CN111601497A - 自动工作系统、自移动设备及其控制方法 - Google Patents
自动工作系统、自移动设备及其控制方法 Download PDFInfo
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- CN111601497A CN111601497A CN201980008680.2A CN201980008680A CN111601497A CN 111601497 A CN111601497 A CN 111601497A CN 201980008680 A CN201980008680 A CN 201980008680A CN 111601497 A CN111601497 A CN 111601497A
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- 238000000034 method Methods 0.000 title claims description 20
- 238000001514 detection method Methods 0.000 claims abstract description 43
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- 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
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
Abstract
一种自动工作系统，包括自移动设备(1)和充电站(3)，自移动设备(1)在工作区域(100)内自主移动和工作，能够与充电站(3)对接充电，自移动设备(1)包括：壳体(11)；驱动模块(23)，驱动壳体(11)相对于地面移动；工作模块(25)，执行设定的工作任务；检测模块(31)，检测自移动设备(1)的工作表面；控制器(21)，与驱动模块(23)、工作模块(25)、检测模块(31)连接；表面识别模块(27)，判断工作表面是否与工作区域(100)一致；区域识别模块(29)，判断自移动设备(1)是否位于预设区域；若表面识别模块(27)判断工作表面与工作区域(100)一致，且区域识别模块(29)判断自移动设备(1)位于预设区域，控制器控制自移动设备(1)启动。通过表面识别模块(27)和区域识别模块(29)双重判断，防止自移动设备(1)在工作区域外工作，提高安全性。
Description
PCT国内申请，说明书已公开。
Claims (27)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018101506625 | 2018-02-13 | ||
| CN201810150662 | 2018-02-13 | ||
| PCT/CN2019/074974 WO2019158090A1 (zh) | 2018-02-13 | 2019-02-13 | 自动工作系统、自移动设备及其控制方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111601497A true CN111601497A (zh) | 2020-08-28 |
| CN111601497B CN111601497B (zh) | 2023-09-12 |
Family
ID=67619733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980008680.2A Active CN111601497B (zh) | 2018-02-13 | 2019-02-13 | 自动工作系统、自移动设备及其控制方法 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111601497B (zh) |
| WO (1) | WO2019158090A1 (zh) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113703431A (zh) * | 2020-05-09 | 2021-11-26 | 苏州科瓴精密机械科技有限公司 | 自移动设备与充电站对接方法、装置、自移动设备及可读存储介质 |
| CN112806166A (zh) * | 2021-02-01 | 2021-05-18 | 格力博(江苏)股份有限公司 | 园林工具 |
| CN117707128A (zh) * | 2022-09-07 | 2024-03-15 | 苏州宝时得电动工具有限公司 | 自移动机器人的控制系统、建图方法、进停靠站方法和出停靠站方法 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012146195A1 (zh) * | 2011-04-28 | 2012-11-01 | 苏州宝时得电动工具有限公司 | 自动工作系统、自动行走设备及其转向方法 |
| CN106393094A (zh) * | 2015-07-30 | 2017-02-15 | 苏州宝时得电动工具有限公司 | 自移动机器人 |
| CN107637255A (zh) * | 2016-07-22 | 2018-01-30 | 苏州宝时得电动工具有限公司 | 智能割草机的行走路径控制方法、自动工作系统 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045137A (zh) * | 2016-02-06 | 2017-08-15 | 苏州宝时得电动工具有限公司 | 自动工作系统，自移动设备及其控制方法 |
| CN107463166A (zh) * | 2016-06-03 | 2017-12-12 | 苏州宝时得电动工具有限公司 | 自动行走设备及其控制行走方法 |
| JP6683056B2 (ja) * | 2016-07-29 | 2020-04-15 | 工機ホールディングス株式会社 | 自走式作業機 |
| US20180035606A1 (en) * | 2016-08-05 | 2018-02-08 | Romello Burdoucci | Smart Interactive and Autonomous Robotic Property Maintenance Apparatus, System, and Method |
-
2019
- 2019-02-13 CN CN201980008680.2A patent/CN111601497B/zh active Active
- 2019-02-13 WO PCT/CN2019/074974 patent/WO2019158090A1/zh active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012146195A1 (zh) * | 2011-04-28 | 2012-11-01 | 苏州宝时得电动工具有限公司 | 自动工作系统、自动行走设备及其转向方法 |
| CN102768532A (zh) * | 2011-04-28 | 2012-11-07 | 苏州宝时得电动工具有限公司 | 自动工作系统、自动行走设备及其转向方法 |
| CN106393094A (zh) * | 2015-07-30 | 2017-02-15 | 苏州宝时得电动工具有限公司 | 自移动机器人 |
| CN107637255A (zh) * | 2016-07-22 | 2018-01-30 | 苏州宝时得电动工具有限公司 | 智能割草机的行走路径控制方法、自动工作系统 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111601497B (zh) | 2023-09-12 |
| WO2019158090A1 (zh) | 2019-08-22 |
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