CN109709942A - Automatic running device and its condition control method - Google Patents
Automatic running device and its condition control method Download PDFInfo
- Publication number
- CN109709942A CN109709942A CN201711012772.7A CN201711012772A CN109709942A CN 109709942 A CN109709942 A CN 109709942A CN 201711012772 A CN201711012772 A CN 201711012772A CN 109709942 A CN109709942 A CN 109709942A
- Authority
- CN
- China
- Prior art keywords
- sensor array
- capacitance sensor
- automatic running
- running device
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
A kind of condition control method of automatic running device, comprising: obtain capacitance sensor array signal；According to capacitance sensor array signal, judge whether predeterminable event occurs；When predeterminable event occurs, the operation of automatic running device is controlled；Wherein, predeterminable event includes the posture anomalous event and chance barrier event of automatic running device.Based on same thinking, invention additionally discloses a kind of automatic running devices, comprising: sensor module, for obtaining sensor array signal；Processing module, for judging whether predeterminable event occurs according to capacitance sensor array signal；Control module, for controlling the operation of automatic running device when predeterminable event occurs.Above-mentioned automatic running device and its condition control method utilize capacitance sensor array completion two kinds of functions of avoidance and attitude detection.Infrastructure cost is not only reduced, and automatic running device is operated normally under complex work situation.
Description
Technical field
The present invention relates to garden craft fields, more particularly to a kind of automatic running device and its condition control method.
Background technique
Compared with traditional grass trimmer, intelligent grass-removing has automatically walk function, and the sensing with meadow identification function
Device, intelligent grass-removing need the meadow trimmed using capacitance sensor automatic identification, the work that completion that can be autonomous cuts the grass on a lawn
Make, without artificially directly controlling and operating, manual operation is greatly lowered, is the fields such as a kind of suitable family's garden, public lawn
The tool of carried out turf-mown maintenance.
Capacitance sensor detects ground below grass trimmer, judges whether it is thick grass to be cut, and then control the work of cutting motor
Make situation.But existing intelligent grass-removing generally all detects corresponding signal by special sensor, these detection signal function
Can be single, and cannot be guaranteed very high accuracy, complex work environment is faced, peril still may be caused.
Summary of the invention
Based on this, it is necessary to having a single function and do not adapt to complex work ring for intelligent grass-removing reply abnormal conditions
The technical issues of border, provides a kind of automatic running device and its condition control method, so that automatic running device is in complex work
It is still operated normally in situation.
A kind of condition control method of automatic running device characterized by comprising obtain capacitance sensor array letter
Number；According to capacitance sensor array signal, judge whether predeterminable event occurs；When the predeterminable event occurs, described in control
The operation of automatic running device；Wherein, the predeterminable event includes the posture anomalous event and chance barrier of the automatic running device
Event.
The condition control method of above-mentioned automatic running device completes avoidance and attitude detection two using capacitance sensor array
Kind function.Two kinds of functions of avoidance and attitude detection can be realized using a set of capacitance sensor array, not only reduce infrastructure cost,
And automatic running device is still operated normally under complicated operating condition.
It is described in one of the embodiments, that the step of whether predeterminable event occurs judged, it specifically includes: reading default item
Part；Judge whether the parameter value of the capacitance sensor array signal meets the preset condition；When the capacitance sensor battle array
When the parameter value of column signal meets the preset condition, judge that the predeterminable event occurs.
Method in one of the embodiments, further include: read the first preset condition；Judge the capacitance sensor array
Whether the parameter value of signal meets the first preset condition；When the parameter value of the capacitance sensor array signal meets described first
When preset condition, determine that the automatic running device encounters barrier.
Method in one of the embodiments, further include: read the second preset condition；Judge the capacitance sensor array
Whether the parameter value of signal meets and preset condition；When the parameter value of the capacitance sensor array signal meets described second
When preset condition, determine that the automatic running device posture is abnormal.
Capacitance sensor array is made of N number of capacitance sensor in one of the embodiments, wherein N >=2.
Condition control method in one of the embodiments, further include: pass capacitance sensor array signal and ultrasonic wave
Sensor signal, infrared sensor signal, laser sensor signal, Hall sensor signal, current sensor signal at least one
It is a to combine, judge whether predeterminable event occurs；Whether occurred according to predeterminable event, controls the fortune of the automatic running device
Row.
Multiple sensors are used in combination in the condition control method of above-mentioned automatic running device, and automatic running device is made not only may be used
With attitude detection.Moreover, carrying out meeting barrier detection using a variety of detection means, so that testing result is more acurrate, False Rate is reduced.
A kind of automatic running device, comprising: sensor module, for obtaining sensor array signal；Wherein, the sensing
Device module is capacitance sensor array；Processing module, for judging that predeterminable event is according to the capacitance sensor array signal
No generation；Control module, for controlling the operation of the automatic running device when the predeterminable event occurs；Wherein, it presets
Event includes the attitudes vibration event and chance barrier event of the automatic running device.
Above-mentioned automatic running device completes two kinds of functions of avoidance and attitude detection using capacitance sensor array.Using a set of
Capacitance sensor array can realize two kinds of functions of avoidance and attitude detection, not only reduce infrastructure cost, and make automatic row
Equipment is walked still to operate normally under complicated operating condition.
Processing module includes: storage unit in one of the embodiments, for storing preset condition；Judging unit is used
Whether meet the preset condition in the parameter value for judging the capacitance sensor array signal, when the capacitance sensor array
When the parameter value of signal meets the preset condition, judge whether the predeterminable event occurs.
Sensor module is capacitance sensor and ultrasonic sensor, infrared sensor, swashs in one of the embodiments,
The sensor array of at least one of optical sensor, Hall sensor, current sensor composition.
Automatic running device is provided with elastic support in one of the embodiments, for installing the capacitance sensor
Array so that the capacitance sensor array meet barrier when change location and avoid.
Multiple sensors are used in combination in above-mentioned automatic running device, can not only carry out attitude detection.Moreover, using a variety of
Detection means carries out meeting barrier detection, so that testing result is more acurrate, reduces False Rate.
Detailed description of the invention
Fig. 1 is the flow diagram of grass trimmer condition control method in an embodiment provided by the invention；
Fig. 2 is the flow diagram of grass trimmer condition control method in a preferred embodiment provided by the invention；
Fig. 3 is the external structure schematic diagram of grass trimmer provided by the invention；
Fig. 4 is grass trimmer bottom substance schematic diagram provided by the invention；
Fig. 5 is the module diagram of grass trimmer behavior control device provided by the invention；
Fig. 6 is the schematic diagram of internal structure of grass trimmer provided by the invention；
Fig. 7 is the module diagram of grass trimmer processing module provided by the invention.
Wherein, label declaration is as follows:
100 sensor module, 200 processing module
300 control module, 210 storage unit
111 metal probe, 220 judging unit
510 driven wheel, 410 cutting motor
520 driving wheel, 420 cutter device
530 shell, 430 driving motor
10 meadows
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It is worth noting that automatic running device can be intelligent grass-removing, intelligent snowplough, intelligent floor-sweeping vehicle, intelligence
The similar smart machine with automatically walk function such as ground washing vehicle.The embodiment of the present invention is by taking intelligent grass-removing as an example.
Referring to Figure 1, in one embodiment, the condition control method of grass trimmer includes S100 to S300.
S100: capacitance sensor array signal is obtained.
In one embodiment, metal probe is installed in mowing motor spindle.One as capacitance sensor of metal probe
Electrode is greatly used as another electrode, in this way, metal probe and the earth just form capacitance sensor.Fig. 4 is referred to, several
Capacitance sensor is arranged in mowing motor spindle, and is distributed in the different zones of bottom, forms capacitance sensor array.So not only
Structure is simple and saves cost.
With the horizontal movement of grass trimmer, set on the building ring of the metal probe detection mowing motor spindle of mowing motor spindle
Border obtains capacitance sensor array signal value by the capacitance signalling values between detection metal probe and the earth.It is passed using capacitor
The working environment of sensor array detection grass trimmer, keeps testing result more acurrate.Moreover, grass trimmer is made to adapt to complicated mowing ring
Border.
S200: according to capacitance sensor array signal, judge whether predeterminable event occurs.
In one embodiment, several metal probes are installed on mowing motor spindle, with the horizontal movement of grass trimmer, electricity
Hold two interelectrode media of sensor to change, capacitor, which changes, exports corresponding signal.When grass trimmer is cut from needs
Careless regional movement to non-grass region, two interelectrode media become air from vegetation, and capacitor changes the signal of output
Value can reflect out whether grass trimmer is in the region for needing to mow.
When grass trimmer encounters barrier, set on the capacitance sensor array of mowing motor spindle, wherein wholly or largely
The signal value of metal probe output all levels off to steady state value.Therefore, when the signal value of the capacitance sensor of all or most
Level off to steady state value when, can judge accordingly whether grass trimmer encounters barrier.
When grass trimmer posture changes, such as when being lifted by level, between two electrodes of metal probe and the earth
Medium changes, and the signal value between two electrodes levels off to steady state value and steady state value levels off to zero.Therefore, work as capacitance sensing
The signal value of most or all of capacitance sensors, which levels off to, in device array steady state value and levels off to zero, can judge accordingly
The posture of grass trimmer is abnormal.
S300: when predeterminable event occurs, the operation of automatic running device is controlled.
In one embodiment, when the signal value approach of the capacitance sensor of all or most in capacitive array sensor
It when steady state value, is changed the corresponding signal value of output according to capacitor, determines that grass trimmer encounters barrier in mowing region.When
When mowing region encounters barrier, control cutting module stops working grass trimmer, and changes grass trimmer walking path with avoidance.
Steady state value and zero is leveled off to when the signal value of capacitance sensor whole in capacitance sensor array levels off to, according to
Capacitor changes the corresponding signal value of output, judges that the posture of grass trimmer is abnormal.When the posture of grass trimmer is abnormal
When, control cutting module stops working.
Fig. 2 is referred to, in another embodiment, identification lawn method further includes step S210, S220, S230.
S210: preset condition is read；
Different preset conditions is provided with according to different predeterminable events, in a storage module by preset condition.For cutting
Careless opportunity carries out various experiments to two predeterminable events of barrier and grass trimmer attitudes vibration, acquires the capacitor under both situations
The signal of sensor array obtains capacitance sensor array signal value, such as capacitance or level, the experiment that these are obtained
Data store in the database as preset parameter value.When grass trimmer is in both situations, capacitance sensor array is acquired
To different capacitances.Preset parameter value is read from database, compares parameter value and the reading of capacitance sensor array signal
Comparison result is defined as preset condition by preset parameter value, establishes the parameter value and preset condition of capacitance sensor array signal
Corresponding relationship.
Further, with the traveling of grass trimmer, the capacitance of capacitance sensor array acquisition is in fluctuation status.When cutting
When careless opportunity is to barrier, the capacitance of capacitance sensor array acquisition, wherein the wholly or largely electricity of metal probe output
Capacitance all levels off to the first steady state value, in the database by the storage of obtained experimental data.With the traveling of grass trimmer, capacitor is passed
The capacitance of sensor array output acquisition, while preset parameter value is read from database.By the capacitance sensor array of acquisition
Capacitance is compared with the preset parameter value read from database, which is defined the first preset condition, is established
The corresponding relationship of first steady state value and the first preset condition.
Further, with the traveling of grass trimmer, the capacitance of capacitance sensor array acquisition is in fluctuation status.When cutting
When careless machine posture changes, the capacitance of capacitance sensor array is acquired.Wherein all or most capacitance sensor
Capacitance levels off to the second steady state value, and the second steady state value levels off to zero, in the database by the storage of obtained experimental data.With
The traveling of grass trimmer, capacitance sensor array acquisition capacitance be in fluctuation status, while from database read preset
Parameter value.The capacitance of collected capacitance sensor array is compared with the preset parameter value read from database.
The comparison result is defined into the second preset condition, establishes the corresponding relationship of the second steady state value and the first preset condition.
When grass trimmer is in different operative scenarios, capacitance sensor array collects different capacitances, while from number
According to reading these preset conditions in library.
S220: judge whether the parameter value of capacitance sensor array signal meets preset condition；
When grass trimmer is in different operative scenarios, capacitance sensor array collects different capacitances, while from number
According to reading these preset conditions in library.Judge whether the parameter value of capacitance sensor array signal meets preset condition.
S230: when the parameter value of capacitance sensor array signal meets preset condition, judge predeterminable event；
According to the relationship of the parameter value of capacitance sensor array signal and preset condition, judge grass trimmer encounter barrier and
Whether two predeterminable events of grass trimmer attitudes vibration occur.
In grass trimmer traveling process, when the capacitance of capacitance sensor array meets the first preset condition, judge to mow
Opportunity is to barrier.When grass trimmer is when mowing region encounters barrier, control cutting module stops working, and changes grass trimmer
Walking path is with avoidance.
In grass trimmer traveling process, when the capacitance of capacitance sensor array meets the second preset condition, judge to mow
The posture of machine is abnormal.When the posture of grass trimmer is abnormal, control cutting module stops working.
Specifically, for the accuracy of testing result, capacitance sensor array, capacitor are reasonably laid out in mowing motor spindle
The quantity of sensor is no less than 2.For example, mowing motor spindle is provided with 4 capacitance sensors.When wherein 3 capacitance sensors
Capacitance be equal to be not zero steady state value when, that is, can determine that grass trimmer meet barrier.When the capacitance etc. of wherein 3 capacitance sensors
When zero, that is, it can determine that grass trimmer is lifted by level.
In one embodiment, it in order to make grass trimmer adapt to complicated mowing environment, by capacitance sensor array and mows
The original sensor of machine is used in combination to form sensor array, is Hall sensor, current sensor in the present embodiment, and detection is cut
The operating status of careless machine keeps testing result more acurrate.
Sensor array is provided with corresponding different signal threshold value, such as electricity caused by the capacitance variations of capacitance sensor
The collected magnetic signal threshold value of flat change threshold, Hall sensor, the collected current change threshold value of current sensor etc..These
Signal threshold value stores in the database.Grass trimmer is in different working environments, and sensor array collects unlike signal value,
These preset signal data threshold values are read from database simultaneously.
Using locking ring washer on front axle, and magnet is fixed on retaining ring by a quick assembling coupling, magnet and Hall pass
Sensor is used cooperatively.It is moved up and down by front axle with moving magnet, detection is lifted in triggering and closing Hall sensor, realization.When
When Hall sensor detection signal is matched with corresponding data threshold in database, in combination with the letter of capacitance sensor array
Number, two kinds of means, which combine, determines that grass trimmer is lifted.When grass trimmer is lifted, control module controls cutting motor and stops work
Make.
Grass trimmer detects the motion conditions of driving wheel using current sensor during traveling, and current sensor is adopted
The curent change collected is matched with preset data threshold, determines whether grass trimmer encounters barrier.When current sensor detects
When signal is matched with corresponding data threshold in database, in combination with the signal of capacitance sensor array, two kinds of means are combined
Determine that grass trimmer is lifted.Then judgement encounters barrier, and control module controls grass trimmer and turns to.
It is understood that can according to need corresponding adjustment to the processing mode of sensor signal.Further, in addition to
Except capacitance sensor, the sensor for the states such as original detection mowing opportunity hinders or lifts can also be other existing sensings
Device is no longer listed one by one here.
In another embodiment, ultrasonic sensor (not shown) is installed on the top of housing of mowing machine 530.Ultrasonic wave passes
Sensor is installed on the top of housing of mowing machine, and the ultrasonic wave that ultrasonic probe issues breaks the barriers return, and reception device receives
The feedback signal returned by barrier.According to pre- in the time threshold or distance threshold and database of ultrasonic sensor acquisition
If time threshold or distance threshold match when, determine grass trimmer will encounter where and when encountering barrier, control in advance
The movement of grass trimmer processed avoids colliding with barrier.Ultrasonic sensor signal is further combined, can preferably realize and keep away
Barrier.
It is understood that the working principle of infrared sensor, laser sensor and ultrasonic sensor it is almost the same
This is repeated no more.
Based on same thinking, the present invention also provides an automatic running devices, and such as above, automatic running device can be intelligence
The similar smart machines with automatically walk function such as energy grass trimmer, intelligent snowplough, intelligent floor-sweeping vehicle, intelligent ground washing vehicle.
The embodiment of the present invention is by taking intelligent grass-removing as an example.
Refer to Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of grass trimmer, including driven wheel 510, driving wheel 520, shell 530, cut
Cut device 420.Further include: sensor module 100, for obtaining the signal of sensor array, wherein sensor module 100 is
Capacitance sensor array.In the present embodiment, capacitance sensor array includes at least one capacitance sensor, is installed on shell bottom
Portion is electrically connected with processing module 200, and whether below the detection automatic mower or surface in the front of moving direction is mowing to be cut
Ground.Processing module 200, for judging whether predeterminable event occurs according to capacitance sensor array signal.Wherein, predeterminable event
Attitudes vibration event and chance barrier event including grass trimmer.Processing module 200 have input terminal and output end, input terminal with biography
Sensor module 100 is electrically connected, and output end is electrically connected with control module 300, control module 300 and cutting motor 410, driving motor
430 connections.Control module 300, for controlling the operation of grass trimmer when predeterminable event occurs.Sensor module 100 will sense
The signal of device array is exported to processing module 200, and whether processing module 200 judges predeterminable event according to sensor array signal
Occur.When predeterminable event occurs, control module 300 controls the working condition of grass trimmer.The output end of control module 300 with cut
The connection of motor 410 is cut, the cutter device 420 of grass trimmer is controlled.The output end of control module 300 is connect with driving motor 430, control
The driving wheel 520 of grass trimmer processed.Sensor array in the present invention indicates the combination of 2 or 2 or more sensors, to arrangement side
Formula with no restriction, meets testing requirements.
In one embodiment, Fig. 7 is referred to, processing module 200 includes: storage unit 210, for storing preset number
According to threshold value；Judging unit 220, for comparing the parameter value and preset parameter value of capacitance sensor array signal, and according to comparing
As a result, judging whether predeterminable event occurs.
In one embodiment, grass trimmer is provided with elastic support, for installing capacitance sensor array.Elastic support
One end processing module 200 is connected by conducting wire, and the other end is connect with control module 300.Control module 300 controls elastic support and becomes
Shape.In mowing opportunity barrier, capacitance sensor array change location improves the performance of grass trimmer to break the barriers to avoid.
In one embodiment, in order to make grass trimmer adapt to complicated mowing environment, by capacitance sensor array and ultrasound
The combined use of wave sensor, infrared sensor, laser sensor, Hall sensor, current sensor forms sensor array,
The operating status for detecting grass trimmer, keeps testing result more acurrate.So sensor module can be capacitance sensor, ultrasonic wave
Sensor, infrared sensor, laser sensor, Hall sensor, the sensing of any two or composition described above in current sensor
Device array.
Fig. 3, Fig. 4 are referred to, the concrete application scene of the embodiment of the present application is described below:
Housing top end, bottom, outer casing bottom edge or traveling wheel of grass trimmer etc. is arranged in sensor array, sensing
Device array is capacitance sensor and ultrasonic sensor, infrared sensor, laser sensor, Hall sensor, current sensor
At least one of composition sensor array.For example, ultrasonic sensor (not shown) is installed on the top of housing of mowing machine；
Several metal probes are installed on mowing motor spindle；The magnet being arranged inside driven wheel, Hall sensor are located near driven wheel,
The mechanical periodicity in magnetic field when driven wheel rotation can be detected；The motion conditions of driving wheel are detected using current sensor.
An electrode of the metal probe as capacitance sensor is greatly used as another electrode, in this way, metal probe and big
Ground just forms capacitance sensor, simple in this way and saving infrastructure cost.Several metal probes form capacitance sensor array, electricity
The different media for holding the distance between sensor array foundation metal probe and the earth and detecting, export different capacitors
Value.After handling by signal identification, it is supplied to control module.Control module by collected signal value with it is preset in database
Data threshold compares, and judges which kind of medium the metal probe in the capacitance sensor array of grass trimmer contacts.It can be complete
The identification of pairs of lawn working region, can determine whether grass trimmer is lifted by level, can determine whether grass trimmer meets barrier.Utilize one
Capacitance sensor array is covered, the function of meeting barrier detection and attitudes vibration detection is realized.
With the horizontal movement of grass trimmer, two interelectrode media of capacitance sensor change, and capacitor changes
Corresponding signal is exported, can judge whether grass trimmer encounters barrier or be whether to be lifted by level according to the signal.
Several metal new line distributing installations position different in mowing motor spindle, with water of the grass trimmer on meadow 10
Flat movement, moves to non-lawn region, and two interelectrode media of metal probe and the earth become air, dielectric constant from vegetation
Become smaller, processing module output square wave frequency becomes larger.When output square wave frequency is matched with biggish data threshold, judgement grass trimmer is
Through leaving the region for needing to mow.Control module control cutting motor stops working, and changes the grass trimmer direction of motion, and control is cut
Careless machine returns to the region for needing to mow.
When encountering barrier, the signal exported positioned at the metal probe of mowing motor spindle is equal to the steady state value being not zero；
Meanwhile the motion conditions of current sensor detection driving wheel.Two kinds of means, which combine, determines that grass trimmer encounters obstacle in mowing region
Object.Control module control cutting motor stops working, and controls grass trimmer and retreat, avoid barrier.
Similarly, can by capacitance sensor and ultrasonic sensor, infrared sensor, laser sensor, Hall sensor,
The sensor array of any one in current sensor or above sensor composition is completed posture using capacitance sensor and is supervised
It surveys, capacitance sensor is used in combination with other sensors, complete to meet barrier detection using multiple sensors means, keep result more quasi-
Really, it avoids judging by accident.
During grass trimmer is advanced, some barriers may need just detect after collision, and some have
There is the barrier of certain altitude that ultrasonic sensor can be used, ultrasonic sensor can detect barrier except certain distance
Hinder object, before colliding with barrier, control module 300 can change the direction of travel of grass trimmer, avoid and barrier
Collision.Ultrasonic sensor calculates position of the barrier relative to grass trimmer using the time difference for emitting and receiving ultrasonic wave.According to
According to the calculated result, the movement of grass trimmer is controlled.
In short, several metal probes with ultrasonic sensor, infrared sensor, laser sensor, Hall sensor,
One or more combined uses in current sensor, so that capacitive sensor signal is applied not only to judge meadow, are also used to sentence
Disconnected grass trimmer posture is abnormal or meets barrier, makes full use of capacitive sensor signal, keeps result more acurrate, avoids judging by accident.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of condition control method of automatic running device characterized by comprising
Obtain capacitance sensor array signal；
According to capacitance sensor array signal, judge whether predeterminable event occurs；
When the predeterminable event occurs, the operation of the automatic running device is controlled；
Wherein, the predeterminable event includes the posture anomalous event and chance barrier event of the automatic running device.
2. condition control method according to claim 1, which is characterized in that it is described that the step of whether predeterminable event occurs judged,
It specifically includes:
Read preset condition；
Judge whether the parameter value of the capacitance sensor array signal meets the preset condition；
When the parameter value of the capacitance sensor array signal meets the preset condition, judge that the predeterminable event occurs.
3. condition control method according to claim 2, which is characterized in that further include:
Read the first preset condition；
Judge whether the parameter value of the capacitance sensor array signal meets the first preset condition；
When the parameter value of the capacitance sensor array signal meets first preset condition, determine that the automatically walk is set
It is standby to encounter barrier.
4. condition control method according to claim 2, which is characterized in that further include:
Read the second preset condition；
Judge whether the parameter value of the capacitance sensor array signal meets and preset condition；
When the parameter value of the capacitance sensor array signal meets second preset condition, determine that the automatically walk is set
Standby posture is abnormal.
5. condition control method according to claim 1, which is characterized in that capacitance sensor array has N number of capacitance sensor group
At wherein N >=2.
6. condition control method according to claim 1, which is characterized in that the condition control method further include:
By capacitance sensor array signal and ultrasonic sensor signal, infrared sensor signal, laser sensor signal, Hall
At least one of sensor signal, current sensor signal combine, and judge whether predeterminable event occurs；
Whether occurred according to predeterminable event, controls the operation of the automatic running device.
7. a kind of automatic running device characterized by comprising
Sensor module, for obtaining sensor array signal；
Wherein, the sensor module is capacitance sensor array；
Processing module, for judging whether predeterminable event occurs according to the capacitance sensor array signal；
Control module, for controlling the operation of the automatic running device when the predeterminable event occurs；
Wherein, predeterminable event includes the attitudes vibration event and chance barrier event of the automatic running device.
8. automatic running device according to claim 7, which is characterized in that the processing module includes:
Storage unit, for storing the preset condition；
Judging unit works as institute for judging whether the parameter value of the capacitance sensor array signal meets the preset condition
When stating the parameter value of capacitance sensor array signal and meeting the preset condition, judge whether the predeterminable event occurs.
9. automatic running device according to claim 7, which is characterized in that the sensor module is capacitance sensor and ultrasound
The sensor of at least one of wave sensor, infrared sensor, laser sensor, Hall sensor, current sensor composition
Array.
10. automatic running device according to claim 6, which is characterized in that automatic running device is provided with elastic support, is used for
The capacitance sensor array is installed so that the capacitance sensor array meet barrier when change location and avoid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711012772.7A CN109709942B (en) | 2017-10-26 | 2017-10-26 | Automatic walking equipment and state control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711012772.7A CN109709942B (en) | 2017-10-26 | 2017-10-26 | Automatic walking equipment and state control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109709942A true CN109709942A (en) | 2019-05-03 |
| CN109709942B CN109709942B (en) | 2022-07-12 |
Family
ID=66252628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711012772.7A Active CN109709942B (en) | 2017-10-26 | 2017-10-26 | Automatic walking equipment and state control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109709942B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6267610A (en) * | 1985-09-20 | 1987-03-27 | Hitachi Ltd | Moving machine controller |
| CN2356337Y (en) * | 1998-11-10 | 1999-12-29 | 华中理工大学 | Capacity mearing sensor |
| US6600284B1 (en) * | 1998-08-10 | 2003-07-29 | Robert Bosch Gmbh | System for detecting obstacles |
| EP1841629A2 (en) * | 2005-01-24 | 2007-10-10 | Daniel Myung Cho | Logic for an automotive air bag system |
| US20080122458A1 (en) * | 2006-11-28 | 2008-05-29 | Process Equipment Co. Of Tipp City | Proximity detection system |
| CN101446832A (en) * | 2007-11-27 | 2009-06-03 | 常州新区常工电子计算机有限公司 | Automatic obstacle-avoiding method of robot cleaner and control method thereof |
| US20120265391A1 (en) * | 2009-06-18 | 2012-10-18 | Michael Todd Letsky | Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same |
| CN106888673A (en) * | 2015-12-17 | 2017-06-27 | 苏州宝时得电动工具有限公司 | Hay mover |
| CN107608341A (en) * | 2016-07-11 | 2018-01-19 | 苏州宝时得电动工具有限公司 | Automatic working system and the rehabilitation control method from mobile gardening equipment |
| CN109542092A (en) * | 2017-09-22 | 2019-03-29 | 苏州宝时得电动工具有限公司 | Automatic running device |
-
2017
- 2017-10-26 CN CN201711012772.7A patent/CN109709942B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6267610A (en) * | 1985-09-20 | 1987-03-27 | Hitachi Ltd | Moving machine controller |
| US6600284B1 (en) * | 1998-08-10 | 2003-07-29 | Robert Bosch Gmbh | System for detecting obstacles |
| CN2356337Y (en) * | 1998-11-10 | 1999-12-29 | 华中理工大学 | Capacity mearing sensor |
| EP1841629A2 (en) * | 2005-01-24 | 2007-10-10 | Daniel Myung Cho | Logic for an automotive air bag system |
| US20080122458A1 (en) * | 2006-11-28 | 2008-05-29 | Process Equipment Co. Of Tipp City | Proximity detection system |
| CN101446832A (en) * | 2007-11-27 | 2009-06-03 | 常州新区常工电子计算机有限公司 | Automatic obstacle-avoiding method of robot cleaner and control method thereof |
| US20120265391A1 (en) * | 2009-06-18 | 2012-10-18 | Michael Todd Letsky | Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same |
| CN106888673A (en) * | 2015-12-17 | 2017-06-27 | 苏州宝时得电动工具有限公司 | Hay mover |
| CN107608341A (en) * | 2016-07-11 | 2018-01-19 | 苏州宝时得电动工具有限公司 | Automatic working system and the rehabilitation control method from mobile gardening equipment |
| CN109542092A (en) * | 2017-09-22 | 2019-03-29 | 苏州宝时得电动工具有限公司 | Automatic running device |
Non-Patent Citations (2)
| Title |
|---|
| HYUNG-KEW LEE，等: "Dual-Mode Capacitive Proximity Sensor for Robot Application: Implementation of Tactile and Proximity Sensing Capability on a Single Polymer Platform Using Shared Electrodes", 《IEEE SENSORS JOURNAL》 * |
| 艾延廷,等: "智能吸尘器控制系统软件设计", 《测控技术》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109709942B (en) | 2022-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220187829A1 (en) | An autonomous working system, an autonomous vehicle and a turning method thereof | |
| EP3366100B1 (en) | Robotic garden tool | |
| EP3373097B1 (en) | Robotic mower with object detection system | |
| US9119341B2 (en) | Robotic garden tool following wires at a distance using multiple signals | |
| CN107479546B (en) | Self-moving gardening equipment | |
| EP3835907A1 (en) | Self-mobile device, automatic operating system and control method thereof | |
| WO2014007728A1 (en) | Displacement sensor for a robotic vehicle detecting a lift event and a collision event | |
| CN103891463A (en) | Automatic mowing system | |
| WO2014071860A1 (en) | Automatic work system | |
| US20200272165A1 (en) | Self-moving apparatus and method for controlling same | |
| CN105911981A (en) | Automatic work system, and automatic walking device and steering method thereof | |
| CN109871012A (en) | A kind of forward method of intelligent grass-removing in boundary | |
| CN109709942A (en) | Automatic running device and its condition control method | |
| CN108717293B (en) | Roundabout identification method and system | |
| WO2022222678A1 (en) | Intelligent mowing system and intelligent mowing device | |
| WO2018001340A1 (en) | Self-mobile device | |
| CN107920466B (en) | Self-moving equipment and control method thereof | |
| WO2022229750A1 (en) | System for collecting litter in an urban area, corresponding method of operation and computer program product | |
| EP3657292B1 (en) | Automatic sensitivity adjustment in object detection system | |
| CN115328107B (en) | Intelligent mowing system and intelligent mowing equipment | |
| CN213750761U (en) | Automatic walking equipment and automatic walking system | |
| CN117475132A (en) | Boundary line identification method, intelligent device and readable storage medium | |
| CN115129062A (en) | Mowing robot recharging method and device, mowing robot and storage medium | |
| CN117908538A (en) | Control method and device of intelligent mower, storage medium and intelligent mower |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |