CN106468920A - Return charging method and its automatic running device - Google Patents
Return charging method and its automatic running device Download PDFInfo
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- CN106468920A CN106468920A CN201510511882.2A CN201510511882A CN106468920A CN 106468920 A CN106468920 A CN 106468920A CN 201510511882 A CN201510511882 A CN 201510511882A CN 106468920 A CN106468920 A CN 106468920A
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Abstract
The present invention relates to a kind of return charging method and its automatic running device, by being presently in location point movement to predeterminated position point, thus reaching in the clear path pre-setting, pass through again to judge whether the predeterminated position point reaching is charging station, when the predeterminated position point being reached not is charging station, then search and move to the predeterminated position point higher than current location point priority, so circulate, until when the predeterminated position point being reached is charging station, dock charging with charging station, thus completing to return the whole process charging.Such recurrence charging method and its automatic running device return efficiency high, will not can not find because running into barrier and return the path charged.
Description
Technical field
The present invention relates to field of intelligent control, more particularly to a kind of recurrence charging method and its automatically walk set
Standby.
Background technology
With the continuous progress of computer technology and artificial intelligence technology, certainly starting building similar to intelligent robot
The life coming into people having begun to slowly as system.Wherein, the usual compact of automatic dust catcher,
Be integrated with environmental sensor, from drive system, dust collecting system, battery or charging system, can manually grasp
Control, voluntarily cruises indoors, voluntarily returns charging station when energy is low, dock and charge, then proceed to patrol
Boat dust suction.Intelligent grass-removing automatically can be mowed in the lawn of user, be charged, and interfere without user.This
Plant and be no need for after automatic working system is once arranged putting into energy management again, by user from cleaning, lawn dimension
Shield etc. uninteresting and waste time and energy housework work in free.
, in the field of gardens, intelligent grass-removing is widely used taking intelligent grass-removing as a example.For ensureing intelligence
Hay mover can work in default working range, generally using boundary system, the working range of hay mover is entered
Row controls.Boundary system includes the boundary line being laid on earth's surface, the signal generator being connected with boundary line, cuts
The control unit that careless machine includes detector unit and signal is processed and is controlled with hay mover walking path.Control
Unit processed controls hay mover to work in predetermined working range according to the signal receiving.
Intelligent grass-removing, on the basis of having high-precision fixed bit function, need to go to charging station to fill if energy is low
When electric, often gone to shortest path, between that is, 2 points (intelligent grass-removings be presently in a little and charging station)
Straight line path.And when having barrier in this two-point defined line path, often through continuous collision, retreat,
Slowly walk charging station, and such to return the mode efficiency charging low.
Content of the invention
Based on this it is necessary to be directed to the problems referred to above, provide a kind of recurrence charge efficiency high recurrence charging method
And its automatic running device.
A kind of recurrence charging method, comprises the steps：Calculated apart from current location according to current location point
The nearest predeterminated position point of point, described predeterminated position point is fixed position point set in advance；Mobile extremely described
Predeterminated position point；Judge whether described predeterminated position point is charging station, if it is not, then search and move working as to ratio
The higher predeterminated position point of front predeterminated position point priority.
Above-mentioned recurrence charging method and its automatic running device, by being presently in location point movement to predeterminated position
Point, thus reach in the clear path that pre-sets, then by judging that whether the predeterminated position point reaching be
Charging station, when the predeterminated position point being reached not is charging station, then searches and mobile extremely ratio current location point
At the higher predeterminated position point of priority, so circulate, until when the predeterminated position point being reached is charging station,
Dock charging with charging station, thus completing to return the whole process charging.Such recurrence charging method and its
Automatic running device returns efficiency high, will not can not find because running into barrier and return the path charged.
Wherein in an embodiment, described calculated according to current location point nearest apart from current location point
Initialize installation step is also included before predeterminated position point step.
Wherein in an embodiment, described Initialize installation step is：Pre-set and can correspondingly reach
The predeterminated position point of charging station, described predeterminated position point at least two, and charging station are located in one of pre-
If on location point, higher apart from the priority of the nearer predeterminated position point of charging station.
Wherein in an embodiment, described predeterminated position point is according to priority number consecutively.
Wherein in an embodiment, described calculated according to current location point nearest apart from current location point
In the step of predeterminated position point, the method calculating nearest predeterminated position point is：Calculate current location point energy
Get at the beeline reaching each predeterminated position point, and compare each beeline, point is nearest from current location
Predeterminated position point be the minimum predeterminated position point of beeline.
Wherein in an embodiment, described judge whether described predeterminated position point is charging station, if it is not, then
Search and move to the predeterminated position point step higher than current preset location point priority, if described default
Location point is charging station, then stop walking and dock charging with charging station.
A kind of automatic running device, including location point searching modul, is presently in location point for basis and calculates
Go out apart from the nearest predeterminated position point of current location point；Walking module, for driving described automatic running device
The predeterminated position point obtaining from current location point movement to described location point searching modul；Judge module, is used for
Judge to be presently in whether predeterminated position point is charging station, if it is not, then searching and mobile extremely ratio current location point
The higher predeterminated position point of priority.
Wherein in an embodiment, described automatic running device also includes Initialize installation module.
Wherein in an embodiment, described Initialize installation module is：Presetting module, is used for pre-setting
The predeterminated position point of charging station, described predeterminated position point at least two, and charging station can correspondingly be reached
It is located in one of on predeterminated position point, higher apart from the priority of the nearer predeterminated position point of charging station.
Wherein in an embodiment, calculate nearest apart from current location point in described location point searching modul
The method of predeterminated position point be：Calculate the beeline that current location point can reach each predeterminated position point,
And compare each beeline, it is minimum the presetting of beeline from the nearest predeterminated position point of current location point
Location point.
Wherein in an embodiment, when described judge module judges that predeterminated position point is charging station, institute
State automatic running device stopping walking and dock charging with charging station.
Brief description
Fig. 1 is the flow chart of the recurrence charging method of the present invention；
Fig. 2 is the system framework figure of the automatic running device of the present invention；
Fig. 3 is the recurrence charge path figure of the automatic running device of the present invention.
Intelligent grass-removing 100 locating module 110 location point searching modul 120
Walking module 130 judge module 140 presetting module 150
Charging station 200
Specific embodiment
The automatic running device of the present invention can be intelligent grass-removing, or automatic cleaner etc., they are automatic
On the ground of walking and working region or surface, mowed or dust suction work.Certainly, automatic running device
It is not limited to intelligent grass-removing and automatic cleaner or miscellaneous equipment, such as spray appliance, supervision equipment
Etc. be suitable for unattended equipment, in the present embodiment automatic running device be intelligent grass-removing.Work as intelligence
Hay mover work energy low when, need to revert to charging station and charge.
Refer to Fig. 1, preferred embodiments of the present invention provide a kind of recurrence charging method, this recurrence charging method
Comprise the steps：
Step S110：Obtain current location point.
Intelligent grass-removing works automatically in default working range, when intelligent grass-removing energy is as little as a certain pre-
If during threshold value (charging flanks energy value set in advance), this intelligent grass-removing needs from work at present
Position is back to charging station and is charged to supply the automatic required energy that works.And intelligent grass-removing will complete
Auto-returned charging station charges in addition it is also necessary to carry out following Initialize installation step：
Pre-set the predeterminated position point that can correspondingly reach charging station.This step is Initialize installation step,
Mean that this step only need to be arranged once in first use.Predeterminated position point at least two, and
Charging station is located in one of on predeterminated position point.Apart from the nearer predeterminated position point of charging station priority more
High.According to the priority of each predeterminated position point, it is numbered to each predeterminated position point.For example, according to
It is 0 that each predeterminated position point is numbered by priority order from high to low successively, 1,2 ....Numbering is 0
Predeterminated position point be highest priority predeterminated position point, charging station i.e. be located at this predeterminated position point on.
Certainly, in other embodiments, also dependent on priority order from low to high successively by each default position
Put a numbering be 0,1,2 ..., the mode specifically recording each predeterminated position point is not specifically limited herein.
Often two neighboring predeterminated position point line can form the path of a clear, that is, mean intelligent grass-removing
Each predeterminated position point can sequentially be passed unopposed through.
After being manually set the particular location of each predeterminated position point, by a dead lift or adopt remote control
The mode of remote-controlled intelligent hay mover, makes intelligent grass-removing pass sequentially through these predeterminated position points.So intelligence is cut
Careless machine completes to store the work of each predeterminated position point, that is, completes Initialize installation step.
In S110 step, it will be clear that the position that is presently in of acquisition, i.e. current location point.
Step S120：Calculated apart from the nearest predeterminated position point of current location point according to current location point.This
In step, according to the current location point obtaining in S110 step, found out apart from current location point by calculating
Nearest predeterminated position point.Specific calculation can reach each for calculating current location point respectively and preset
The beeline of location point, then the beeline corresponding to each the predeterminated position point calculating is carried out right
Ratio finds beeline minimum, and this predeterminated position point corresponding to minimum beeline is distance
The nearest predeterminated position point of current location point.
Step S130：Mobile extremely described predeterminated position point.In this step, the present bit that draws from step S110
Put and a little move to the predeterminated position point nearest apart from current location point being drawn by step S120.That moves rises
Point is current location point, and terminal is from the nearest predeterminated position point of current location point.
Step S140：Judge whether described predeterminated position point is charging station, if it is not, then search and mobile to than
The higher predeterminated position point of current preset location point priority；If so, then stop walking and dock with charging station
Charge.When the predeterminated position point that movement to step S120 calculates, predeterminated position point now is works as
Front position point.After reaching this predeterminated position point, that is, need to judge whether current location point is charging station, that is, when
Whether front position point is terminus.If it is determined that drawing, current location point is charging station, then with charging station pair
Connect charging, thus realizing whole recurrence charging process.Contrary, if it is determined that drawing current location point not
For charging station, then find out than current preset location point priority more higher leveled predeterminated position point (if
Each predeterminated position point is numbered, then can directly search more higher leveled more pre- than current location point priority
If the numbering of location point).Subsequently, more preferential than current preset location point to finding from the movement of current location point
On the more higher leveled predeterminated position point of level.After reaching, whether judge reached predeterminated position point again
For charging station.If it is determined that drawing, current location point is charging station, then dock charging with charging station, thus
Realize whole recurrence charging process.Contrary, if it is determined that showing that current location point is not charging station, then
Continue to search for and move to more higher leveled predeterminated position point than current preset location point priority.So circulate
Back and forth, until judging that current location point is charging station, then docking charging with charging station, completing whole returning
Return the process of charging.
Above-mentioned recurrence charging method, by being presently in location point movement to predeterminated position point, thus reach in advance
In the clear path of setting, then judge whether the predeterminated position point reaching is charging station, pre- when reached
If location point is not charging station, then need to search and mobile to higher than current preset location point priority pre-
If at location point, so circulate, until when the predeterminated position point being reached is charging station, docking with charging station
Charge, thus completing to return the whole process charging.Such method efficiency high returning charging, Bu Huiyin
Can not find recurrence charge path for running into barrier.
Refer to Fig. 2, preferred embodiments of the present invention also provide a kind of automatic running device.In the present embodiment certainly
Dynamic walking arrangement is intelligent grass-removing 100.This intelligent grass-removing includes locating module 110, location point searches mould
Block 120, walking module 130 and judge module 140, locating module 110 and location point searching modul 120 phase
Even, locating module 110 and location point searching modul 120 are connected with walking module 130 respectively, walking module
130 are connected with judge module 140.Locating module 110 is used for obtaining the current location point of intelligent grass-removing 100；
Location point searching modul 120 is worked as calculating distance according to the current location point that locating module 110 gets
The nearest predeterminated position point of front position point；Walking module 130 is used for driving intelligent grass-removing 100 from present bit
Put the predeterminated position point that a movement to location point searching modul 120 obtains；Judge module 140 is used for judging to work as
Whether front residing predeterminated position point is charging station.
Intelligent grass-removing 100 also includes presetting module 150, is used for pre-setting and can correspondingly reach charging station
Predeterminated position point.This presetting module 150 is Initialize installation module, that is, mean that this module only need to be first
Arrange once during secondary use intelligent grass-removing 100.Predeterminated position point at least two, and charging erect-position
On one of predeterminated position point.Higher apart from the priority of the nearer predeterminated position point of charging station.According to
The priority of each predeterminated position point, is numbered to each predeterminated position point.For example, according to priority by
It is 0 that each predeterminated position point is numbered by high to Low order successively, 1,2 ....Numbering is 0 default position
Put the predeterminated position point being a little highest priority, charging station is located on this predeterminated position point.Certainly, exist
In other embodiment, successively each predeterminated position point is numbered also dependent on priority order from low to high
For 0,1,2 ..., the mode specifically recording each predeterminated position point is not specifically limited herein.Often adjacent
Two predeterminated position point lines can form the path of a clear, that is, mean that intelligent grass-removing 100 can
Sequentially pass unopposed through each predeterminated position point.
After being manually set the particular location of each predeterminated position point, by a dead lift or adopt remote control
The mode of remote-controlled intelligent hay mover 100, makes intelligent grass-removing 100 pass sequentially through these predeterminated position points.This
Sample intelligent grass-removing 100 completes to store the work of each predeterminated position point, that is, completes intelligent grass-removing
100 Initialize installation.
Intelligent grass-removing 100 works automatically in default working range, when intelligent grass-removing 100 energy is low
During to a certain predetermined threshold value (charging flanks energy value set in advance), this intelligent grass-removing 100 needs
It is back to charging station from current position to be charged to supply the automatic required energy that works.By positioning mould
Block 110 gets intelligent grass-removing 100 current location point now.Pass through location point searching modul 120 again
Calculate apart from the nearest predeterminated position point of current location point.Specific calculation is to calculate present bit respectively
Put the beeline that a little can reach each predeterminated position point, then by each the predeterminated position point institute calculating
Corresponding beeline is contrasted, and finds beeline minimum, and corresponding to this minimum beeline
Predeterminated position point be apart from the nearest predeterminated position point of current location point.
Intelligent grass-removing is driven to walk apart from current location point from current location point by walking module 130
Near predeterminated position point.Predeterminated position point now is current location point.After reaching this predeterminated position point,
Need to judge whether current location point is charging station, that is, whether current location point is terminus.If it is determined that
Draw, current location point is charging station, then intelligent grass-removing 100 is docked with charging station and is charged, thus
Realize whole recurrence charging process.Contrary, if it is determined that showing that current location point is not charging station, then
Find out more higher leveled predeterminated position point than current preset location point priority (if by each default position
Put and be a little numbered, then can directly search the volume of predeterminated position point more higher leveled than current location point priority
Number).Subsequently, more higher leveled to the ratio current preset location point priority finding from the movement of current location point
On predeterminated position point.After reaching, judge whether reached predeterminated position point is charging station again.As
Fruit judges to draw, current location point is charging station, then dock charging with charging station, thus realizing whole recurrence
Charging process.Contrary, if it is determined that showing that current location point is not charging station, then continue to search for and move
Move to more higher leveled predeterminated position point than current preset location point priority.So move in circles, until sentencing
Disconnected current location point is charging station, then dock charging with charging station, completes entirely to return the process of charging.
Refer to Fig. 3, describe this intelligent grass-removing 100 in detail and return the process charging：
When intelligent grass-removing 100 work at the A of position, it is low intelligent grass-removing 100 energy is detected, needs
Charging station 200 to be returned is charged.Intelligent grass-removing 100 calculates out position A respectively and can reach three
The beeline of predeterminated position point B, C, D, and be compared respectively.Comparative result is can from position A
The location point of the beeline minimum reaching is predeterminated position point B, then predeterminated position point B is distance and position
The nearest predeterminated position point of A.Intelligent grass-removing 100 runs to predeterminated position point B.Now, judge that this is preset
Whether location point B is charging station 200, and in this way, then docking is charged；Otherwise, search than predeterminated position point B
Priority more higher leveled predeterminated position point.In predeterminated position point B, C, D, charging station 200 is located at pre-
If on location point D, therefore the highest priority of predeterminated position point D, predeterminated position point C secondly, predeterminated position
The priority of point B is minimum.According to priority from high to low, predeterminated position point B, C, D number consecutively is
2、1、0.And currently intelligent grass-removing 100 is on the predeterminated position point B that priority is 2, than default position
Putting the more higher leveled location point of point B priority is predeterminated position point C.Intelligent grass-removing 100 runs to default
Location point C.Now, then judge whether this predeterminated position point C is charging station 200, in this way, then docking is charged；
Otherwise, search and move to the more higher leveled predeterminated position point than the priority of predeterminated position point C.So follow
Ring, till current location point is judged as charging station 200.
Above-mentioned automatic running device includes location point searching modul 120, walking module 130 and judge module 140,
Walking module 130 drives automatic running device to run to location point searching modul 120 from current location point and obtains
The predeterminated position point nearest apart from current location point.Pass through judge module 140 after reaching this predeterminated position point
Judge whether current predeterminated position point is charging station, if it is not, then searching and moving to than current location
At the higher predeterminated position point of point priority, then judge whether this predeterminated position point is charging station, so circulate
Back and forth, until judging that current location point is charging station, then dock with charging station and be charged, complete whole
Individual charging regression process.Such automatic running device return charge when efficiency high, will not be because of running into barrier
Thing is hindered to can not find recurrence charge path.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not right
The all possible combination of each technical characteristic in above-described embodiment is all described, as long as however, these skills
There is not contradiction in the combination of art feature, be all considered to be the scope of this specification record.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed,
But can not therefore be construed as limiting the scope of the patent.It should be pointed out that for this area
For those of ordinary skill, without departing from the inventive concept of the premise, can also make and some deform and change
Enter, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be defined.
Claims (11)
1. a kind of charging method that returns is it is characterised in that comprise the steps：
Calculated apart from the nearest predeterminated position point of current location point, described predeterminated position according to current location point
Point is fixed position point set in advance；
Mobile extremely described predeterminated position point；
Judge whether described predeterminated position point is charging station, if it is not, then searching and mobile extremely ratio current preset position
Put the higher predeterminated position point of a priority.
2. according to claim 1 recurrence charging method it is characterised in that described according to current location
Point calculates and also included Initialize installation step before the nearest predeterminated position point step of current location point.
3. recurrence charging method according to claim 2 is it is characterised in that described Initialize installation walks
Suddenly it is：
Pre-set the predeterminated position point that can correspondingly reach charging station, described predeterminated position point is at least two
Individual, and charging station is located in one of on predeterminated position point, excellent apart from the nearer predeterminated position point of charging station
First level is higher.
4. recurrence charging method according to claim 3 is it is characterised in that described predeterminated position point root
According to priority number consecutively.
5. according to claim 1 recurrence charging method it is characterised in that described according to current location
Point calculates in the step of the nearest predeterminated position point of current location point, calculates nearest predeterminated position
Point method be：
Calculate the beeline that current location point can reach each predeterminated position point, and compare each short distance
From the predeterminated position point being beeline minimum from the nearest predeterminated position point of current location point.
6. recurrence charging method according to claim 1 is it is characterised in that described judgement is described default
Whether location point is charging station, if it is not, then searching and mobile extremely higher than current preset location point priority
In predeterminated position point step, if described predeterminated position point is charging station, stopping walks to dock with charging station fills
Electricity.
7. a kind of automatic running device is it is characterised in that include
Location point searching modul, for according to be presently in location point calculate nearest apart from current location point
Predeterminated position point；
Walking module, for driving described automatic running device to look into from current location point movement to described location point
Look for the predeterminated position point that module obtains；
Judge module, for judging to be presently in whether predeterminated position point is charging station, if it is not, then search simultaneously
Mobile extremely higher than current location point priority predeterminated position point.
8. automatic running device according to claim 7 is it is characterised in that described automatic running device
Also include Initialize installation module.
9. automatic running device according to claim 8 is it is characterised in that described Initialize installation mould
Block is：
Presetting module, for pre-setting the predeterminated position point that can correspondingly reach charging station, described default
Location point at least two, and charging station is located in one of on predeterminated position point, nearer apart from charging station
The priority of predeterminated position point is higher.
10. automatic running device according to claim 7 is it is characterised in that described location point is searched
The method apart from the nearest predeterminated position point of current location point that calculates in module is：
Calculate the beeline that current location point can reach each predeterminated position point, and compare each short distance
From the predeterminated position point being beeline minimum from the nearest predeterminated position point of current location point.
11. automatic running devices according to claim 7 are it is characterised in that work as described judge module
When judging predeterminated position point for charging station, described automatic running device is stopped walking and is docked charging with charging station.
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| CN201510511882.2A CN106468920B (en) | 2015-08-19 | 2015-08-19 | Regression charging method and automatic walking equipment thereof |
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| CN114601373A (en) * | 2021-10-18 | 2022-06-10 | 北京石头世纪科技股份有限公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
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| US12121192B2 (en) | 2019-03-26 | 2024-10-22 | Qfeeltech (Beijing) Co., Ltd. | Mobile device docking method and mobile device |
| CN110083152A (en) * | 2019-04-08 | 2019-08-02 | 浙江亚特电器有限公司 | More lawn working methods for intelligent grass-removing |
| CN112445221A (en) * | 2019-09-04 | 2021-03-05 | 宝时得科技（中国）有限公司 | Automatic working system and regression method |
| CN112445221B (en) * | 2019-09-04 | 2023-11-03 | 宝时得科技（中国）有限公司 | Automatic working system and regression method |
| CN111694360A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN111694360B (en) * | 2020-06-22 | 2021-12-03 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN114601373A (en) * | 2021-10-18 | 2022-06-10 | 北京石头世纪科技股份有限公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
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