CN103744425A - Automatic working equipment and its control method - Google Patents
Automatic working equipment and its control method Download PDFInfo
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- CN103744425A CN103744425A CN201310370784.2A CN201310370784A CN103744425A CN 103744425 A CN103744425 A CN 103744425A CN 201310370784 A CN201310370784 A CN 201310370784A CN 103744425 A CN103744425 A CN 103744425A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Abstract
The invention discloses a control method of automatic working equipment. The control method comprises the following steps: an inclination sensor detects inclination of the automatic working equipment and sends the inclination information to a master control module; the master control module identifies operation scene of the automatic working equipment; the master control module executes a corresponding preset control program according to the operation scene; and the preset control program controls the automatic working equipment to operate according to the inclination. In particular circumstances such as the case that the automatic walking equipment walking on an inclined plane, working and walking modes are timely adjusted according to the inclination and current operation scene. Thus, it is ensured that the automatic working equipment can always work normally; walking and working range of the automatic working equipment is expanded; and walking and working efficiency of the automatic working equipment is raised.
Description
Technical field
The present invention relates to a kind of automatic operation equipment and control method thereof.
Background technology
Along with the continuous progress of science and technology, various automatic operation equipment has started the life of coming into people slowly, such as automatic cleaner and automatic mower etc.This automatic operation equipment has running gear, equipment, and automaton, thereby make automatic operation equipment can depart from people's operation, automatically walking execution work within the specific limits, when the energy storage device energy shortage of automatic operation equipment, it can charge by auto-returned charging station device, then works on.Clean from house people, turf-mown etc. is the uninteresting and housework work of wasting time and energy of this automatic operation equipment, free, saved people's time, for people's life has brought facility.
Automatic operation equipment is when automatically walking, often need to be according to predefined walking path walking, for example, in order to improve the work efficiency of automatic operation equipment, people allow automatic operation equipment along predefined path, walk in perform region, can avoid automatic operation equipment to repeat walking work; In order to allow automatic operation equipment can return easily charging station, people are arranged at charging station on the boundary line of perform region, and allow automatic operation equipment return to charging station etc. along boundary line walking.
But when automatic operation equipment is walked on dip plane, owing to being subject to the impact of gravity, the run trace of automatic operation equipment can depart from.Particularly automatic operation equipment is when descending, under the effect of gravity, the speed of automatic operation equipment walking is accelerated, if now default track route is curve or turns to, automatic operation equipment can be because the too fast speed of travel, miss curve or turn to, depart from predefined walking path, make automatic operation equipment repeated work in perform region, or miss subregion and do not carry out work, or when automatic operation equipment need to charge, cannot return to smoothly charging station.The work efficiency of automatic operation equipment is lower, and work quality is poor, also likely because returning to charging station, causes electric weight to exhaust, and cannot finish the work smoothly.The reliability of automatic operation equipment automatic operation is poor.
In addition,, usually there is natural or artificial slope in garden in lawn, and the power limited of intelligent grass-removing is unsuitable for walking and cutting on the higher slope of the gradient, and therefore, when ramp slope is higher, intelligent grass-removing can directly turn to and leave slope.This can cause the lawn on slope to cut, and affects the attractive in appearance of garden or lawn.
Summary of the invention
For solving the problems of the technologies described above, the invention provides the control method of a kind of intellectuality, automatic operation equipment that working range is wide.
For achieving the above object, technical scheme provided by the invention is: a kind of control method of automatic operation equipment, and described automatic operation equipment comprises: walking module, drives the walking of automatic operation equipment; Operational module, carries out predetermined work; Energy-storage module, for automatic operation equipment provides energy; Main control module, controls the operation of automatic operation equipment; Inclination sensor, the degree of tilt of induction automatic operation equipment, is characterized in that, described control method comprises the following steps: inclination sensor detects the degree of tilt of automatic operation equipment, and inclination information is sent to main control module; The Run-time scenario of main control module identification automatic operation equipment; Main control module is carried out corresponding default control program according to Run-time scenario, and described default control program is moved according to control of gradient automatic operation equipment.
Preferably, in described default control program, main control module judges according to described degree of tilt whether automatic operation equipment is positioned on dip plane, if so, controls automatic operation equipment and continues to move on dip plane.
Preferably, described Run-time scenario comprises and returns to scene, and the automatic operation equipment in scene that returns returns to bus stop along preset path; When Run-time scenario is when returning to scene, default control program is corresponding for returning to control program, described returning in control program, main control module detects the walking states of automatic operation equipment, based on the walking module of automatic operation equipment described in described degree of tilt and described walking states control, while making it on dip plane, keep walking along preset path.
Preferably, described in return to control program and comprise, when detecting that described automatic operation equipment is more than or equal to the dip plane of preset value when descending along degree of tilt, based on the speed of travel of automatic operation equipment described in described control of gradient.
Preferably, described automatic operation equipment reduces the energy of supply walking or the damping force contrary with direction of travel is provided.
Preferably, described automatic operation equipment is complied with the mode control speed of travel being inversely proportional to degree of tilt.
Preferably, described in return to control program and comprise, when described automatic operation equipment departs from described preset path, by turning to or retreating, return described preset path.
Preferably, described in return to control program and comprise, when detecting that described automatic operation equipment is when with the angled direction walking of vergence direction, described automatic operation equipment correction direction of travel is to walk along preset path.
Preferably, described automatic operation equipment compared with the more energy of the driving wheel of opposite side, is revised direction of travel by the driving wheel supply to a side.
Preferably, described preset path is the boundary line of the perform region of automatic operation equipment.
Preferably, described Run-time scenario comprises operative scenario, and in operative scenario, automatic operation equipment is walked in perform region by walking module, and carries out predetermined work by operational module; When Run-time scenario is operative scenario, default control program is job control program accordingly, in described job control program, when inclination sensor monitors described degree of tilt and is more than or equal to preset value, master control module controls automatic operation equipment is walked along serrate path.
Preferably, on each section in described serrate path, the direction of travel of automatic operation equipment is all angled with the vergence direction of described dip plane.
Preferably, described main control module is according to the size of degree of tilt, the adjusting speed of travel being inversely proportional to.
Preferably, described preset value at 3 degree between 30 degree.
For achieving the above object, technical scheme provided by the invention is: a kind of automatic operation equipment, comprising: walking module, drives the walking of automatic operation equipment; Operational module, carries out predetermined work; Energy-storage module, for automatic operation equipment provides energy; Main control module, controls the operation of automatic operation equipment; Inclination sensor, the degree of tilt of induction automatic operation equipment, inclination sensor detects the degree of tilt of automatic operation equipment, and inclination information is sent to main control module; The Run-time scenario of main control module identification automatic operation equipment; Main control module is carried out corresponding default control program according to Run-time scenario, and described default control program is moved according to control of gradient automatic operation equipment.
Preferably, in described default control program, main control module judges according to described degree of tilt whether automatic operation equipment is positioned on dip plane, if so, controls automatic operation equipment and continues to move on dip plane.
Preferably, described Run-time scenario comprises and returns to scene, and the automatic operation equipment in scene that returns returns to bus stop along preset path; When Run-time scenario is when returning to scene, default control program is corresponding for returning to control program, described returning in control program, main control module detects the walking states of automatic operation equipment, based on the walking module of automatic operation equipment described in described degree of tilt and described walking states control, while making it on dip plane, keep walking along preset path.
Preferably, described in return to control program and comprise, when detecting that described automatic operation equipment is more than or equal to the dip plane of preset value when descending along degree of tilt, based on the speed of travel of automatic operation equipment described in described control of gradient.
Preferably, described automatic operation equipment reduces the energy of supply walking or the damping force contrary with direction of travel is provided.
Preferably, described automatic operation equipment is complied with the mode control speed of travel being inversely proportional to degree of tilt.
Preferably, described in return to control program and comprise, when described automatic operation equipment departs from described preset path, by turning to or retreating, return described preset path.
Preferably, described in return to control program and comprise, when detecting that described automatic operation equipment is when with the angled direction walking of vergence direction, described automatic operation equipment correction direction of travel is to walk along preset path.
Preferably, described automatic operation equipment compared with the more energy of the driving wheel of opposite side, is revised direction of travel by the driving wheel supply to a side.
Preferably, described preset path is the boundary line of the perform region of automatic operation equipment.
Preferably, described Run-time scenario comprises operative scenario, and in operative scenario, automatic operation equipment is walked in perform region by walking module, and carries out predetermined work by operational module; When Run-time scenario is operative scenario, default control program is job control program accordingly, in described job control program, when inclination sensor monitors described degree of tilt and is more than or equal to preset value, master control module controls automatic operation equipment is walked along serrate path.
Preferably, on each section in described serrate path, the direction of travel of automatic operation equipment is all angled with the vergence direction of described dip plane.
Preferably, described main control module is according to the size of degree of tilt, the adjusting speed of travel being inversely proportional to.
Preferably, described preset value at 3 degree between 30 degree.
For achieving the above object, another kind of technical scheme provided by the invention is: a kind of control method of automatic operation equipment, and described control method comprises the steps: that automatic operation equipment walks along preset path in perform region; Detect the inclined degree of described automatic operation equipment; Detect the walking states of described automatic operation equipment; Based on the walking manner of automatic operation equipment described in described inclined degree and described walking states control, while making it on dip plane, keep walking along preset path.
Preferably, described preset path is the boundary line of automatic operation equipment perform region.
Preferably, described control method also comprises the steps: when detecting that described automatic operation equipment is more than or equal to the dip plane of preset value when descending along inclined degree, based on the speed of travel of automatic operation equipment described in described inclined degree control.
Preferably, described automatic operation equipment reduces the energy of supply walking.
Preferably, described automatic operation equipment provides the damping force contrary with direction of travel.
Preferably, described automatic operation equipment is complied with the mode control speed of travel being inversely proportional to inclined degree.
Preferably, when described automatic operation equipment departs from described boundary line, by turning to or retreating, return described boundary line.
Preferably, described control method also comprises the steps: that described automatic operation equipment correction direction of travel is to walk along preset path when described automatic operation equipment edge being detected with the angled direction walking of vergence direction.
Preferably, described automatic operation equipment compared with the more energy of the driving wheel of opposite side, is revised direction of travel by the driving wheel supply to a side.
Preferably, the data that described automatic operation equipment detects based on acceleration transducer or the load of walking module judge inclined degree.
The present invention also provides the automatic operation equipment that a kind of reliability is high: a kind of automatic operation equipment along preset path walking work, comprising in perform region: housing, and walking module, drives described automatic operation equipment walking; Main control module, controls described walking module; Detection module, detects walking states and the inclined degree of described automatic operation equipment; Described main control module is revised the walking manner of described automatic operation equipment based on described inclined degree and described walking states, keep walking along preset path while making it on dip plane.
Preferably, described automatic operation equipment is automatic mower or automatic cleaner.
Preferably, described preset path is the boundary line of automatic operation equipment perform region.
Preferably, when detecting described automatic operation equipment, described detection module is more than or equal to the dip plane of preset value when descending along inclined degree, the speed of travel of walking module described in described master control module controls.
Preferably, when described automatic operation equipment departs from described preset path, walking module turns to and returns to described preset path described in described master control module controls.
Preferably, described detection module comprises at least one in acceleration transducer, inclination sensor, displacement transducer or GPS module.
Preferably, when described detection module detects described automatic operation equipment edge with the angled direction walking of vergence direction, described main control module adjustment is revised the direction of travel of described walking module to walk along preset path.
Preferably, described walking module comprises at least two driving wheels that are relatively arranged on automatic operation apparatus casing both sides, described main control module based on inclined degree and walking states wherein the driving wheel of a side more energy is provided.
Compared with prior art, automatic operation equipment provided by the invention and control method thereof, when making automatic operation equipment walk in dip plane etc. in particular cases, according to degree of tilt and current Run-time scenario, adjust timely work and walking manner, guaranteed that automatic operation equipment can normally work all the time, improved scope and the efficiency of automatic operation equipment walking work.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the invention will be further described:
Fig. 1 is the schematic diagram of the automatic operation equipment that provides of embodiment of the present invention.
Fig. 2 is the side schematic view of the automatic operation equipment that provides of embodiment of the present invention.
Fig. 3 is the module map of the automatic operation equipment that provides of embodiment of the present invention.
Fig. 4 is the schematic diagram of the automatic operation equipment that provides of embodiment of the present invention in perform region.
Fig. 5 is the general flow chart of the control method of the automatic operation equipment that provides of embodiment of the present invention
Fig. 6 is the schematic diagram of the automatic operation equipment that provides of embodiment of the present invention along preset path walking.
Fig. 7 is the process flow diagram of the first control method of returning to control program of the automatic operation equipment that provides of embodiment of the present invention.
Fig. 8 is the process flow diagram of the second control method of returning to control program of the automatic operation equipment that provides of embodiment of the present invention.
Fig. 9 is the process flow diagram of the third control method of returning to control program of the automatic operation equipment that provides of embodiment of the present invention.
Figure 10 be the automatic operation equipment that provides of embodiment of the present invention in job control program, the walking path schematic diagram on dip plane.
Figure 11 is the process flow diagram of the job control program of the automatic operation equipment that provides of embodiment of the present invention.
Wherein
Embodiment
Automatic operation equipment can be in perform region walking work automatically, for example automatic mower, or automatic cleaner, they walk on lawn or ground automatically, mow or dust suction work.Certainly, automatic operation equipment is not limited to automatic mower and automatic cleaner, can be also the equipment of other types, such as automatic spraying equipment or automatic monitoring equipment etc.By automatic operation equipment, realize the unattended operation of work in every.
Refer to Fig. 1, Fig. 2, automatic operation equipment 1 comprises walking module 11, operational module 12, energy-storage module 13, main control module 14, detection module 15, user interface 16 and accommodate shell 17 of above-mentioned module etc.
Walking module 11 is for realizing the movement of automatic operation equipment 1 in perform region, walking module 11 comprises the driving wheel 111a, the 111b that are symmetricly set in automatic operation equipment 1 both sides, driving wheel 111a, 111b are driven respectively by multiple motors conventionally, and the rotating speed of each motor or to turn to be controlled, thereby in the process of walking at automatic operation equipment 1, by the rotating speed that regulates driving wheel 111a, 111b, turn to flexibly.
Energy-storage module 13 is generally chargeable battery, for automatic operation equipment 1 operation provides electric power, also can connect external power source during lower than predetermined value in reserve power and charge; Preferably, energy-storage module 13, with charging or discharge prevention unit, can be protected the charge or discharge of energy-storage module 13.Certainly, energy-storage module can be also the energy supply device of other types, for example solar power supply apparatus, gasoline engine or fuel cell etc.
Please also refer to Fig. 3, detection module 15 is for detection of the information relevant to automatic operation equipment 1, and provides detection information to main control module 14, for walking and the work of automatic operation equipment provide parameter.In the present embodiment, detection module 15 comprises inclination sensor 153, inclination sensor 153 detect automatic operation equipment 1 with respect to degree of tilt, and inclination information is sent to main control module 14.Detection module 15 also can comprise the sensor of responding to border, perform region, the sensor of induction weather condition, and the sensor of induction self geographical position, induction self-operating parameter is as the sensor of working current, dump energy, circuit, signal pins etc.
Inclination sensor 153 detects the degree of tilt of automatic operation equipment 1.If inclination sensor 153 general types, only detect automatic operation equipment 1 degree of tilt with respect to the horizontal plane; If three axle inclination sensors, can detect the degree of tilt of automatic operation equipment 1 in three dimensions, comprise and detect fuselage orientation information.
Refer to Fig. 4, automatic operation equipment 1 in perform region, perform region be by the boundary line 3 manually arranging around the closed interval forming, boundary line 3 can avoid automatic operation equipment 1 to leave perform region; Boundary line 3 can be wall, railing etc.; Also can be wire or other signal generation apparatus of energising, for example electromagnetic signal or light signal; Selectable, boundary line 3 is virtual boundary lines, for example, be stored in the boundary line on the map in automatic operation equipment 1, and the map datum of automatic operation equipment 1 based on inner navigates, and guarantees can not cross boundary line or walk along boundary line 3; Selectable, boundary line 3 can be also the separatrix between perform region and other regions, for example, separatrix between meadow and road, automatic operation equipment 1 can be by the first-class image capture apparatus of shooting, the difference of the color between identification meadow and road, judge the position on border etc., virtual boundary line or non-boundary line technology have multiple implementation, at this, do not enumerate.
In perform region, be provided with bus stop 5, bus stop 5 is arranged on boundary line 3, and automatic operation equipment 1, when quitting work, is stopped at bus stop 5, enters dormant state; In the time of need to starting working, again, from bus stop 5s, enter duty.Bus stop 5 can provide makeup energy to obtain function conventionally, as charge function, for energy-storage module 13 charges; Or add functional oil etc.Bus stop 5 can be only also a place that automatic operation equipment berths when not working.If bus stop 5 provides charge function,, when the electric weight of energy-storage module 13 is not enough, automatic operation equipment 1 returns to bus stop 5 and charges.Preferably, bus stop 5 can provide guiding and docking to returning of automatic operation equipment 1, and docking can realize wireless guiding by modes such as infrared ray or ultrasound waves, also can be guided and be docked by boundary line 3.
Refer to Fig. 5, the main-process stream of the control method of automatic operation equipment 1 comprises the following steps:
Step S0: startup work.In this step, 1 startup of automatic operation equipment enters running status.
Step S1: detect degree of tilt.In this step, inclination sensor 153 detects the degree of tilt of automatic operation equipment 1, and inclination information is sent to main control module 14.According to the type of inclination sensor 153, the dimension of degree of tilt and reference system can be different.For example, inclination sensor 153 can detect the degree of tilt in automatic operation equipment 1 three-dimensional, be with respect to the degree of tilt on xy plane, z axle in space coordinates xyz, with respect to the degree of tilt on yz plane, x axle with respect to the degree of tilt on xz plane, y axle, preferred xy plane is surface level.The spatial information that inclination sensor 153 detects is in this case abundant, can identify more scene, and corresponding control program also can be more concrete and intelligent.It is with respect to the horizontal plane the degree of tilt on xy plane, z axle that inclination sensor 153 also can only detect, and now the scene of identification is preferential, and control program also can be simpler.
Step S2: identification Run-time scenario.In this step, main control module 14 is identified the Run-time scenario of automatic operation equipment.Run-time scenario can be the task that the residing mode of operation of automatic operation equipment is being carried out in other words, also can be that the residing working environment of automatic operation equipment is as time, place, weather, degree of tilt etc., also can be the self-operating state of automatic operation equipment as dump energy, operating load etc., can be also the combination of at least two in mode of operation, working environment, running status.Run-time scenario is specifically as follows and returns scene, operative scenario, rainy day scene etc.Run-time scenario should meet predefined one or more Rule of judgment.Main control module 14 is according to its collected information identification Run-time scenario, the information that main control module 14 is collected when judging Run-time scenario and aforesaid Rule of judgment correspondence, can be specifically detection module 15 degree of tilt of collecting, weather, geographic position etc., also can be the residing pattern of automatic operation equipment 1 self, state etc., repeat no more.
The order of the description of step S1 and step S2 herein has no intention to limit their execution sequencing.In some specific embodiment, before step S1 should be positioned at step S2, in other specific embodiments, before step S2 should be positioned at step S1, in some embodiment, step S1 and step S2 all can front in addition.
Step S3: carry out corresponding default control program according to Run-time scenario.In this step, in default control program, main control module 14 moves according to control of gradient automatic operation equipment 1.Concrete, main control module 14 can be controlled the method for operation of automatic operation equipment 1 on dip plane 2, as stopped or starting operational module 12 according to degree of tilt, changing the working method of operational module 12, or carry high power output, send signal, change path etc.; This action also can be specially for controlling the walking manner of automatic operation equipment 1 on dip plane 2, according to degree of tilt change the speed of travel, change output to walking module 11 energy, change path etc.Preferably, in default control program, main control module 14 can judge whether automatic operation equipment 1 is positioned on dip plane according to degree of tilt, whether this judgement meets or exceeds threshold value by degree of tilt is determined, it is that 2 degree are between 5 degree, if the determination result is YES that threshold value can be located at conventionally, automatic operation equipment 1 is positioned on dip plane, control automatic operation equipment 1 and continue operation on dip plane 2, to keep normal work, avoid walking off from one's job because of the existence of dip plane 2.
By mode above, automatic operation equipment 1 can, according to the behavior of Run-time scenario and control of gradient self, be realized and working on dip plane 2, and having overcome automatic operation equipment in the past can not be in the problem of inclination general work.
Illustrate by the following examples in different Run-time scenarios the working method of automatic operation equipment 1.
Referring to Fig. 6 to Fig. 9, in the first embodiment of the present invention, automatic operation equipment 1 is in returning to scene, and automatic operation equipment 1 returns to bus stop 5 along preset path.When 1 judgement of automatic operation equipment is from when task is returned in execution, can identify in returning to scene.
Referring to Fig. 5, automatic operation equipment 1 can be by returning to bus stop 5 along the walking of boundary line 3, and preset path is the extension track of boundary line 3.In the present embodiment, boundary line 3 is for carrying the electric wire of electric signal, detection module 15 comprises the border sensor of the electric signal on detection boundaries line 3, be preferably two border sensors 151,152 that are symmetricly set in respectively the both sides of the axis X of automatic operation equipment 1, position relationship for detection of automatic operation equipment 1 with boundary line 3, the for example whether respectively both sides in boundary line 3 of border sensor 151,152, and and boundary line 3 between distance relation etc.; When automatic operation equipment 1 changes with the position relationship of boundary line 3, border sensor 151,152 detects the variation of the position relationship between automatic operation equipment 1 and boundary line 3, generate variable signal and be sent to main control module 14, processing unit 141 receives variable signal, according to variable quantity, by control module 143, adjust the walking manner of walking module 11, thereby can recover the position relationship between automatic operation equipment 1 and boundary line 3, thereby guarantee that automatic operation equipment 1 can walk along boundary line.In other alternatives, border sensor also can only be established one, if boundary line is other non-electrical signal types, border sensor can be also other types accordingly, as, can be range sensor, infrared ray sensor, ultrasonic sensor, crash sensor, Magnetic Sensor etc.
When automatic operation equipment 1 identification self is in returning to scene, automatic operation equipment 1, in the process of walking, detects the degree of tilt of automatic operation equipment 1 by inclination sensor 153, and main control module 14 is carried out and returned to control program.Now, automatic operation equipment 1 also detects the walking states of automatic operation equipment 1 by detection module 15.Degree of tilt and the walking states of main control module 14 based on automatic operation equipment 1, the walking manner of control automatic operation equipment 1, makes it all the time along default path walking.
According to returning to control program, when automatic operation equipment 1 arrives or exceedes the dip plane of preset value when descending along degree of tilt, main control module 14 is controlled the speed of travel of described walking module 11, or apply damping force by walking module 11, make the speed of travel of automatic operation equipment 1 be unlikely to too fast, avoid automatic operation equipment 1 because excessive velocities causes upset or out-of-bounds when descending.When automatic operation equipment 1 is along preset path, while being boundary line 3 descending, if border sensor 151,152 detects that it is likely because too fast curve or the turning that causes missing boundary line 3 of descending speed that automatic operation equipment 1 has departed from boundary line 3(), main control module 14 is controlled walking module 11 and is turned to searching boundary line 3, when border sensor 151,152 detects that automatic operation equipment 1 is on boundary line 3, main control module 14 is controlled walking module 11 and is continued to walk along boundary line.When sensor 151,152 detects that automatic operation equipment 1 starts to depart from boundary line 3, likely that automatic operation equipment 1 is walked with the angled direction of vergence direction on edge, automatic operation equipment 1 starts to depart from boundary line 3 under the effect of gravity, now main control module 14 is controlled the size of the energy of the driving wheel 111a, the 111b that offer walking module 11, the direction of travel of constantly revising automatic operation equipment 1, walks it all the time along boundary line 3.
Refer to Fig. 6, the one of automatic operation equipment 1 is returned to control program for controlling the speed of travel to avoid automatic operation equipment 1 excessive velocities when the descending to overturn or out-of-bounds.It comprises the following steps:
Step S40: walk along preset path.Automatic operation equipment 1 is walking work automatically in perform region, when the power shortage of energy-storage module 13, main control module 14 is controlled automatic operation equipment 1 along straight line moving, until border sensor 151,152 detects that automatic operation equipment 1 arrives boundary line 3, then automatic operation equipment 1 starts along preset path, be to walk in boundary line 3, thereby return to bus stop 5, energy-storage module 142 is charged.
Step S41: detect running status.Automatic operation equipment 1 is being that in the process of walking of boundary line 3, detection module 15 detects degree of tilt and the walking states of automatic operation equipment 1, and the data that detect are passed to main control module 14 along preset path.The degree of tilt of automatic operation equipment 1 is herein the angle between automatic operation equipment 1 place plane and surface level, and the walking states of automatic operation equipment 1 comprises the moving direction of automatic operation equipment 1 and speed etc.It may be noted that, detection module 15 can detect by same sensor degree of tilt and the walking states of automatic operation equipment 1, for example, inclination sensor 153 is acceleration transducer, it detects the acceleration causing due to gravity by measuring, and can calculate automatic operation equipment 1 angle of inclination with respect to the horizontal plane; By measuring dynamic acceleration, can analyze direction and speed that automatic operation equipment 1 moves.
Selectable, the degree of tilt of automatic operation equipment 1 and walking states also can be measured by the sensor of other types or sensor combinations, thereby obtain higher measuring accuracy, for example, in inclination sensor, acceleration transducer, displacement transducer or GPS module one or several combine to measure.By inclination sensor, detect the degree of tilt of automatic operation equipment 1, inclination sensor refers to detect the sensor at angle of inclination, such as level meter, gravity switch or vibroswitch etc., it can generate electric signal according to the variation of angle, can judge the generation of inclination and the size at angle of inclination based on the electric signal of its generation; By acceleration transducer, displacement transducer or GPS module, detect the direction of movement of automatic operation equipment 1 and speed etc.
Selectable, automatic operation equipment 1 degree of tilt and walking states also can judge by detecting the load of walking module 11, for example detection module 15 detects the electric current of driving wheel motor, when automatic operation equipment 1 is during at descending, under the effect of gravity, the load of walking module 11 reduces, and the detected electric current of detection module 15 also reduces.
Step S42: judge whether in descending.Main control module 14 receives the service data of the automatic operation equipment 1 that detection module 15 transmits, in storage unit 142, store the data of automatic operation equipment 1 when horizontal stationary state, processing unit 141 is processed the data of the running status detecting in step S1, data with automatic operation equipment 1 when the horizontal stationary state contrast, whether judge the size of automatic operation equipment 1 degree of tilt and automatic operation equipment 1 in descending state, i.e. just walking from high to lower on dip plane.
Step S43: control the speed of travel.When automatic operation equipment 1 is more than or equal on the dip plane of predetermined value in degree of tilt, and along 3 descendings whens walking of boundary line, the size of control module 143 based on degree of tilt, controls the speed of travel of automatic operation equipment 1.This predetermined value at 3 degree between 30 degree.Preferably, the processing unit 141 of automatic operation equipment 1 is by control module 143, reduce the energy that offers drive wheel wheel 111a, 111b, for example reduce electric current or the voltage of the drive motor that offers driving wheel 111a, 111b, the rotating speed that reduces drive motor, is controlled in certain scope the speed of travel of automatic operation equipment 1.The size of the degree of tilt of the reducing amount of energy that control module 143 offers driving wheel 111a, 111b based on automatic operation equipment 1 and determining, the degree of tilt of automatic operation equipment 1 is larger, when automatic operation equipment 1 is walked at dip plane climb and fall, the speed of travel is faster, the energy that control module 143 offers drive wheel wheel 111a, 111b is just fewer, avoids the too fast speed of travel that causes automatic operation equipment 1 of rotating speed of driving wheel 111a, 111b to go beyond the scope; If the degree of tilt of automatic operation equipment 1 is less, it is more when large compared with degree of tilt that control module 143 offers the energy of driving wheel 111a, 111b, drives automatic operation equipment 1 to continue to walk along boundary line 3.
Selectable, automatic operation equipment 1, by providing damping force to the direction contrary with automatic operation equipment 1 direction of travel, is controlled the speed of travel of automatic operation equipment 1 in certain scope.Damping force can realize by the electric braking of drive motor, for example, the winding short circuit of motor is braked; Or when braking, series resistor in the winding of drive motor is braked energy consumption on series resistor; Or apply DC voltage on the stator of drive motor, stator produces static stationary magnetic field, when rotor rotates, cutting magnetic field produces braking moment etc., at this, does not enumerate.Damping force also can provide by the mode of mechanical braking, by mechanical hook-up, is blocked the output shaft of drive motor or is blocked driving wheel 111a, 111b, for example, by clutch coupling, brake block etc.Preferably, the size of damping force can be based on automatic operation equipment 1 degree of tilt size and regulate, the degree of tilt of automatic operation equipment 1 is larger, when automatic operation equipment 1 is walked at dip plane climb and fall, the speed of travel is faster, now need to control the automatic operation equipment 1 reduction speed of travel by a relatively large margin, larger damping force need to be provided; When the degree of tilt of automatic operation equipment 1 hour, the speed of travel of reduction automatic operation equipment 1 that can be more by a small margin or without reducing the speed of travel, now can provide less damping force or damping force is not provided.
By the control method of automatic operation equipment 1 provided by the invention, automatic operation equipment 1 is based on degree of tilt and walking states, control the speed of travel of automatic operation equipment 1, when automatic operation equipment 1 is more than or equal in degree of tilt on the dip plane of preset value, when descending along boundary line 3, automatic operation equipment 1 is controlled its speed of travel all the time in certain scope, can not miss because descending speed is too fast turning to or curve on boundary line 3, cause departing from the consequence of boundary line, also problem simultaneously that avoided contingent automatic operation equipment 1 to overturn, improved the efficiency of automatic operation equipment walking work, guaranteed the walk quality of work of automatic operation equipment 1, make the reliability of automatic operation equipment 1 higher.
Refer to Fig. 7, the second of automatic operation equipment 1 returns to control program for when detecting that automatic operation equipment has departed from preset path, returns to preset path.It comprises the following steps:
Step S50: along preset path, boundary line 3 is moved.Automatic operation equipment 1 is walking work automatically in perform region, when the power shortage of energy-storage module 13, main control module 14 is controlled automatic operation equipment 1 along straight line moving, until border sensor 151,152 detects that automatic operation equipment 1 arrives boundary line 3, then automatic operation equipment 1 starts to walk along boundary line 3, thereby return to bus stop 5, energy-storage module 142 is charged.
Step S51: detect running status.Automatic operation equipment 1 is in the process of walking along boundary line 3, and detection module 15 detects degree of tilt and the walking states of automatic operation equipment 1, and the data that detect are passed to main control module 14.The degree of tilt of automatic operation equipment 1 refers to the angle between automatic operation equipment 1 place plane and surface level, and the walking states of automatic operation equipment 1 comprises the moving direction of automatic operation equipment 1 and speed etc.Its detection mode is similar to the first and returns to control program, repeats no more.
Step S52: judge whether in descending.Main control module 14 receives the service data of the automatic operation equipment 1 that detection module 15 transmits, in storage unit 142, store the data of automatic operation equipment 1 when horizontal stationary state, processing unit 141 is processed the data of the running status detecting in step S1, data with automatic operation equipment 1 when the horizontal stationary state contrast, and whether judge the size of automatic operation equipment 1 degree of tilt and automatic operation equipment 1 in descending state.
Step S53: the relation that detects automatic operation equipment 1 and boundary line 3.Automatic operation equipment 1 is in the process of walking along boundary line 3, the relation that border sensor 151,152 detects between automatic operation equipment 1 and boundary line 3, position relationship between automatic operation equipment 1 and boundary line 3 embodies by the position relationship between border sensor 151,152 and boundary line 3, when border sensor 151,152 is respectively in 3 both sides, boundary line, and while equating with the distance of boundary line 3, automatic operation equipment 1 is positioned on boundary line 3; When border sensor 151,152 is respectively in 3 both sides, boundary line, but and the distance between boundary line 3 when unequal, but automatic operation equipment 1 is positioned on boundary line 3 is departing from boundary line 3; When border sensor 151,152 is all positioned at a side of boundary line 3, or in border sensor 151,152 one or while all can't detect boundary line, automatic operation equipment 1 is not on boundary line 3.
Step S54: judge whether to depart from preset path.The data that in processing unit 141 receiving step S23, border sensor 151,152 detects, in storage unit 142, store automatic operation equipment 1 and boundary line 3 normal data when different position relationships, normal data in data and storage unit 142 that processing unit 141 detects border sensor 151,152 compares, judge automatic operation equipment 1 and preset path, i.e. position relationship between boundary line 3.
Different with the method for the relation of boundary line 3 according to detecting in step S53, the mode that judges whether to depart from boundary line also can respective change, repeats no more.
Step S55: stop walking.When automatic operation equipment 1 is not on boundary line, processing unit 141 sends offset signal, and by control module 143 control walking module 11 stop walking.When braking, damping force can realize by the electric braking of drive motor, for example, the winding short circuit of motor is braked; Or when braking, series resistor in the winding of drive motor is braked energy consumption on series resistor; Or apply DC voltage on the stator of drive motor, stator produces static stationary magnetic field, when rotor rotates, cutting magnetic field produces braking moment etc., at this, does not enumerate.Damping force also can provide by the mode of mechanical braking, by mechanical hook-up, is blocked the output shaft of drive motor or is blocked driving wheel 111a, 111b, for example, by clutch coupling, brake block etc.
Step S56: return to preset path.Automatic operation equipment 1 stops after walking, walking module 11 to the left or right side turn to, or straight line retreats walking, the position relationship that border sensor 151,152 detects between automatic operation equipment 1 and boundary line 3, when border sensor 151,152 is during respectively in 3 both sides, boundary line, it is on boundary line 3 that automatic operation equipment 1 returns to preset path.
Different with the method for the relation of boundary line 3 according to detecting in step S53, the concrete mode of returning to boundary line also can respective change, repeats no more.
The second returns in control program, automatic operation equipment 1 is based on degree of tilt and walking states, revise the walking path of automatic operation equipment 1, when automatic operation equipment 1 is more than or equal in degree of tilt on the dip plane of preset value, when descending along boundary line 3, if accelerate to have caused missing turning to or curve on boundary line 3 because of descending walking, while causing automatic operation equipment 1 to depart from boundary line 3, automatic operation equipment 1 returns to boundary line 3 by turning to.Improve the efficiency of automatic operation equipment walking work, guaranteed the quality of automatic operation equipment walking work, made the reliability of automatic operation equipment higher.
Refer to Fig. 8, the third of automatic operation equipment 1 returns to control program for controlling direction of travel to avoid automatic operation equipment 1 out-of-bounds when the descending.It comprises the following steps:
Step S60: move along preset path.Automatic operation equipment 1 is walking work automatically in perform region, in order to improve the operational efficiency of automatic operation equipment 1, it is conventionally according to the walking of predefined path, and for example, along straight line moving, pitch of the laps is walked, walked or along identical directional steering, walk etc. all the time along serrate path; According to the walking of predefined path, can reduce automatic operation equipment 1 at same perform region repeated work or leak some work region does not have the generation of execution work situation.
Step S61: detect running status.Automatic operation equipment 1 is in the process of walking along boundary line 3, and detection module 15 detects degree of tilt and the walking states of automatic operation equipment 1, and the data that detect are passed to main control module 14.The degree of tilt of automatic operation equipment 1 refers to the angle between automatic operation equipment 1 place plane and surface level, and the walking states of automatic operation equipment 1 comprises the moving direction of automatic operation equipment 1 and speed etc.Its detection mode is similar to the first and returns to control program, repeats no more.
Step S62: judge whether along walking with the angled direction of vergence direction.Main control module 14 receives the service data of the automatic operation equipment 1 that detection module 15 transmits, in storage unit 142, store the data of automatic operation equipment 1 when horizontal stationary state, processing unit 141 is processed the data of the running status detecting in step S1, data with automatic operation equipment 1 when the horizontal stationary state contrast, judge automatic operation equipment 1 whether along and along and the angled direction walking of vergence direction; It is the position more on the lower that a driving wheel 111a of automatic operation equipment 1 is positioned at dip plane, and another driving wheel 111b is positioned at the more top position of dip plane, and automatic operation equipment 1 along with driving wheel 111a, 111b between be wired to angle of intersection or vertical direction walking.
Step S63: the relation that detects automatic operation equipment and preset path.Automatic operation equipment 1 is in the process along preset path walking, all the time detect the relation between automatic operation equipment 1 and preset path, preferably, preset path is to be imbedded in underground electrified wire, position relationship between automatic operation equipment 1 and preset path can embody by the position relationship between border sensor 151,152 and electrified wire, when border sensor 151,152 is respectively in electrified wire both sides, and while equating with the distance of electrified wire, automatic operation equipment 1 is positioned in preset path; When border sensor 151,152 is respectively in electrified wire both sides, but and the distance between electrified wire when unequal, but automatic operation equipment 1 is positioned in preset path is departing from preset path; When border sensor 151,152 is all positioned at a side of electrified wire, or in border sensor 151,152 one or while all can't detect electrified wire, automatic operation equipment 1 is not in preset path.
Selectable, preset path also can be carried out Route guiding to automatic operation equipment 1 by other means, for example by the generating means of electromagnetic signal or light signal, carry out Route guiding, or locate with navigational system and carry out Route guiding etc. by GPS, at this, do not enumerate.
Step S64: judge whether to depart from preset path.The data that detect in processing unit 141 receiving step S23, in storage unit 142, store automatic operation equipment 1 and the preset path normal data when different position relationships, processing unit 141 compares the normal data in the data that detect and storage unit 142, judges the position relationship between automatic operation equipment 1 and preset path.
Step S65: revise walking path.When automatic operation equipment 1 starts to depart from preset path, the size of the degree of tilt of the processing unit 141 of automatic operation equipment 1 based on automatic operation equipment 1, regulates respectively by control module 143 energy that is passed to driving wheel 111a, 111b.For example, when driving wheel 111a is in dip plane during position more on the lower, in order to offset the skew to below, dip plane of automatic operation equipment 1 under Action of Gravity Field, control module 143 increases offer the energy of driving wheel 111a, thereby make automatic operation equipment 1 can under the effect of gravity, not depart from boundary line downwards.Selectable, driving wheel 111a, 111b can be along the axis pivotables perpendicular to automatic operation equipment 1 place plane, when automatic operation equipment 1 starts to depart from preset path, the size of the degree of tilt of the processing unit 141 of automatic operation equipment 1 based on automatic operation equipment 1, by the certain angle of axis pivotable perpendicular to automatic operation equipment 1 place plane by driving wheel 111a, 111b edge, thus the walking path of correction automatic operation equipment 1.
The third of automatic operation equipment 1 returns in control program, automatic operation equipment 1 is based on its degree of tilt and walking states, constantly revise the direction of travel of automatic operation equipment 1, when walk with the angled direction of vergence direction in automatic operation equipment 1 edge, automatic operation equipment 1 is by providing to the driving wheel of a side compared with the more energy of the driving wheel of opposite side, constantly revise the direction of walking, avoid automatic operation equipment 1 under the effect of gravity, depart from default run trace, improved the efficiency of automatic operation equipment walking work, guaranteed the quality of automatic operation equipment walking work, make the reliability of automatic operation equipment higher.
Referring to Figure 10 to Figure 11, in the second embodiment of the present invention, automatic operation equipment is in operative scenario, and automatic operation equipment 1 is walked and execution work in perform region.
Referring to Figure 10, automatic operation equipment 1 is positioned on dip plane 2.When automatic operation equipment 1 identification self is in operative scenario, automatic operation equipment 1, in the process of walking, detects the degree of tilt of automatic operation equipment 1, main control module 14 execution work control programs by inclination sensor 153.In job control program, when degree of tilt arrives or exceedes preset value, main control module 14 is controlled automatic operation equipment 1 and is walked along serrate path.Automatic operation equipment 1 can be realized oblique walking on dip plane 2 like this, and the bearing of trend at least part of section in serrate path is different with the vergence direction of dip plane 2.Compared to directly in an inclined direction climbing, on dip plane 2, oblique walking has multiple advantage.For example, while directly climbing, require great effort the most, because the direction of travel that divide force direction and automatic operation equipment 1 of the gravity of automatic operation equipment 1 on the vergence direction of dip plane is just in time contrary, this component substantially all rolls for hindering wheels, causes climbing difficulty; And during oblique climbing, the direction of this component is different with the direction of travel of intelligent grass-removing, this component Main Function wheels laterally or in side direction, the friction force that is tilted face surface is offset.And for example, oblique climbing climb definite vertical height the path of process longer, longer the time-to-climb of in the situation that speed is certain, the resistance that needs the gradient overcoming to bring in the unit interval is also just less, thereby has also improved climbing capacity.
In further embodiment, detection module 15 detects the direction of travel of automatic operation equipment 1, based on direction of travel, the bearing of trend in each section in job control programmed control serrate path is all different with the vergence direction of dip plane 2, preferably, each section all becomes 30 to 60 degree angles with the bearing of trend of dip plane 2, now path profile relatively evenly and entirety more laborsaving.Detection module 15 can detect direction of travel in several ways, for example, by using 3 axle inclination sensors to detect the vergence direction of automatic operation equipment 1 in three dimensions, the fuselage that just can know automatic operation equipment 1 towards, also just can determine direction of travel.
In further embodiment, main control module 14 is according to the size of degree of tilt, the adjusting speed of travel being inversely proportional to.On the larger dip plane of the gradient, the speed of travel is less, and control climbing load that like this can be more balanced, avoids overload situations.
Refer to Figure 11, the job control program of automatic operation equipment 1 specifically comprises the following steps:
S70: walk in perform region.In this step, automatic operation equipment 1 in perform region, walk and carry out default task as mowed, clean etc.
S71: detect degree of tilt.In this step, inclination sensor 153 detects the degree of tilt of automatic operation equipment 1, and sends it to main control module 14.If inclination sensor 153 general types, only detect automatic operation equipment 1 degree of tilt with respect to the horizontal plane; If three axle inclination sensors, can detect the degree of tilt of automatic operation equipment 1 in three dimensions, comprise and detect fuselage orientation information.
S72: whether the degree of tilt that judges automatic operation equipment meets or exceeds preset value.In this step, the processing unit 141 of main control module 14 calls the degree of tilt preset value of storage in storage unit 142, and compares the size of degree of tilt and preset value.If degree of tilt meets or exceeds preset value, enter step S73, if degree of tilt does not reach preset value, get back to step S71, continue to detect the degree of tilt of automatic operation equipment 1.Because what this step mainly detected is the gradient of dip plane, therefore conventionally only with regard to automatic operation equipment 1 degree of tilt with respect to the horizontal plane, come to compare with preset value.This predetermined value at 3 degree between 30 degree.
S73: walk along serrate path.In this step, main control module 14 is controlled automatic operation equipment 1 according to the walking of serrate path, i.e. angle of section rear steering of straight line moving, again section of straight line moving, section of straight line moving after angle of counter steering subsequently, and so forth walking.By such mode, section is angled with the vergence direction of dip plane 2 at least partly.
In this step, the parameters in serrate path, as the length in each section, the angle turning to, the speeds of travel etc. are by job control program calling and controlling.These parameters can be fixed, but preferred, the concrete numerical value of these parameters is by function control, according to the running status of automatic operation equipment, adjust, for example, according to the degree of tilt of automatic operation equipment 1, load or their combination, adjust road section length, steering angle, the speed of travel etc.Function control can be more intelligent on dip plane 2 walking, the adjusting speed of travel being for example inversely proportional to according to the size of degree of tilt, the adjusting speed of travel being inversely proportional to according to the size of load, according to loading condition regulate steering angle reduce load etc.Certainly, the also combination of aforesaid way of function control.
In this step, preferred, on each section in serrate path, the direction of travel of automatic operation equipment is all angled with the vergence direction of dip plane, can both avoid so directly climbing and descending in whole walking process, makes climbing capacity stronger.Further preferred, each section all becomes 30 to 60 degree angles with the bearing of trend of dip plane 2, and now path profile is relatively more even and entirety is more laborsaving.Detection module 15 can detect direction of travel in several ways, for example, by using 3 axle inclination sensors to detect the vergence direction of automatic operation equipment 1 in three dimensions, the fuselage that just can know automatic operation equipment 1 towards, also just can determine direction of travel.
Automatic operation equipment provided by the invention and control method thereof, while making automatic operation equipment walk in dip plane etc. in particular cases, can be according to the angle tilting and current walking situation, adjust timely walking manner, guaranteed that automatic operation equipment can be in inclination general work, improve scope and the efficiency of the work of automatic operation equipment, guaranteed the quality of automatic operation equipment walking work, made the reliability of automatic operation equipment higher.
What it may occur to persons skilled in the art that is; the present invention can also have other implementation; but as long as its technical spirit adopting is identical with the present invention or close, or any easy full of beard of making based on the present invention and variation and replacement all within protection scope of the present invention.
Claims (28)
1. a control method for automatic operation equipment, described automatic operation equipment comprises: walking module, drives the walking of automatic operation equipment; Operational module, carries out predetermined work; Energy-storage module, for automatic operation equipment provides energy; Main control module, controls the operation of automatic operation equipment; Inclination sensor, the degree of tilt of induction automatic operation equipment, is characterized in that, described control method comprises the following steps:
Inclination sensor detects the degree of tilt of automatic operation equipment, and inclination information is sent to main control module;
The Run-time scenario of main control module identification automatic operation equipment;
Main control module is carried out corresponding default control program according to Run-time scenario, and described default control program is moved according to control of gradient automatic operation equipment.
2. the control method of automatic operation equipment according to claim 1, it is characterized in that, in described default control program, main control module judges according to described degree of tilt whether automatic operation equipment is positioned on dip plane, if so, controlling automatic operation equipment continues to move on dip plane.
3. the control method of automatic operation equipment according to claim 2, is characterized in that, described Run-time scenario comprises and return to scene, and the automatic operation equipment in scene that returns returns to bus stop along preset path; When Run-time scenario is when returning to scene, default control program is corresponding for returning to control program, described returning in control program, main control module detects the walking states of automatic operation equipment, based on the walking module of automatic operation equipment described in described degree of tilt and described walking states control, while making it on dip plane, keep walking along preset path.
4. the control method of automatic operation equipment according to claim 3, it is characterized in that: described in return to control program and comprise, when detecting that described automatic operation equipment is more than or equal to the dip plane of preset value when descending along degree of tilt, based on the speed of travel of automatic operation equipment described in described control of gradient.
5. the control method of automatic operation equipment according to claim 4, is characterized in that: described automatic operation equipment reduces the energy of supply walking or the damping force contrary with direction of travel is provided.
6. the control method of automatic operation equipment according to claim 4, is characterized in that: described automatic operation equipment is complied with the mode control speed of travel being inversely proportional to degree of tilt.
7. the control method of automatic operation equipment according to claim 3, is characterized in that: described in return to control program and comprise, when described automatic operation equipment departs from described preset path, by turning to or retreating, return described preset path.
8. the control method of automatic operation equipment according to claim 3, it is characterized in that: described in return to control program and comprise, when described automatic operation equipment edge being detected with the angled direction walking of vergence direction, described automatic operation equipment correction direction of travel is to walk along preset path.
9. the control method of automatic operation equipment according to claim 8, is characterized in that: described automatic operation equipment compared with the more energy of the driving wheel of opposite side, is revised direction of travel by the driving wheel supply to a side.
10. according to the control method of arbitrary described automatic operation equipment in claim 2 to 9, it is characterized in that: described preset path is the boundary line of the perform region of automatic operation equipment.
The control method of 11. automatic operation equipment according to claim 2, it is characterized in that: described Run-time scenario comprises operative scenario, in operative scenario, automatic operation equipment is walked in perform region by walking module, and carries out predetermined work by operational module; When Run-time scenario is operative scenario, default control program is job control program accordingly, in described job control program, when inclination sensor monitors described degree of tilt and is more than or equal to preset value, master control module controls automatic operation equipment is walked along serrate path.
The control method of 12. automatic operation equipment according to claim 11, is characterized in that: on each section in described serrate path, the direction of travel of automatic operation equipment is all angled with the vergence direction of described dip plane.
The control method of 13. automatic operation equipment according to claim 11, is characterized in that: described main control module is according to the size of degree of tilt, the adjusting speed of travel being inversely proportional to.
14. according to the control method of the automatic operation equipment described in claim 4 or 11, it is characterized in that: described preset value at 3 degree between 30 degree.
15. 1 kinds of automatic operation equipment, comprising: walking module, drives the walking of automatic operation equipment; Operational module, carries out predetermined work; Energy-storage module, for automatic operation equipment provides energy; Main control module, controls the operation of automatic operation equipment; Inclination sensor, the degree of tilt of induction automatic operation equipment, is characterized in that:
Inclination sensor detects the degree of tilt of automatic operation equipment, and inclination information is sent to main control module;
The Run-time scenario of main control module identification automatic operation equipment;
Main control module is carried out corresponding default control program according to Run-time scenario, and described default control program is moved according to control of gradient automatic operation equipment.
The control method of 16. automatic operation equipment according to claim 15, it is characterized in that, in described default control program, main control module judges according to described degree of tilt whether automatic operation equipment is positioned on dip plane, if so, controlling automatic operation equipment continues to move on dip plane.
17. automatic operation equipment according to claim 16, is characterized in that, described Run-time scenario comprises and return to scene, and the automatic operation equipment in scene that returns returns to bus stop along preset path; When Run-time scenario is when returning to scene, default control program is corresponding for returning to control program, described returning in control program, main control module detects the walking states of automatic operation equipment, based on the walking module of automatic operation equipment described in described degree of tilt and described walking states control, while making it on dip plane, keep walking along preset path.
18. automatic operation equipment according to claim 17, it is characterized in that: described in return to control program and comprise, when detecting that described automatic operation equipment is more than or equal to the dip plane of preset value when descending along degree of tilt, based on the speed of travel of automatic operation equipment described in described control of gradient.
19. automatic operation equipment according to claim 18, is characterized in that: described automatic operation equipment reduces the energy of supply walking or the damping force contrary with direction of travel is provided.
20. automatic operation equipment according to claim 18, is characterized in that: described automatic operation equipment is complied with the mode control speed of travel being inversely proportional to degree of tilt.
21. automatic operation equipment according to claim 17, is characterized in that: described in return to control program and comprise, when described automatic operation equipment departs from described preset path, by turning to or retreating, return described preset path.
22. automatic operation equipment according to claim 17, it is characterized in that: described in return to control program and comprise, when described automatic operation equipment edge being detected with the angled direction walking of vergence direction, described automatic operation equipment correction direction of travel is to walk along preset path.
23. automatic operation equipment according to claim 22, is characterized in that: described automatic operation equipment compared with the more energy of the driving wheel of opposite side, is revised direction of travel by the driving wheel supply to a side.
24. according to claim 17 to arbitrary described automatic operation equipment in 23, it is characterized in that: described preset path is the boundary line of the perform region of automatic operation equipment.
25. automatic operation equipment according to claim 16, is characterized in that: described Run-time scenario comprises operative scenario, in operative scenario, automatic operation equipment is walked in perform region by walking module, and carries out predetermined work by operational module; When Run-time scenario is operative scenario, default control program is job control program accordingly, in described job control program, when inclination sensor monitors described degree of tilt and is more than or equal to preset value, master control module controls automatic operation equipment is walked along serrate path.
The control method of 26. automatic operation equipment according to claim 25, is characterized in that: on each section in described serrate path, the direction of travel of automatic operation equipment is all angled with the vergence direction of described dip plane.
The control method of 27. automatic operation equipment according to claim 25, is characterized in that: described main control module is according to the size of degree of tilt, the adjusting speed of travel being inversely proportional to.
28. according to the control method of the automatic operation equipment described in claim 18 or 25, it is characterized in that: described preset value at 3 degree between 30 degree.
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| CN103744425B (en) | 2017-10-03 |
| WO2014029357A1 (en) | 2014-02-27 |
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