CN104750104B - Automatic running device is returned to connected control system - Google Patents
Automatic running device is returned to connected control system Download PDFInfo
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- CN104750104B CN104750104B CN201310737669.4A CN201310737669A CN104750104B CN 104750104 B CN104750104 B CN 104750104B CN 201310737669 A CN201310737669 A CN 201310737669A CN 104750104 B CN104750104 B CN 104750104B
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- automatic running
- running device
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- signal generator
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Abstract
The present invention relates to a kind of automatic running device to return to connected control system, for automatic running device to be docked with charging station, the automatic running device, which returns, to be included connected control system to be used for the first signal generator being installed on charging station, for the shifting magnetic field sensor on automatic running device and the boundary line for being connected to first signal generator, the automatic running device returns and secondary signal generator is further included to connected control system, fixed magnetic field sensor, the secondary signal generator is used to being installed on automatic running device and producing electromagnetic field signal, the fixed magnetic field sensor is used to being installed on charging station and detecting the electromagnetic field signal that the secondary signal generator produces.Above-mentioned automatic running device returns the automatic butt that automatic running device and charging station can be realized to connected control system.
Description
Technical field
The present invention relates to automation control area, is returned more particularly to a kind of automatic running device to connected control system.
Background technology
With the development of science and technology, intelligent automatic running device is well known, since automatic running device can
To perform pre-set inter-related task automatically according to pre-set program, without artificial operation and intervention, therefore in work
Application in industry application and family product is very extensive.The robot that industrial application such as performs various functions, family product
On application such as grass trimmer, dust catcher etc., these smart machines dramatically saves on the time of people, to industrial production and household
Life all brings great convenience.But these automatic running devices work as energy storage due to powering using energy storage unit
After the energy of unit is exhausted, these automatic running devices can not just work, at this time must be artificially automatic running device
The charging station of energy can be provided for it by being moved to, and energy is supplemented for it.In some cases, supplement energy may need to spend number
The time of hour, people have to wait for a few hours, until supplement energy completion, can just be again turned on automatic running device, make it
Work on.
In order to overcome the problems referred above, some charging units come into being, and charging unit can assist automatic running device to confirm certainly
Dynamic walking arrangement docks successfully, and after automatic running device docks successfully with charging station with charging station, is set for automatically walk
Standby charging.Therefore, how to realize that the automatic butt of automatic running device and charging station is a hot issue for needing to study.
The content of the invention
Based on this, it is necessary to provide a kind of automatically walk for the automatic butt that can realize automatic running device and charging station
Equipment is returned to connected control system.
A kind of automatic running device is returned to connected control system, described for automatic running device to be docked with charging station
Automatic running device return to connected control system include be used for be installed on charging station on the first signal generator, for installed in
Shifting magnetic field sensor and the boundary line for being connected to first signal generator, the automatically walk on automatic running device
Equipment, which returns, further includes connected control system secondary signal generator, fixed magnetic field sensor, and the secondary signal generator is used
In on automatic running device and producing electromagnetic field signal, the fixed magnetic field sensor is used to be installed on charging station simultaneously
Detect the electromagnetic field signal that the secondary signal generator produces.
In one of the embodiments, the automatic running device returns and control unit, institute is further included to connected control system
State control unit to be connected to the shifting magnetic field sensor and be arranged in the automatic running device, for receiving the movement
The electromagnetic field signal that magnetic field sensor receives, and control the automatic running device to walk according to the electromagnetic field signal.
In one of the embodiments, described control unit includes signal processing unit and is connected to the signal processing list
The microprocessor of member, the signal processing unit are received at the electromagnetic field signal that the shifting magnetic field sensor receives and generation
Signal is managed, the microprocessor controls the automatic running device to walk according to the processing signal.
In one of the embodiments, the secondary signal generator is connected to described control unit, described control unit
The secondary signal generator is controlled to start or stop to launch electromagnetic field signal.
In one of the embodiments, the electromagnetic field signal that the boundary line produces becomes according to frequency, pulsewidth or coding
Change, first signal generator controls the change of the electromagnetic field signal of the boundary line generation.
In one of the embodiments, the secondary signal generator includes inductance.
In one of the embodiments, the inductance is wire wound inductor.
In one of the embodiments, the inductance is non-thread wound inductor.
Above-mentioned automatic running device, which returns, to be included connected control system to be used for the second letter being installed on automatic running device
Number generator, increases fixed magnetic field sensor on charging station.The secondary signal generator can produce electromagnetic field signal.Return
During docking, automatic running device is detected by the shifting magnetic field sensor turns when touching boundary line random straight row again
Walk, near walking to charging station, fixed magnetic field sensor have received automatic running device by described second on charging station
During the electromagnetic field signal of signal generator transmitting, first signal generator changes the electromagnetic field signal that boundary line produces, this
When secondary signal generator detect boundary line produce electromagnetic field signal carried out change just can judge automatic running device
Near charging station, automatic running device just advances to the boundary line near charging station and realizes recurrence docking.
Brief description of the drawings
Fig. 1 is that the automatic running device of one embodiment returns the structure diagram to connected control system；
Fig. 2 is the automatic running device of one embodiment and the connection signal for being installed on each component on automatic running device
Figure；
Fig. 3 is that the automatic running device of one embodiment returns the schematic diagram marched near charging station；
Fig. 4 is that automatic running device returns the schematic diagram in docking on the left of charging station to connected control system in Fig. 1；
Fig. 5 is that automatic running device returns the schematic diagram for being near completion and docking with charging station to connected control system in Fig. 4.
First signal generator, 100 shifting magnetic field sensor, 200 boundary line 300
400 inductance of secondary signal generator, 410 fixed magnetic field sensor 500
600 charging station of automatic running device, 700 charging plug 710
800 signal processing unit of control unit, 810 microprocessor 820
First shifting magnetic field sensor, 210 second shifting magnetic field sensor 220
First fixed magnetic field sensor, 510 second fixed magnetic field sensor 520
Embodiment
In order to solve the problems, such as how to realize the automatic butt of automatic running device and charging station, present embodiments provide for
A kind of automatic running device is returned to connected control system.With reference to specific embodiment, automatic running device is returned and is docked
Control system is specifically described.
Please refer to Fig.1 and Fig. 2, the automatic running device recurrence that present embodiment provides include connected control system in the first letter
Number generator 100, shifting magnetic field sensor 200, boundary line 300, secondary signal generator 400 and fixed magnetic field sensor
500.The automatic running device, which returns, is used for automatic running device connected control system（For convenience of description, " automatically walk is set
It is standby " indicated with label 600 in Figure of description）With charging station（" charging station " uses label 700 in Figure of description
Indicate）Docking.
Charging station 700 fixes a certain suitable position on the ground according to actual needs, and automatic running device 600 needs to charge
When need to only march to 700 position of charging station and docked.
Boundary line 300, which is connected and sets with charging station 700, on the ground, sets boundary line 300 on the ground to advise
Mark the working region of automatic running device 600.Once boundary line 300 cook up automatic running device 600 working region it
Afterwards, automatic running device 600 is just limited within above-mentioned working region and walks.
First signal generator 100 and fixed magnetic field sensor 500 are mounted on charging station 700.Meanwhile boundary line
300 are connected on the first signal generator 100.Wherein, the first signal generator 100 can produce signal control boundary line 300
Launch electromagnetic field signal.In the present embodiment, boundary line 300 produce electromagnetic field signal can according to frequency, pulsewidth or
Code change, the first signal generator 100 can control the change of the electromagnetic field signal of the generation of boundary line 300.Fixed magnetic field passes
Sensor 500 can detect the electromagnetic field signal that secondary signal generator 400 produces.
Incorporated by reference to Fig. 2, shifting magnetic field sensor 200 is mounted in automatic running device 600 with secondary signal generator 400
On.Shifting magnetic field sensor 200 can detect the electromagnetic field signal that boundary line 300 produces, meanwhile, as automatically walk is set
Standby 600 movement, what the boundary line 300 that the shifting magnetic field sensor 200 on automatic running device 600 detects produced
Intensity or the direction of electromagnetic field signal are nor invariable.In this way, pass through the side detected to shifting magnetic field sensor 200
The intensity of electromagnetic field signal or the analysis, that is, bootable automatic running device 600 in direction that boundary line 300 produces move closer to charging
Stand 700.Secondary signal generator 400 can produce electromagnetic field signal, and with the movement of automatic running device 600, it is fixed
The electromagnetic wave that the secondary signal generator 400 being installed on automatic running device 600 that magnetic field sensor 500 detects produces
Intensity or direction are nor invariable.In this way, pass through the secondary signal generator detected to fixed magnetic field sensor 500
400 intensity of electromagnetic wave produced or the analysis, that is, bootable automatic running device 600 in direction are completed to dock with charging station 700.
Above-mentioned shifting magnetic field sensor 200 or fixed magnetic field sensor 500 are guided according to the intensity of the corresponding electromagnetic field received
The process that automatic running device 600 is docked with charging station 700 can be according to following principle：
After shifting magnetic field sensor 200 detects the electromagnetic field signal that boundary line 300 produces, the electromagnetic field is detected first
Whether the intensity of signal and direction, then judge the intensity of the electromagnetic field signal close to preset limit value, if so, explanation is automatic
Walking arrangement 600 has marched to the position close to boundary line 300, and automatic running device 600 can be controlled to turn at this time and continued
Walking, in order to improve docking efficiency, the turning of automatic running device 600 here should be to one side further towards charging station 700
Turn, this needs to the direction of needs to be turned according to the i.e. controllable automatic running device 600 in direction of the electromagnetic field signal received
It is curved；If it is not, then automatic running device 600 is walked on, turned until marching near charging station 700.Incorporated by reference to Fig. 3,
When automatic running device 600 is marched near charging station 700, also to realize automatic running device 600 and charging station 700 is complete
Into last docking, i.e., by the charging plug of charging station 700（For clarity, by " charging plug " in brief description of the drawings
Indicated with label 710）It is inserted into the charge port of automatic running device 600., can be with order to complete this last docking operation
One camera is installed on automatic running device 600, so as to carry out accurate docking using figure identification or infrared ray.Separately
Outside, last docking can also be completed using mode is implemented as follows：
Please refer to Fig.4, shifting magnetic field sensor 200 can further comprise that the first shifting magnetic field sensor 210 and second moves
Moving field sensor 220.Accordingly, the fixed magnetic field sensor 500 on charging station 700 further comprises that the first fixed magnetic field passes
510 and second fixed magnetic field sensor 520 of sensor.When automatic running device 600 is on the left side of charging station 700, because first
Fixed magnetic field sensor 510 compared to the second fixed magnetic field sensor 520 closer to automatic running device 600, so first is solid
The electromagnetism intensity for the automatic running device 600 that fixed-field sensor 510 senses senses more than the second fixed magnetic field sensor 520
The electromagnetism intensity arrived.So as to which charging station 700 sends corresponding signal to automatic running device 600, perceive automatic running device 600
After know that it is in the charging station left side.Subsequent automatic running device 600 adjusts moving direction, until running to charging station 700
The right side.And when if starting automatic running device 600 on the right side of charging station 700, directly carrying out subsequent docking process is
Can.
Fig. 5 is refer to, when automatic running device 600, which is known, runs to 700 right side of charging station, automatic running device 600
It is moved on boundary line 300, the first shifting magnetic field sensor 210 is in boundary line 300 according to the direction of electromagnetic field signal and draw
Inside fixed region, the second shifting magnetic field sensor 220 is set to be in the region exterior of the delimitation of boundary line 300, so as to fulfill across side
Boundary line.600 cross-line straight ahead of automatic running device afterwards, you can realization is accurately docked with charging station 700.It need to be noted that
, in order to coordinate this cross-border line docking mode, two electrodes of the charging plug in present embodiment on charging station 700
It is located at the both sides of boundary line 300 respectively.
Automatic running device returns and control unit 800 is further included to connected control system.Control unit 800 is connected to mobile magnetic
Field sensor 200 is simultaneously arranged in automatic running device 600.Control unit 800 is received for receiving shifting magnetic field sensor 200
The electromagnetic field signal arrived, and control automatic running device 600 to walk according to electromagnetic field signal.Further, control unit 800 is wrapped
Include signal processing unit 810 and be connected to the microprocessor 820 of signal processing unit 810.Signal processing unit 810 can receive
Electromagnetic field signal that shifting magnetic field sensor 200 receives simultaneously generates processing signal, and then microprocessor 820 is believed according to the processing
Number control automatic running device 600 walk.
In addition, secondary signal generator 400 is connected to control unit 800.In this way, control unit 800 i.e. controllable second
Signal generator 400 starts or stops to launch electromagnetic field signal.In the present embodiment, only when automatic running device 600
When starting to return docking charging station 700, control unit 800 just controls secondary signal generator 400 to start to launch electromagnetic field signal.
And when automatic running device 600 is completed to dock with charging station 700, control unit 800 can control secondary signal generator 400 to stop
Only launch electromagnetic field signal.In this way, the energy that secondary signal generator 400 is consumed because launching electromagnetic field signal can be saved as far as possible
Amount.
In addition, secondary signal generator 400 includes inductance 410.The electric current that inductance 410 is flowed through by control can be easily
The electromagnetic field signal for controlling secondary signal generator 400 to produce.In the present embodiment, inductance is wire wound inductor or non-
Wire wound inductor.
Above-mentioned automatic running device, which returns, to be included connected control system to be used for second be installed on automatic running device 600
Signal generator 400, increases fixed magnetic field sensor 500 on charging station 700.The secondary signal generator 400 can produce
Electromagnetic field signal.When returning docking, automatic running device 600 is detected by the shifting magnetic field sensor 200 touches border
Random straight of turning again during line 300 is walked, near walking to charging station 700, fixed magnetic field sensor 500 on charging station 700
When have received the electromagnetic field signal that automatic running device 600 is launched by secondary signal generator 400, the first signal hair
Raw device 100 changes the electromagnetic field signal that boundary line 300 produces, and secondary signal generator 400 detects that boundary line 300 produces at this time
Electromagnetic field signal change and just can judge automatic running device 600 near the charging station 700, automatic running device
600, which just advance to the boundary line 300 near charging station 700, realizes recurrence docking.
In addition, the control unit 800 in present embodiment only starts to return docking charging when automatic running device 600
Stand 700 when just control secondary signal generator 400 to start to launch electromagnetic field signal, therefore secondary signal generator can be saved
400 energy consumed because launching electromagnetic field signal.
Embodiment described above only expresses the several embodiments of the present invention, its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of automatic running device is returned to connected control system, for automatic running device to be docked with charging station, its feature
Be, the automatic running device return connected control system is included being used for being installed on charging station the first signal generator,
For the shifting magnetic field sensor on automatic running device and the boundary line for being connected to first signal generator, institute
State automatic running device recurrence and secondary signal generator, fixed magnetic field sensor, second letter are further included to connected control system
Number generator is used to being installed on automatic running device and producing electromagnetic field signal, and the fixed magnetic field sensor is used to be installed on
On charging station and the electromagnetic field signal that the secondary signal generator produces is detected, to guide automatic running device complete with charging station
Into docking.
2. automatic running device according to claim 1 is returned to connected control system, it is characterised in that the automatically walk
Equipment returns and control unit is further included to connected control system, and described control unit is connected to the shifting magnetic field sensor and sets
In the automatic running device, the electromagnetic field signal that is received for receiving the shifting magnetic field sensor, and according to described
Electromagnetic field signal controls the automatic running device walking.
3. automatic running device according to claim 2 is returned to connected control system, it is characterised in that described control unit
Including signal processing unit and the microprocessor for being connected to the signal processing unit, the signal processing unit receives the shifting
Electromagnetic field signal that moving field sensor receives simultaneously generates processing signal, and the microprocessor is controlled according to the processing signal
The automatic running device walking.
4. automatic running device according to claim 3 is returned to connected control system, it is characterised in that the secondary signal
Generator is connected to described control unit, and described control unit controls the secondary signal generator to start or stop transmitting electricity
Magnetic field signal.
5. automatic running device according to claim 1 is returned to connected control system, it is characterised in that the boundary line production
Raw electromagnetic field signal controls the boundary line to produce according to frequency, pulsewidth or code change, first signal generator
Electromagnetic field signal change.
6. the automatic running device according to claim 1 or 4 is returned to connected control system, it is characterised in that described second
Signal generator includes inductance.
7. automatic running device according to claim 6 is returned to connected control system, it is characterised in that the inductance is line
Wound inductor.
8. automatic running device according to claim 6 is returned to connected control system, it is characterised in that the inductance is non-
Wire wound inductor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310737669.4A CN104750104B (en) | 2013-12-27 | 2013-12-27 | Automatic running device is returned to connected control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310737669.4A CN104750104B (en) | 2013-12-27 | 2013-12-27 | Automatic running device is returned to connected control system |
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| CN104750104A CN104750104A (en) | 2015-07-01 |
| CN104750104B true CN104750104B (en) | 2018-05-08 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017114571A1 (en) * | 2015-12-30 | 2017-07-06 | Telecom Italia S.P.A. | Docking system and method for charging a mobile robot |
| CN108345298A (en) * | 2017-01-25 | 2018-07-31 | 苏州宝时得电动工具有限公司 | One kind is from mobile device and its control method and automatic working system |
| CN108664014A (en) * | 2017-03-29 | 2018-10-16 | 苏州宝时得电动工具有限公司 | A kind of automatic running device returns the control method and device of charging |
| EP3412133B1 (en) * | 2017-06-09 | 2022-09-14 | Andreas Stihl AG & Co. KG | Floor processing system with at least one charging station |
| CN109765899A (en) * | 2019-02-01 | 2019-05-17 | 苏州科瓴精密机械科技有限公司 | Self-movement robot system |
| CN109867104B (en) * | 2019-02-26 | 2021-04-09 | 珠海格力智能装备有限公司 | Butt joint processing method and system |
| CN110199234A (en) * | 2019-04-03 | 2019-09-03 | 深圳拓邦股份有限公司 | A kind of helix gradually opens mowing method, system and device |
| WO2024078482A1 (en) * | 2022-10-13 | 2024-04-18 | 浙江白马科技有限公司 | Signal control circuit and method, and generation apparatus, docking station, autonomous operation system and storage medium |
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