CN111602097A - 自移动设备及其控制方法 - Google Patents

自移动设备及其控制方法 Download PDF

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Publication number
CN111602097A
CN111602097A CN201980008687.4A CN201980008687A CN111602097A CN 111602097 A CN111602097 A CN 111602097A CN 201980008687 A CN201980008687 A CN 201980008687A CN 111602097 A CN111602097 A CN 111602097A
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China
Prior art keywords
battery pack
self
module
moving
working
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CN201980008687.4A
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CN111602097B (zh
Inventor
高振东
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Publication of CN111602097A publication Critical patent/CN111602097A/zh
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits

Abstract

一种自移动设备及其控制方法，其中，自移动设备包括提供能量的电池包，并根据检测到的引导信号自动返回充电站充电，自移动设备在无边界线的工作区域内移动，控制方法包括如下步骤：监测电池包的工作参数；若电池包工作参数满足第一预设范围，且检测到引导信号，则控制自移动设备回归充电站。有益效果是提高自移动设备回归充电站的成功率。

Description

PCT国内申请，说明书已公开。

Claims (60)

  1. PCT国内申请，权利要求书已公开。
CN201980008687.4A 2018-01-24 2019-01-24 自移动设备及其控制方法 Active CN111602097B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201810067982.4A CN110063142B (zh) 2018-01-24 2018-01-24 割草机的回归方法和装置
CN2018100679824 2018-01-24
PCT/CN2019/073033 WO2019144916A1 (zh) 2018-01-24 2019-01-24 自移动设备及其控制方法

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CN111602097A true CN111602097A (zh) 2020-08-28
CN111602097B CN111602097B (zh) 2023-09-12

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CN201810067982.4A Active CN110063142B (zh) 2018-01-24 2018-01-24 割草机的回归方法和装置
CN201980008687.4A Active CN111602097B (zh) 2018-01-24 2019-01-24 自移动设备及其控制方法

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CN201810067982.4A Active CN110063142B (zh) 2018-01-24 2018-01-24 割草机的回归方法和装置

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CN (2) CN110063142B (zh)
WO (1) WO2019144916A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019167199A1 (ja) * 2018-02-28 2019-09-06 本田技研工業株式会社 制御装置、移動体及びプログラム
CN114430988A (zh) * 2020-11-04 2022-05-06 南京德朔实业有限公司 智能割草机
CN114683874A (zh) * 2020-12-25 2022-07-01 苏州宝时得电动工具有限公司 自动工作系统、充电站及充电控制方法

Citations (4)

* Cited by examiner, † Cited by third party
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CN103294056A (zh) * 2012-03-02 2013-09-11 苏州宝时得电动工具有限公司 自动行走设备及其控制方法
CN103645733A (zh) * 2013-12-02 2014-03-19 江苏建威电子科技有限公司 自寻充电机器人及其自寻充电系统和方法
US20160070268A1 (en) * 2014-09-10 2016-03-10 Joseph Y. Ko Automatic homing and charging method for self-moving cleaning apparatus
CN105467983A (zh) * 2014-08-22 2016-04-06 扬州维邦园林机械有限公司 自动行走设备导引系统和方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201005259D0 (en) * 2010-03-29 2010-05-12 F Robotics Acquisitions Ltd Improvements relating to lawnmowers
CN102680897B (zh) * 2011-03-15 2014-10-29 联芯科技有限公司 电池电量管理方法和装置
CN103260127A (zh) * 2012-02-20 2013-08-21 联想(北京)有限公司 为电子设备提供服务的方法、对象定位方法及电子设备
CN103283404B (zh) * 2012-03-02 2016-10-05 苏州宝时得电动工具有限公司 自动行走设备及其控制方法
CN103565344B (zh) * 2012-08-08 2017-04-19 科沃斯机器人股份有限公司 自移动机器人及其行走方法
CN102960125A (zh) * 2012-12-07 2013-03-13 金阳 用于割草机器人的太阳能智能导航供电站
CN103891464B (zh) * 2012-12-28 2016-08-17 苏州宝时得电动工具有限公司 自动割草系统
CN104029207B (zh) * 2013-03-08 2017-05-10 科沃斯机器人股份有限公司 自移动机器人激光引导行走作业系统及其控制方法
CN104798540A (zh) * 2014-01-24 2015-07-29 苏州宝时得电动工具有限公司 电池供电割草机
CN106712135A (zh) * 2015-08-11 2017-05-24 苏州宝时得电动工具有限公司 自移动设备的智能节电系统及方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103294056A (zh) * 2012-03-02 2013-09-11 苏州宝时得电动工具有限公司 自动行走设备及其控制方法
CN103645733A (zh) * 2013-12-02 2014-03-19 江苏建威电子科技有限公司 自寻充电机器人及其自寻充电系统和方法
CN105467983A (zh) * 2014-08-22 2016-04-06 扬州维邦园林机械有限公司 自动行走设备导引系统和方法
US20160070268A1 (en) * 2014-09-10 2016-03-10 Joseph Y. Ko Automatic homing and charging method for self-moving cleaning apparatus

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CN110063142B (zh) 2022-02-11
WO2019144916A1 (zh) 2019-08-01
CN110063142A (zh) 2019-07-30
CN111602097B (zh) 2023-09-12

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