the remaining energy level of power module 14 is enough to support automatic running device and revert to charging station.In present embodiment, automatic running device revert to the required energy of charging station and is about 100mAh left and right, but for improving reliability, the dump energy that retains power module 14 while setting the first default energy level and the second default energy level is 200mAh.In present embodiment power module 14 for rated voltage be 28V, lithium that capacity is 2000mAh electricity power brick, and the energy level of the whole bag voltage response power module 14 by power brick.According to experiment, learn, residual capacity is 200mAh, and power brick is not while being applied in load, and the whole bag voltage of power brick is 24.5V left and right; Residual capacity is 200mAh, and while applying the load of about 0.6A, the whole bag voltage of power brick is 23V left and right.Therefore the storer 24 of controller is stored respectively two the first predeterminated voltage value and the second predeterminated voltage values that numerical value is different, and wherein the first predeterminated voltage is 24.5V, and the second predeterminated voltage is 23V.Hence one can see that, and in present embodiment, the first predeterminated voltage value and the second predeterminated voltage value are fixed value, and the first predeterminated voltage value is lower than the second predeterminated voltage value.
Abovementioned steps S0 has described to step S5, and automatic running device 2 judges whether that starting the mode returning is to judge that whether the energy level of power module 14 is lower than default energy level.Except passing through aforementioned manner, the mode that can also return by receiving user instruction starts recurrence, as passed through on the housing of automatic running device 2, the pressure that user-operable is set returns button, when closed this of user forced to return button, the state that control module 10 can detect this pressure recurrence button transfers closure to by disconnection, thereby recognize user, forces the instruction returning, and controls automatic running device 2 and starts recurrence.
After the energy level of control module 10 judgement power modules 14 is lower than default energy level, for conserve energy, in regression process, conventionally the quit work operation of module 16 of automatic running device 2.
Enter after step S6, automatic running device 2 starts recurrence action, starts to return charging station 4.After step S6, be step S7.In step S7, carry out and action identical in step S1 or S4, control module 10 is by the energy level of energy detection unit 18 monitoring power modules 14.
After step S7, automatic running device 2 enters step S8, and control module 10 is obtained the energy level of current power module 14 by energy detection unit 18, and according to the rate of change of current energy level calculating energy level.Why select the rate of change of calculating energy level, be because through studying for a long period of time and observing discovery, power module 14 is dump energy level when higher at the electric discharge initial stage, and the variation of energy level is mild, and be latter stage dump energy level when very low in electric discharge, the variation of energy level is violent.In these two stages, the rate of change of energy level has very significantly difference, therefore as long as can learn by the rate of change of calculating energy level power module 14 is in which discharge regime, thereby can learn and whether need to stop the further electric discharge to power module 14, prevent that power module 14 is because excessively putting the infringement bringing.
For further describing above-mentioned characteristic, take the change curve of voltage in power module 14 discharge processes as example is in conjunction with describing as Fig. 4.As Fig. 4 has shown in power module 14 discharge processes, the discharge curve of voltage to the time, this discharge curve comprises A and B two parts, wherein the voltage of A part slowly reduces, and the voltage of B part acutely reduces, and in B part, power brick dropped to and put cut-off voltage Umin at extremely short time voltage, if still continue power module 14 to discharge lower than Umin at voltage, can cause the mistake of power module 14 is put, thereby cause the infringement of power module 14.In above-mentioned B part, change in voltage is very obvious, therefore by calculating rate of change and judging whether rate of change reaches predetermined threshold value and can learn whether power brick is about to approach put, thereby can effectively protect power module 14.Can to the first order derivative of time, carry out the rate of change of calculating energy level by calculating the energy level of power module 14, also can to the second derivative of time or higher derivative, carry out the rate of change of calculating energy level by calculating the energy level of power module 14, wherein second derivative first order derivative relative to higher derivative has more significantly variation, more easily be detected, but correspondingly calculate also more complicated.The mode of the rate of change of the energy level of control module 10 calculating power modules 14 can realize by hardware, also can realize by software.Hardware mode is as passed through differentiating circuit, and software mode is as the changes delta p of the power brick energy level by one section of continuous time interval Δ t of calculating, i.e. Δ p/ Δ t; Or the variation of calculating Δ p/ Δ t in one section of continuous time interval Δ t, i.e. d
2p/d
2t; Or calculate d in one section of continuous time interval Δ t
2p/d
2the variation of t etc.In present embodiment, the rate of change of the energy level of power module 14 obtains the first order derivative of time by calculating the energy level of power module 14.Because the energy level of power module in present embodiment 14 is the whole bag voltage of power brick, the rate of change of the energy level of power module 14 is the first order derivative of the whole bag voltage of power brick to the time.Control module 10 obtains the whole bag magnitude of voltage of power brick in real time by energy detection unit 18, and is stored in storer 24.Processor 22 obtains the whole bag magnitude of voltage of power brick on the first particular point in time and the whole bag magnitude of voltage of power brick on the second particular point in time after Preset Time interval of delta t from storer 24, and calculate the voltage difference Δ V on these two particular point in times, then the ratio that calculates Δ V and Δ t is Δ V/ Δ t, and the energy level that obtains thus power module 14 is the rate of change of energy level to the first order derivative of time.In addition,, when the energy level of power module 14 represents with the discharge current of power module 14, discharge temp etc., in the situation that loading specific load, discharge current to the voltage shown in the curve of time and Fig. 4 to the class of a curve of time seemingly; In the situation that guaranteeing specific discharge current, discharge temp to the curve of time with the voltage shown in Fig. 4 to the class of a curve of time seemingly.Therefore, when energy level is during with discharge current, discharge temp isoparametric formulations, also can determine the time point that stops power module 14 to continue electric discharge by the rate of change of calculating energy level, realize the protection to power module 14.
After step S8, enter step S9, automatic running device 2 is that the rate of change of the energy level of power module 14 is set a predetermined threshold value.As shown in Figure 4, the energy level of power module 14 there will be the variation in A and two stages of B with the prolongation of working time, wherein the A stage mild, the B stage is violent.But the severe degree to B phase change, has a plurality of parameters to exert an influence, as the type of power module 14, load level, discharge temp etc.When B phase change severe degree is different; the rate of change that stops energy level corresponding on the time point of electric discharge at needs is inevitable different; therefore according to the parameter that B phase change severe degree is exerted an influence; predetermined threshold value is set; can determine more accurately the time point that need to stop electric discharge, better power module be protected.If automatic running device exists the dissimilar power module 14 of application to provide the possibility of energy for it,, when setting predetermined threshold value, be preferably according to dissimilar power module 14 and set different predetermined threshold value; Otherwise, if automatic running device is only applied the power module 14 of a type for it provides energy, when setting predetermined threshold value without setting different predetermined threshold value according to dissimilar power module 14.In addition, if automatic running device, in returning the process of charging station, when the fluctuation of the load level of power module 14 is larger, is preferably the predetermined threshold value different according to different load level set; If automatic running device is in returning the process of charging station, the fluctuation of the load level of power module 14 is less, without the predetermined threshold value different according to load level set; No matter whether difference or load level fluctuation size of the type of power module 14, preferably, sets predetermined threshold value according to the discharge temp of power module 14.Certainly, if automatic running device is only used a kind of power module 14 power supplies of chemical type, and in regression process, the load level of power module 14 changes less; Although or automatic running device is used power module 14 load levels in dissimilar power module 14 power supplies and/or regression process to fluctuate large, but for making workflow easy, predetermined threshold value can be also fixing preset value, when automatic running device 2 dispatches from the factory, predetermined threshold value is set, and in automatic running device 2 courses of work, can not adjust according to the change of the load level of power module 14, type, discharge temp.When predetermined threshold value is fixed value, step S8 can be exempted, and, after step S7, execution step S9, without setting steps S8.
In the present embodiment, control module 10 is set predetermined threshold value according to the type of power module 14, load level and discharge temp.Particularly, control module 10 detects the discharge current of power brick by load detecting unit 26, be 0.6A to 1A in present embodiment.By type identification unit 28, detect the type of power brick, be lithium battery in present embodiment simultaneously.In addition, control module 10 also detects the temperature of power module 14 by temperature detecting unit, and the working method of temperature detecting unit is well known to those skilled in the art, for simplicity, not shown in diagram.After knowing the discharge current of power brick, discharge temp and type, the threshold value table being stored in storer 24 by real-time query is set predetermined threshold value 0.02V/S.
Due in the present embodiment, what load detecting unit 26 detected is the discharge current of power module 14, and discharge current can be also the expression parameter of the energy level of power module 14, when energy level represents by discharge current and when energy detection unit 18 is set to detect the discharge current of power module 14, the function of load detecting unit 26 also can directly be realized by energy detection unit 18.In addition, preferably, the function of temperature detecting unit also can directly be completed by energy detection unit 18.
After step S9, automatic running device 2 enters step S10, drives automatic running device 2 to charging station 4 walkings, to revert to charging station 2.Automatic running device 2 is found and the relevant pilot signal in charging station 4 positions by pilot signal sensing unit 20, and walks to charging station 4 according to pilot signal.The field signal foregoing, pilot signal sensing unit 20 is around produced by the electric signal on charging guide line 6 by induction, to 6 walkings of charging guide line, walks towards charging station along charging guide line 6 subsequently.
After execution step S10, enter step S12, control module 10 judges whether automatic running device 2 successfully revert to charging station 4, be specially judge automatic running device 2 charging terminal whether with the power supply terminal of charging station 4 to connecting.Conventionally, whether this judgement has received outside voltage on described charging terminal or signal is realized by monitoring, yet this judgement also can be carried out as other modes such as position, crash sensors by other.If the determination result is YES, automatic running device 2 has revert to charging station 4, enters step S14, and control module 10 is controlled automatic running device 2 and stopped walking, and starts charging.If the determination result is NO, enter step S16.
Step S16 judges whether the absolute value of rate of change of the energy level of power brick meets or exceeds predetermined threshold value.If the result of step 16 judgement is no, the absolute value of the rate of change of the energy level of power brick, lower than predetermined threshold value, returns to step S10 and continues to carry out the action that returns charging station 4.If the determination result is YES, the rate of change of the energy level of power brick meets or exceeds predetermined threshold value, enters step S18.In step S18, automatic running device 2 enters the state that stops walking.Be specially by control module 10 control walking module 12 and stop walking.
In workflow shown in Fig. 3, no matter whether automatic running device 2 successfully revert to charging station 4, and it meets or exceeds after predetermined threshold value at the energy level of power brick, all in stopping the state of walking.That is,, if automatic running device 2 had successfully revert to charging station 4 before the energy level of power brick meets or exceeds predetermined threshold value, it can be in stopping the state of walking and charging in charging station 4; If automatic running device 2 does not still successfully revert to charging station when the energy level of power brick meets or exceeds predetermined threshold value, it also can be in stopping the state of walking.Such workflow has avoided automatic running device 2 in the time cannot returning smoothly, still constantly finds charging station 4, and cause power brick to be crossed, puts damage.
Preferably, when judgment result is that of step S16 is, control module 10 is also controlled automatic running device 2 and is sent a charging alerting signal, to remind user's automatic running device 2 to need artificial assistance to return charging station 4.This charging alerting signal can be for being presented at the graph text information on the display panel of automatic running device 2, also can be special alarm sound signal, can also be for long distance wireless is sent to the information on other equipment of user, as sent to short message on user's mobile phone or other prompting messages etc. by telephone network.
By workflow as above, automatic running device 2 can started shooting, or according to the energy level of power brick, starts recurrence in work in good time, and in regression process, power brick is carried out to Cross prevention.
Although when describing each step of this flow process, taked the describing mode of free priority, the describing mode of this priority does not represent between each step must follow strict order, but can carry out suitable adjustment as required, as after step S8 can be arranged on step S9; Step S10 also can be between step S6 and step S7 etc.Based on principle of the present invention, those skilled in the art can carry out suitable adjustment to the step in this flow process, all can realize effect of the present invention.
The present invention, except being applicable to return the automatic running device 2 that charging station 4 charges, is also applicable to return the automatic running device 2 of workstation or other specific device.Judge whether to revert to workstation or other specific device can by with judge whether that reverting to the mode that charging station is identical realizes, also, in the time of can reaching in a certain particular range of workstation or other specific device by automatic running device 2, automatic running device 2 mutually sends wireless signal with workstation or other specific device and confirms.
Claims (26)
1. automatic running device returns a control method for bus stop, and described automatic running device comprises the power module that energy is provided, and it is characterized in that, described control method comprises the steps:
Control automatic running device and start recurrence;
Detect the energy level of power module;
Calculate the rate of change of the energy level of power module;
When the absolute value of the rate of change of described energy level meets or exceeds predetermined threshold value, control automatic running device and stop returning.
2. control method according to claim 1, is characterized in that: described control method also comprises the step of setting predetermined threshold value.
3. control method according to claim 2, is characterized in that: according at least one parameter in the type of power module, load level or discharge temp, set predetermined threshold value.
4. control method according to claim 1, is characterized in that: the rate of change of described energy level is that energy level is to the first order derivative of time, second derivative or higher derivative.
5. control method according to claim 1, is characterized in that: the energy level of described power module with the voltage of power module or/and discharge current represent.
6. control method according to claim 1, it is characterized in that: described power module comprises the power brick with at least one battery unit, the energy level of described power module is at least one in the energy level of the whole bag of power brick or the energy level of battery unit.
7. control method according to claim 1, is characterized in that: when the energy level of power module is during lower than default energy level, control automatic running device and start and return.
8. control method according to claim 1, is characterized in that: when the absolute value of the rate of change of the energy level of power module is during lower than predetermined threshold value, drive automatic running device to walk to bus stop.
9. control method according to claim 8, is characterized in that: drive automatic running device in the process of bus stop walking, when automatic running device revert to bus stop, control automatic running device and stop returning.
10. control method according to claim 8, is characterized in that: described driving automatic running device comprises to the step of bus stop walking: find the pilot signal relevant to bus stop position; According to pilot signal, drive automatic running device to walk to bus stop.
11. control methods according to claim 10, it is characterized in that: described pilot signal is the electric signal on guide line, described guide line is connected to bus stop, and described driving automatic running device is specially to the step of bus stop walking: find described electric signal; According to described electric signal, run to guide line, drive automatic running device to walk to bus stop along described guide line.
12. control methods according to claim 1, is characterized in that: described automatic running device is carried out dust suction work or mowing work.
13. 1 kinds of automatic running devices, selectively revert to bus stop, and described automatic running device comprises:
Walking module, drives automatic running device walking;
Power module, for automatic running device provides energy;
Energy detection unit, the energy level of detection power module;
Control module, by energy detection unit, obtain the energy level of current power module, and control the duty of walking module, it is characterized in that: control module is controlled walking module and driven automatic running device to return bus stop, control module is calculated the rate of change of the energy level of power module according to the energy level of current power module, when the absolute value of the rate of change of described energy level meets or exceeds predetermined threshold value, control module is controlled walking module and is stopped walking.
14. automatic running devices according to claim 13, is characterized in that: described control module is set described predetermined threshold value in the course of the work.
15. automatic running devices according to claim 14, it is characterized in that: described automatic running device also comprises the type identification unit of sign power module type, described control module is according to predetermined threshold value described in the signal sets of described type identification unit transmission.
16. automatic running devices according to claim 14, it is characterized in that: described automatic running device also comprises the load detecting unit of the load level that detects power module, described control module is according to predetermined threshold value described in the signal sets of load detecting unit transmission.
17. automatic running devices according to claim 14, is characterized in that: described energy detection unit detects the discharge temp of power module, and described control module is according to predetermined threshold value described in the signal sets of energy detection unit transmission.
18. automatic running devices according to claim 13, is characterized in that: the rate of change of described energy level is that energy level is to the first order derivative of time, second derivative or higher derivative.
19. automatic running devices according to claim 13, is characterized in that: the energy level of described power module with the voltage of power module or/and discharge current represent.
20. automatic running devices according to claim 13, it is characterized in that: described power module comprises the power brick with at least one battery unit, the energy level of described power module is at least one in the energy level of the whole bag of power brick or the energy level of battery unit.
21. automatic running devices according to claim 13, is characterized in that: the energy level that control module is confirmed current power module during lower than default energy level, is controlled walking module and driven automatic running device to return bus stop.
22. automatic running devices according to claim 13, is characterized in that: the absolute value of rate of change of energy level that control module is confirmed power module during lower than predetermined threshold value, is controlled walking module and driven automatic running device to walk to bus stop.
23. automatic running devices according to claim 22, is characterized in that: at automatic running device, in the process of bus stop walking, when control module confirms that automatic running device revert to bus stop, control walking module and stop walking.
24. automatic running devices according to claim 22, it is characterized in that: described automatic running device also comprises pilot signal sensing unit, the pilot signal that described pilot signal sensing units sense is relevant to the position of bus stop, described control module is controlled walking module according to pilot signal, drives automatic running device to walk to bus stop.
25. automatic running devices according to claim 24, is characterized in that: described pilot signal is the electric signal on guide line, and described guide line is connected to bus stop; Electric signal described in described pilot signal sensing units sense, control module, according to the electric signal sensing, is controlled walking module and is travelled to guide line, along described guide line, drives automatic running device to walk to bus stop.
26. automatic running devices according to claim 13, is characterized in that: described automatic running device also comprises operational module, and described operational module is carried out mowing work or dust suction work.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210261668.2A CN103576681B (en) | 2012-07-26 | 2012-07-26 | Automatic traveling device and control method thereof |
| PCT/CN2013/072003 WO2013127350A1 (en) | 2012-03-02 | 2013-02-28 | Automatically travelling device and control method therefor |
| US14/382,441 US9440350B2 (en) | 2012-03-02 | 2013-02-28 | Automatically travelling device and control method therefor |
| EP13754033.2A EP2821874B1 (en) | 2012-03-02 | 2013-02-28 | Automatically travelling device and control method therefor |
| US15/208,899 US10105838B2 (en) | 2012-03-02 | 2016-07-13 | Automatically travelling device and control method therefor |
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| CN201210261668.2A CN103576681B (en) | 2012-07-26 | 2012-07-26 | Automatic traveling device and control method thereof |
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| CN103576681A true CN103576681A (en) | 2014-02-12 |
| CN103576681B CN103576681B (en) | 2017-04-12 |
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