CN106483881A - Automatically work equipment - Google Patents
Automatically work equipment Download PDFInfo
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- CN106483881A CN106483881A CN201610886979.6A CN201610886979A CN106483881A CN 106483881 A CN106483881 A CN 106483881A CN 201610886979 A CN201610886979 A CN 201610886979A CN 106483881 A CN106483881 A CN 106483881A
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- 230000000284 resting effect Effects 0.000 claims abstract description 16
- 230000002085 persistent effect Effects 0.000 claims description 11
- 244000025254 Cannabis sativa Species 0.000 claims description 9
- 230000009605 growth rhythm Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 29
- 238000012545 processing Methods 0.000 description 27
- 239000000428 dust Substances 0.000 description 15
- 238000000034 method Methods 0.000 description 15
- 238000004146 energy storage Methods 0.000 description 11
- 230000005055 memory storage Effects 0.000 description 8
- 230000007613 environmental effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000001143 conditioned effect Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001154 acute effect Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000010200 validation analysis Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 244000292693 Poa annua Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
Abstract
A kind of automatic work equipment, in the working region setting, automatically walk work, has working condition and resting state, including：Casing；Operational module；Walking module, supports and drives described automatic work equipment walking；Main control module, controls described operational module and described walking module to plan to enter working condition and state of deactivating according to the default working time, enters resting state；Described automatic work equipment includes external information collecting unit, and described external information collecting unit gathers external information, and described main control module receives described external information, and based on described external information according to default adjustment algorithm adjustment plan of described working time.Automatic work equipment operationally can easily adjust working time plan, carries out the setting of complexity so that the use of automatic work equipment is easier without using person.
Description
The application is invention entitled filed in 20 days January in 2012 of applicant " automatic work equipment ", Application No.
201210018451.9 Chinese invention patent application divisional application.
Technical field
The present invention relates to a kind of automatic work equipment.
Background technology
With scientific and technical continuous progress, various automatic work equipments have begun to the life coming into people slowly,
Such as automatic cleaner and automatic mower etc..This automatic work equipment has running gear, equipment, and automatic control
Device processed, so that automatic work equipment can depart from the operation of people, automatically walk execute work within the specific limits,
When the energy storage device energy of automatic work equipment is not enough, it can auto-returned charging station arrangement be charged, and then proceedes to
Work.This automatic work equipment people are uninteresting from house cleaning, turf-mown etc. and waste time and energy housework work solve
Release, save the time of people, be that people's life brings facility.
However, the control of automatic work equipment is often more complicated.When using automatic work equipment, if automatically
The use environment of work equipment changes, and user is often wanted to adjust the work plan of automatic work equipment, for example, adjust
Automatically working time of work equipment etc..However, these adjustment generally require to input a series of instruction, and what these instructed
Setting is difficult, particularly has more multi-functional automatic work equipment or is capable of certainly starting building of programmed preset work plan
Make equipment, user needs to find corresponding column in substantial amounts of menu and carries out the complicated setting of step, to using band
Carry out inconvenience.
Content of the invention
For solving above-mentioned technical problem, the present invention provides a kind of automatic work equipment easy to use.
For achieving the above object, the technical scheme of present invention offer is：A kind of automatic work equipment, in the working area setting
In domain, automatically walk work, has working condition and resting state, including：Casing；Operational module；Walking module, supports and drives
Dynamic described automatic work equipment walking；Main control module, controls described operational module and described walking module according to default work
Period planning enters working condition and state of deactivating, and enters resting state；Described automatic work equipment includes external information
Collecting unit, described external information collecting unit gathers external information, and described main control module receives described external information, and is based on
Described external information is according to default adjustment algorithm adjustment plan of described working time.
Preferably, described external information collecting unit is inputting interface, the adjustment signal of typing user input.
Preferably, described external information collecting unit is d GPS locating module, and described d GPS locating module obtains itself and is located
The latitude, longitude of position, date and time information.
Preferably, the default latitude, longitude that latitude, longitude described in described master control module judges is located is interval；Judge described day
The default date that phase is located is interval；According to described default latitude, longitude is interval and described default date interval corresponding adjustment meter
Draw the plan of adjustment described working time.
Preferably, described external information collecting unit is sensor, and described sensor obtains the temperature of itself position
And humidity information.
Preferably, the preset temperature that temperature described in described master control module judges is located is interval；Judge what described humidity was located
Default humidity is interval；Interval and when the interval corresponding plan for adjustment of described humidity adjusts described work according to described preset temperature
Between plan.
Preferably, described main control module adjusts the persistent period of described working condition.
Preferably, the persistent period of described working condition is taken advantage of by described main control module with the persistent period of described working condition
Replaced with coefficient.
Preferably, described main control module adjusts the time started of described working condition.
The present invention provide another kind of technical scheme be：A kind of control method of automatic work equipment, described automatic work
Equipment set working region in automatically move work, there is working condition and resting state, described control method include as
Lower step：Start described automatic work equipment to run, described automatic work equipment was planned to enter working condition according to the working time
With the state of deactivating, enter resting state；Described control method is further comprising the steps of：Obtain external information；Based on described
External information is according to default adjustment algorithm adjustment plan of described working time.
Preferably, the adjustment signal that described external information inputs for user.
Preferably, described external information is itself position that described automatic work equipment is obtained by GPS location
Latitude, longitude, date and time information.
Preferably, described default adjustment algorithm is：Judge that the default latitude, longitude that described latitude, longitude is located is interval；Judge
The default date that the described date is located is interval；Interval and described default date is interval corresponding according to described default latitude, longitude
The plan of plan for adjustment adjustment described working time.
Preferably, described external information is the described automatic work equipment that described automatic work equipment is obtained by sensor
The temperature and humidity information of itself position.
Preferably, described default adjustment algorithm is：Judge that the preset temperature that described temperature is located is interval；Judge described humidity
The default humidity being located is interval；Interval and the interval corresponding plan for adjustment adjustment of described humidity is described according to described preset temperature
Working time plans.
Preferably, the plan of adjustment described working time is the persistent period adjusting described working condition.
Preferably, the plan of adjustment described working time is with described working condition by the persistent period of described working condition
Persistent period is multiplied by coefficient replacement.
Preferably, the plan of adjustment described working time is the time started adjusting described working condition.
Preferably, detect described working area by being arranged at the border sensor of described automatic work equipment axis both sides
The border in domain, when the border sensor of wherein side is first it is detected that during border, described automatic work equipment is to the side of opposite side
The directional steering that boundary's sensor is located.
Preferably, detect described working area by being arranged at the border sensor of described automatic work equipment axis both sides
The border in domain, when described border sensor detects border, described automatic work equipment judges described axis and border institute
The angle becoming, and walk on to reduction axis and the direction of acute angle or right angle angle formed by border.
Compared with prior art, the automatic work equipment that the present invention provides is so that user is using automatic work equipment
When, if working environment changes, it is capable of easy or allows work equipment automatically work plan is adjusted, using more
Plus easy, it is obtained in that good experience.
Brief description
The invention will be further described with embodiment below in conjunction with the accompanying drawings；
Fig. 1 is the schematic diagram of the automatic work equipment that embodiment of the present invention provides；
Fig. 2 is the side schematic view of the automatic work equipment that embodiment of the present invention provides；
Fig. 3 is the circuit block diagram of the automatic work equipment that embodiment of the present invention provides；
Fig. 4 is the schematic diagram in working region for the automatic work equipment that embodiment of the present invention provides；
Fig. 5 is a kind of Path selection schematic diagram of the automatic work equipment that embodiment of the present invention provides；
Fig. 6 is a kind of Path selection schematic diagram of the automatic work equipment that embodiment of the present invention provides；
Fig. 7 is a kind of Path selection schematic diagram of the automatic work equipment that embodiment of the present invention provides；
Fig. 8 is the flow chart of the automatic work equipment that embodiment of the present invention provides；
Fig. 9 is the flow chart of the automatic work equipment that second embodiment of the invention provides；
Figure 10 is the flow chart of the automatic work equipment that third embodiment of the invention provides.
Wherein
1. automatic work equipment 143. control unit
11. walking module 15. detection module
111. driving wheels 151,152. border sensors
12. operational module 16. user interface
13. energy-storage module 17. shell
14. main control module 3. boundary line
141. processing unit 5. bus stop
142. memory element
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in detail.
The automatic work equipment that the specific embodiment of the invention provides, automatically walk work in working region.From starting building
Making equipment can be automatic mower, or automatic cleaner.Their automatically walks on lawn or ground, mowed or
Person's dust suction works.Certainly, automatic work equipment is not limited to automatic mower and automatic cleaner or other kinds of
Equipment, such as automatic spraying equipment or automatic monitoring equipment etc., by automatic work equipment, realize the unmanned value of work in every
Keep operation.
Refer to Fig. 1-Fig. 2, automatic work equipment 1 includes walking module 11, operational module 12, energy-storage module 13, master control
Module 14, detection module 15, shell 17 of user interface 16 and the above-mentioned module of collecting etc..
Walking module 11 includes motor and driving wheel 111, and driving wheel 111 is generally driven respectively by multiple motors, and each
The rotating speed of motor or steering are all controlled, thus during the walking of automatic work equipment, by adjusting driving wheel 111
Rotating speed flexibly turned to.Operational module 12 is the operational module of automatic work equipment execution, and different automatic work sets
Standby operational module is different, and the operational module of such as automatic mower includes mowing blade, cutting motor etc., for executing
The grass cutting action of automatic mower；The operational module of automatic cleaner then includes dust-absorbing motor, suction port, sweep-up pipe, vacuum chamber,
Dust collect plant etc. is used for executing the workpiece of dust suction task.Energy-storage module 13 usually rechargeable battery, mows for automatic
Machine runs provides electric power, or connection external power source is charged；Preferably, energy-storage module 13 carries charge or discharge and protects
The charge or discharge of energy-storage module 13 can be protected by unit.User interface 16 is arranged on shell 17 is easy to user's energy
The position enough seen and operated, the top of for example automatic work equipment, user interface 16 generally includes display and input
Button, user passes through to input button to automatic work equipment input instruction, for example, arrange time, the work meter of automatic work equipment
Draw etc., user interface 16 can also be to be capable of the remote control of remotely control.
Please also refer to Fig. 3, detection module 15 is used for the detection information related to hay mover 1, and provide detection information to
Main control module 14, the walking for automatic work equipment and work provide parameter.Main control module 14 includes processing unit 141, storage
Unit 142 and control unit 143, processing unit 141 receives detection module 15 or the information of user interface 16 input, passes through
After process, it is stored in memory element 142, or reads corresponding program from memory element 142, controlled by control unit 143
Walking module 11 and operational module 12 are walked and are worked.
Refer to Fig. 4, automatic work equipment 1 in working region, working region be by the boundary line 3 manually arranging around
Closed interval, boundary line 3 is it can be avoided that automatic work equipment 1 leaves working region；Boundary line can be wall, railing
Deng；The wire that can also be switched on or other signal generation apparatus, such as electromagnetic signal or optical signal.Set in working region
It is equipped with bus stop 5, bus stop 5 is arranged on boundary line 3, automatic work equipment 1, when quitting work, is stopped in bus stop 5, entered
Enter resting state；When needing to start working, again from bus stop 5s, enter working condition.Bus stop 5 usually can provide
Charge function, is that energy-storage module 13 is charged.When the not enough power supply of energy-storage module 13, automatic work equipment 1 returns to be stopped
Stand and 5 be charged.Bus stop 5 can provide guiding and dock to the return of automatic work equipment 1, and docking can pass through infrared ray
Or the modes such as ultrasound wave are realized wirelessly guiding it is also possible to being guided and docked by boundary line 3.
Refer to Fig. 5-Fig. 7, automatic work equipment 1 is walked work in working region, automatic work equipment 1 is included at least
One border sensor 151,152, border sensor 151,152 is arranged at the both sides of the axis X of automatic work equipment 1, uses
In the position relationship detecting automatic work equipment 1 and boundary line 3.Border sensor 1 can be range sensor, infrared ray sensing
Device, ultrasonic sensor, crash sensor, Magnetic Sensor etc..
Through automatic work equipment 1 dotted line be automatic work equipment 1 run trace, automatic work equipment 1 work
Along straight line moving in region, the distance between border sensor 151,152 detection and boundary line 3, if the side on the left of the X of axis
Boundary's sensor 151 is first it is detected that be less than preset value with the distance of boundary line 3, automatic work equipment 1 is to border sensor 152 institute
Axis X right hand steering；If the border sensor 152 on the right side of the X of axis is first it is detected that distance with boundary line 3
Less than preset value, the left side of the axis X that automatic work equipment 1 is then located to border sensor 151 turns to.
Border sensor 151,152 can also detect the corner dimension between axis X and boundary line 3, when border sensing
When in device 151,152, any one detects with the distance between boundary line 3 less than preset value, the axis of automatic work equipment 1
Line X and boundary line 3 have an intersection point, and the tangent line that this intersection point is passed through in axis X and boundary line 3 forms an acute angle θ,
Automatically work equipment 1 continues to walk forward, and the directional steering to this acute angle of reduction.When automatic work equipment 1
The border sensor 151,152 of axis X both sides is detected simultaneously by being less than preset value with the distance between boundary line 3, certainly starts building
Make the axis X of equipment 1 and boundary line 3 is mutually perpendicular between the tangent line of their intersection points, now, automatic work equipment is random
Turn to.
Automatically the preset value of the minimum range between work equipment 1 and boundary line 3 is set to meet following condition：Certainly
In the steering procedure of dynamic work equipment 1, can keep walking, thus avoid halt when automatic work equipment 1 turns to or
Person falls back, and saves the time, it is to avoid frequently start and shutdown also saves electric power, decrease the charging of automatic work equipment
Number of times, thus greatly improve the work efficiency of automatic work equipment.Routing form as above is it is also possible to improve
Automatically wheel efficiency in working region for the work equipment 1, particularly can efficiently walk out the narrow range in working region.
Routing form as above is so that automatic work equipment 1 is when processing area identical working region, no matter working area
How are obstacle in the shape in domain, working region or work complexity, and the time that automatic work equipment 1 completes work is phase
As, for the present invention, this is important.It is of course possible to meet automatic work equipment 1 work in processing area identical
During region, complete work time be the path planning mode of this similar condition be not unique, for example automatically work
The route that equipment once can be passed by by GPS location record, when automatic work equipment is walked, avoids repeating to walk as far as possible
Route, thus improve wheel efficiency in working region for the automatic work equipment, for area identical working region, complete
The time becoming work is similar.Also have other path planning modes, here does not repeat one by one.
Refer to Fig. 8, the control method of the automatic work equipment 1 that the present invention provides comprises the following steps：
Step S0：System start-up.User, when using automatic work equipment 1 for the first time, starts system by user interface 16
System, carries out the initialization of system, and initialization includes every self-examination of automatic work equipment 1, the remaining of such as energy-storage module 142
Remaining electricity etc..During system start-up, automatic work equipment 1 is preferably on bus stop 5, if the residue of energy-storage module 142
Not enough power supply, is charged to energy-storage module 142 by bus stop 5.
Step S1：Obtain the area information of working region.Automatically work equipment 1, from bus stop 5s, encloses along boundary line 3
Around working region, row takes a round, and turns again to bus stop 5；Automatically the detection module 15 of work equipment 1 includes GPS module, is expert at
During walking, the coordinate of each measurement point in GPS module automatic measurement course, and calculated respectively by the coordinate measuring
Measurement point around working region area.For the working region of shape matching rule, automatic work equipment 1 can also lead to
Cross the coordinate on each summit of independent measurement working region, and then calculate the area of working region.
Now, the area information of working region is obtained automatically by detection module 15, and certainly, area information can also be passed through
User interface 16 is by manually being inputted, or is entered by the connecting interface of automatic work equipment 1 and computer or other equipment
Row input.
Step S2：Judge that area information obtains whether to complete.Automatically when work equipment 1 turns again to bus stop 5, master control mould
Block 14 is judged as that area information obtains to be completed, and controls automatic work equipment 1 to stop the walking along boundary line 3.When being manually entered face
During long-pending information, main control module 14 detection user interface 16 whether input validation signal, when detecting user interface 16 input validation
During signal, it is judged as that area information obtains and completes.When judging that area information acquisition completes, next step operation can be carried out；As
Fruit judges that area information does not also obtain and completes, then continue to obtain the area information of working region.
Step S3：Processing area information.Processing unit 141 receives the working area that detection module 15 or user interface 16 provide
After the area information in domain, area information is processed, be converted into the number that the main control module 14 of automatic work equipment 1 is capable of identify that
According to form.
Step S4：Working time plan is formulated according to default Scheduling Algorithm.During the default work of memory element 142 memory storage
Between plan, the plan of default working time is interval with work area corresponding.For example, 600 square metres to 699 square metres
Working region, corresponding working time plan is 10 hours of work, and 700 square metres to 799 square metres of working region is corresponding
Working time plan be 15 hours of work.When the area of working region is 720 square metres, processing unit 141 is by area
Compared with each area interval in memory element 142, the area of working region is more than 700 square metres and is less than information
800 square metres, then 700 square metres to the 800 square metres corresponding work plans in processing unit 141 read work area interval, system
The working time of this task fixed plans as 15 hours of work.The default working time plan providing in present embodiment
In, in order to describe simplicity, only citing lists two area intervals, and the area of each working region is interval to be 100 square metres；Real
On border, the interval number of area can be more, and area interval can also be 100 square metres of other values in addition.For example certainly start building
The work area scope making equipment 1 is 0 square metre to 1500 square metres, when each area interval is for 100 square metres, can be divided into
15 area intervals；Automatically the work area scope of work equipment 1 is 0 square metre to 2000 square metres, and each area interval is
When 100 square metres, 20 area intervals can be divided into；Automatically the work area scope of work equipment 1 is flat to 1500 for 0 square metre
Square rice, when each area interval is for 50 square metres, can be divided into 30 area intervals；Automatically the work area model of work equipment 1
Enclose for 0 square metre to 2000 square metres, when each area interval is for 50 square metres, 40 area intervals can be divided into.
Additionally, default Scheduling Algorithm can also be stored in pre- with area information as variable in memory element 142
If function, the area information receiving is substituted into described preset function by processing unit 141, has been calculated according to described preset function
Become the time needed for work, read the plan of described result corresponding working time from described memory element 142, be established as this
The working time plan of work.
Further, the working time plans to carry out respectively within multiple unit interval, including the sub- work of multiple cycle identicals
Make period planning, the length of each unit period can be set as needed, and for example each unit period is 8
Hour, 12 hours, 24 hours etc.；In each unit period, the working condition persistent period of automatic work equipment 1 can
With identical it is also possible to different.In the present embodiment, during the automatic work equipment 1 execution work working time of 15 hours plan,
Its darg terminates after 7 hours to enter resting state, terminates to enter resting state after 5 hours in work in second day, the
Work 3 hours within three days, complete work, in each unit period, the decreasing duration of working condition.
Further, working time plan includes first working time plan and servicing time plan, automatically works
When equipment 1 works for the first time in working region, it is brand-new work, workload is larger, thus time-consuming longer；Complete first work
After work, spend less time maintenance work effect daily.Servicing time plan starts to execute after the completion of first task, bag
Include the working time plan of multiple unit period.In the present embodiment, automatic work equipment 1 completes the first working time
After plan, the plan of execution servicing time, daily work 2 hours.
The plan of default working time or formula are the path planning modes according to automatic work equipment 1, through experiment
Or set up what model drew.Choose more loose data when formulating default working time plan, for example, advise in this path
Under the mode of drawing, in working region of the same area, complete the maximum time needed for work, thus ensureing in all cases,
Most work can be completed.
Step S5：The plan of execution working time.Automatically work equipment 1 is after obtaining working time plan, according to during work
Between plan to enter working condition in predetermined time, and deactivate state in the predetermined time, enter resting state.
Refer to Fig. 9, the control method of the automatic work equipment 1 that second embodiment of the invention provides includes following step
Suddenly：
Step S10：System start-up.The start-up course of system and first embodiment phase in second embodiment of the invention
With here not repeated description.
Step S11：Judge whether to enter self-studying mode.Automatically work equipment 1 upon actuation, judges whether to need to enter
Self-studying mode, the processing unit 141 of for example automatic work equipment 1 detects when there is working time plan, judges certainly
Dynamic work equipment 1 need not enter self-studying mode, executes the plan of this working time；Automatically the processing unit 141 of work equipment 1 is examined
Measure do not exist the working time plan when, enter self-studying mode.Automatically work equipment 1 can also be by detecting its own place
Whether geographical position changes judges whether to need to enter self-studying mode, the geographical position being located when automatic work equipment 1
When not changing, automatic work equipment 1 does not enter self-studying mode, and the geographical position that automatic work equipment 1 is located becomes
During change, enter self-studying mode.Automatically work equipment 1 can also by detect its this available machine time and available machine time last time it
Between time interval judging whether to need to enter self-studying mode, when time interval is more than predetermined value, automatic work equipment 1
Enter self-studying mode, when time interval is less than predetermined value, automatic work equipment 1 does not enter self-studying mode.
Additionally, automatic work equipment 1 can also foundation user by the information that user interface 16 inputs judge whether into
Enter self-studying mode, when user passes through user interface 16 selection entrance self-studying mode, automatic work equipment 1 enters to be learnt by oneself
Habit pattern；When user selects not enter self-studying mode by user interface 16, automatic work equipment 1 does not enter self study
Pattern.
Step S12：Enter self-studying mode.Automatically work equipment 1 enters self-studying mode, under self-studying mode, from
Dynamic work equipment 1 is not operated the setting of period planning, from bus stop 5s, according to default path planning mode, in work
Make walking work in region.Detection module 15 detects the job information of automatic work equipment 1, and job information can include certainly starting building
Make one of working time, walking mileage, live load, walking path that equipment 1 runs under self-studying mode etc. or
Multiple.
Step S13：Judge whether to exit self-studying mode.Detection module 15 includes current detecting unit, detects Working mould
The load current of block 12, the preset value of the storage in the load current detecting and memory element 142 is carried out by processing unit 141
Relatively, if within a period of time, the load current of operational module 12 is consistently less than preset value, and processing unit 141 judges work
Module 12 does not load in a long time, controls automatic work equipment 1 to exit self-studying mode.
Automatically work equipment 1 can also decide whether to exit self-studying mode by other information.For example certainly start building
When making equipment 1 for automatic mower, detection module 15 includes being arranged on the touch sensor of the bottom of automatic mower, and contact passes
The careless information of the contact with the bottom of automatic mower of sensor detection, if within a period of time, touch sensor does not detect all the time
To activation signal, processing unit 141 thinks that work has completed, and controls automatic mower to exit self-studying mode.When certainly starting building
When making equipment for automatic cleaner, detection module 15 can detect the incrementss of dust in dust collect plant, within a period of time, such as
Fruit sensor is not detected by the increase of dust all the time, and processing unit 141 thinks that the work of automatic cleaner has completed, and controls certainly
Dynamic vacuum cleaner exits self-studying mode.Additionally, automatic work equipment 1 can also pass through photographic head, infrared sensor etc. judges
Whether self-studying mode should be exited, numerous to list herein.
Whether self-studying mode should be exited as described above by automatic work equipment 1 automatic decision, certainly, it can also
It is controlled by user interface 16 by user, when user judges that automatic work equipment 1 needs to exit self-studying mode, press
Corresponding button in user interface 16, automatic work equipment 1 exits self-studying mode.
Step S14：Job information when record meets pre-conditioned.Automatically when work equipment 1 meets pre-conditioned, record
The job information of the automatic work equipment 1 that lower detection module 15 detects, for example work equipment 1 is transported under self-studying mode automatically
The working time of row, walking mileage, live load, walking path etc..
Job information when record meets pre-conditioned, or can exit self study mould before exiting self-studying mode
Carry out after formula or when exiting self-studying mode, so the order of step S13 and step S14 can be exchanged or same
Shi Jinhang's, but the job information always meeting during this time point pre-conditioned of record.
Step S15：Process the job information under self-studying mode.Processing unit 141 is processed to job information, conversion
Become the data form that the main control module 14 of automatic work equipment 1 is capable of identify that.
Step S16：Planned according to the default algorithmization working time.During the default work of memory element 142 memory storage
Between plan, the plan of default working time is that the job information under self-studying mode is corresponding with automatic work equipment 1.Example
If, automatic work equipment 1 is under self-studying mode, complete time that the work in working region uses at 10 hours -15 hours
Interval, the corresponding working time plans to be safeguarded within 2 hours for daily work；Complete under self-studying mode work use when
Between interval at 16 hours -20 hours, the corresponding working time plans to be safeguarded within 3 hours for daily work.When record from
Working time under learning model is 12 hours, and processing unit 141 is by each time zone in working time and memory element 142
Between compare, the size of working time is more than 10 hours and is less than 15 hours, then processing unit 141 read work time interval
10 hours to 15 hours corresponding work plans, the working time formulating this task plans to be tieed up within 2 hours for daily work
Shield.
Certainly, default working time plan can also be the other works under self-studying mode with automatic work equipment 1
Make the walking mileage that information is corresponding, such as run under self-studying mode, processing unit 141 will be walked mileage and be stored list
Each mileage interval in unit 142 compares, and the working time choosing corresponding work plan as automatic work equipment 1 counts
Draw.
Certainly, default working time plan can also be the work letter with automatic work equipment 1 under self-studying mode
One or more of breath is corresponding, for example automatically working time under self-studying mode for the work equipment 1, walking mileage,
One or more of live load, walking path etc..
Additionally, default algorithm can also be with job information under self-studying mode for the automatic work equipment 1 as variable
Formula, processing unit 141 by the job information receiving substitute into default formula, calculate the time completing needed for work,
It is established as the working time plan of this task.
Step S17：The plan of execution working time.Automatically work equipment 1 is after obtaining working time plan, according to during work
Between plan to enter working condition in predetermined time, and deactivate state in the predetermined time, enter resting state.
Refer to Figure 10, the control method of the automatic work equipment 1 that third embodiment of the invention provides includes following step
Suddenly：
Step S20：System start-up.The start-up course of system and first embodiment phase in third embodiment of the invention
With here not repeated description.
Step S21：Formulate working time plan.Automatically work equipment 1 upon actuation, formulates working time plan.Work
Period planning can be the method being provided using first embodiment of the invention and second embodiment, by automatic work equipment
1 voluntarily formulates.Automatically the working time plan of work equipment 1 can also be by manually being inputted by user interface 16, or
Person is inputted by the connecting interface of automatic work equipment 1 and computer or other equipment.
Step S22：Execution work.Automatically work equipment 1, after obtaining working time plan, is planned according to the working time
Predetermined time enters working condition, and deactivates state in the predetermined time, enters resting state.
Step S23：Obtain external information.Automatically the external information of work equipment 1 include its own position date,
Time, geographical coordinate, environmental information etc..Operationally, detection module 15 detects external information in real time；Detection external information
Can timing carry out, for example work equipment 1, every time when resting state enters working condition, executes one-time detection automatically；
Or the cycle carries out one-time detection to automatic work equipment 1 at set intervals, such as, every a week or one month, carry out
One-time detection.
Detection module 15 includes GPS module, is obtained from the geography of dynamic itself position of work equipment 1 by GPS module
The data such as coordinate, time and date.Detection module 15 can also include environmental sensor, detects itself institute of automatic work equipment 1
Environmental information in position；Environmental sensor can be temperature sensor and humidity sensor, detects that automatic work equipment 1 is located
The temperature information of position and humidity information.
Step S24：Judge whether external information obtains to complete.Automatically when work equipment 1 obtains external information, typically with
Certain combination is obtained, and GPS module is obtained from the geographical coordinate of dynamic itself position of work equipment 1, time and date
When, when three data all obtain complete when, judge external information obtain complete.During environmental sensor detection environmental information, work as temperature
Degree and humidity data all obtain when completing, and are judged as that external information obtains and complete.
Step S25：Process external information.After processing unit 141 receives the external information that detection module 15 provides, to outside
Information is processed, and is converted into the data form that the main control module 14 of automatic work equipment 1 is capable of identify that.
Step S26：According to default algorithm modification period planning.Memory element 142 memory storage is in terms of the working time
Divide the default plan for adjustment of benchmark into.
The foundation of working time Plan rescheduling plan set up by different automatic work equipments is different.
When automatic work equipment 1 is automatic mower, the plan for adjustment of memory element 142 memory storage be based on the whole world each
The growth rhythm in 1 year for the grass in area setting, can be learnt by meteorological statistics data by these rules.For example, China
The grass in area, the speed of growth is in summer the soonest, and followed by spring, autumn, winter grass growth is the slowest, then in memory element
The plan for adjustment of 142 memory storages is as shown in Table 1：
Table one
| 2 months-April | May-July | August-October | November-January next year |
| 100% | 150% | 90% | 50% |
Plan for adjustment in table one is on the basis of the working time of automatic mower 1 plans, by each unit interval
The time of interior work is multiplied by default coefficient, thus increasing or decreasing the working time.In Table 1, default coefficient is percentage ratio
Form, certainly, default coefficient can also be other forms, such as decimal or function.
Processing unit 141 receives time, date and the geographic coordinate information that the GPS module of detection module 15 provides, first
Judge which region automatic mower is in, such as when the coordinate that GPS module obtains the position that automatic mower is located is east longitude
120 degree, 20 degree of north latitude, when the date is June 1, processing unit 141 is by geographic coordinate information and memory element 142 memory storage
Global map data is compared, and show that automatic mower is in regional；Again with memory element 142 in storage as table one
Each shown date interval compares, know automatic mower plan for adjustment be operationally between plan on the basis of, take advantage of
With 150%.For example automatic mower needs 10 hours of mowing, when automatic mower detects as above in the works the working time
During described external information, the mowing time of adjustment automatic mower is 15 hours.
In the default plan for adjustment that present embodiment provides, in order to describe simplicity, it was interval, this area with 3 months
Between can be according to needing be set, such as one month is even shorter, and the time of range spans is shorter, to automatic mower
The adjustment of work can be more accurate.
Further, automatic mower can also be by changing the time plan for adjustment starting to mow.Different regions are one
In the different time in year, sunrise time is different, and before sunrise, grass can be moister, and this is unfavorable to grass cutting action.Default
Plan for adjustment in can add to the adjustment starting the mowing time.Plan for adjustment as described in table one：When 2 months-April, no
Change the time started of mowing；When May-July, will mow 1 hour in advance time started, because sunrise time summer is more early；8
During the moon-October, do not change the mowing time started；When November-January next year, the time started of mowing postpones 2 hours, because day
Go out the time later.Thus avoid being mowed in the case that grass is very moist.
The plan for adjustment of memory element 142 memory storage can also be based on the growth in the case of careless different temperatures and different humidity
Setting, these rules equally can easily pass through meteorological statistics data and learn rule.For example, grass is taken the photograph more than 20 in temperature
Family name's degree, when humidity is more than 30%, the speed of growth is the fastest, then when automatic mower can accordingly increase mowing by plan for adjustment
Between；Grass is less than 10 degrees Celsius in temperature, and when humidity is less than 10%, the speed of growth is the slowest, then automatic mower can be counted by adjustment
Draw the corresponding minimizing mowing time；When temperature humidity is between above-mentioned two interval, automatic mower is not planned to the working time
It is adjusted.
Automatically, when work equipment 1 is automatic cleaner, the plan for adjustment of memory element 142 memory storage then can be based on weather
And form corresponding relation between airborne dust setting, the external information for example being detected by GPS module, processing unit 141 is sentenced
The geographical position that disconnected automatic cleaner is located, is easily formed airborne dust weather in current time, then accordingly increases the dust suction time；When
The geographical position that automatic cleaner is located, when current time is difficult to be formed airborne dust weather, the corresponding minimizing dust suction time.Pass through
When environmental sensor detection obtains external information, processing unit 141 judges the position that automatic cleaner is located, temperature and humidity feelings
Whether, beneficial to forming airborne dust, if temperature is higher, humidity is larger for condition, then be difficult to form airborne dust, when can reduce dust suction accordingly
Between；If temperature is higher, humidity is relatively low, then be easily formed and form, and can accordingly increase the dust suction time.Automatic cleaner adjusts work
The mode making period planning is similar with foregoing automatic mower, here not repeated description.
Step S27：Execute amended working time plan.Automatically work equipment 1 was counted according to the amended working time
Draw and enter working condition in predetermined time, and deactivate state in the predetermined time, enter resting state.
In the present embodiment, automatic work equipment 1 obtains external information automatically by detection module, additionally, certainly starting building
Make equipment 1 and working time Plan rescheduling parameter can also be manually entered by user by user interface 16.
Automatically setting adjustment button in the user interface 16 of work equipment 1, for example, increase and reduce operating time button, when
When user selects to increase operating time button, the input information that processing unit 141 receive user interface 16 provides, it is carried out
Process, read corresponding adjusting parameter from memory element 142；For example when user selects once to increase operating time button, right
The plan for adjustment answered is the working time of increase by 10%, and when user continuously selects twice, corresponding plan for adjustment is to increase
20% working time；When user selects once to reduce operating time button, corresponding plan for adjustment is the work of minimizing 10%
Make the time, when user continuously selects twice, corresponding plan for adjustment is the working time of minimizing 20%.Equally, user
Easily adjusted by the time that user interface 16 also can be started working to automatic work equipment 1.
Certainly, the control method of the automatic work equipment that third embodiment of the invention provides, can apply and need manually
On the automatic work equipment of setting working time plan, certainly starting building of working time plan need not be manually set it is also possible to apply
Make on equipment, the control of the automatic work equipment particularly providing with first embodiment of the invention and second embodiment of the invention
Method processed is used in combination.
Automatic work equipment and its control method that the present invention provides, in first task, need not carry out the setting of complexity,
Just can start working, during using, more can be according to external conditions such as weathers, change working time plan automatically,
So that using more convenient, bringing good experience to user.
It may occur to persons skilled in the art that, the present invention can also have other implementations, but as long as it adopts
Technical spirit and the present invention same or like seemingly, or any easy full of beard made based on the present invention and variations and alternatives all
Within protection scope of the present invention.
Claims (13)
1. a kind of automatic work equipment, in the working region setting, automatically walk work, has working condition and resting state,
Including：
Casing；
Operational module；
Walking module, supports and drives described automatic work equipment walking；
Main control module, controls described operational module and described walking module to plan to enter working condition according to the default working time
With the state of deactivating, enter resting state；
It is characterized in that, described automatic work equipment includes external information collecting unit, described external information collecting unit collection
External information, described main control module receives described external information, and is adjusted according to default adjustment algorithm based on described external information
Described default working time plan.
2. automatic work equipment according to claim 1 it is characterised in that：Described automatic work equipment is automatic mowing
Machine, the growth rhythm of the external information reflection grass of described external information collecting unit collection.
3. automatic work equipment according to claim 1 it is characterised in that：Described external information collecting unit is fixed for GPS
Position module, described d GPS locating module obtains the latitude, longitude of itself position, date and time information.
4. automatic work equipment according to claim 3 it is characterised in that：Latitude, longitude described in described master control module judges
The default latitude, longitude being located is interval；Judge that the default date at described date place is interval；According to described default latitude, longitude area
Between and the interval corresponding plan for adjustment adjustment plan of described working time of described default date.
5. automatic work equipment according to claim 1 it is characterised in that：Described external information collecting unit is sensing
Device, described sensor obtains the temperature and humidity information of itself position.
6. automatic work equipment according to claim 5 it is characterised in that：Temperature described in described master control module judges is located
Preset temperature interval；Judge that the default humidity that described humidity is located is interval；According to described preset temperature is interval and described humidity
Interval corresponding plan for adjustment adjustment plan of described working time.
7. automatic work equipment according to claim 1 it is characterised in that：Described working time plan inclusion is set into
The persistent period of working condition.
8. according to the automatic work equipment described in claim 1 it is characterised in that：Described working time plan includes setting cycle
Working time.
9. the automatic work equipment described in claim 1 it is characterised in that：Described working time plan includes setting just task
The time and attendance working time.
10. the automatic work equipment described in claim 1 it is characterised in that：Described working time plan includes setting work and rises
Time beginning and dwell time.
11. automatic work equipments according to claim 1 it is characterised in that：Described default adjustment algorithm includes described
Main control module adjusts the persistent period of described working condition.
12. automatic work equipments according to claim 11 it is characterised in that：Described main control module is by described working condition
Persistent period of working condition of being planned with default working time persistent period be multiplied by coefficient and replace.
13. automatic work equipments according to claim 1 it is characterised in that：Described default adjustment algorithm includes described
Main control module adjusts the time started of described working condition.
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| CN201610886979.6A CN106483881A (en) | 2012-01-20 | 2012-01-20 | Automatically work equipment |
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| CN2012100184519A CN103217912A (en) | 2012-01-20 | 2012-01-20 | Automatic working equipment |
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| CN109982563A (en) * | 2017-10-27 | 2019-07-05 | 苏州宝时得电动工具有限公司 | From mobile device, charging station, automatic working system and its worm inhibit device |
| CN111246725A (en) * | 2018-03-09 | 2020-06-05 | 苏州宝时得电动工具有限公司 | Self-moving gardening robot |
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| CN108040582A (en) * | 2018-01-26 | 2018-05-18 | 武汉理工大学 | A kind of automatic tracking power-operated mower based on DGPS |
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