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 PDFInfo
- 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
- 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
- 238000000034 method Methods 0.000 title claims abstract description 88
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 92
- 239000000428 dust Substances 0.000 claims description 9
- 244000025254 Cannabis sativa Species 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 102220486681 Putative uncharacterized protein PRO1854_S10A_mutation Human genes 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000000047 product Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
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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
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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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- 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
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
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)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2018100679824 | 2018-01-24 | ||
CN201810067982.4A CN110063142B (zh) | 2018-01-24 | 2018-01-24 | 割草机的回归方法和装置 |
PCT/CN2019/073033 WO2019144916A1 (zh) | 2018-01-24 | 2019-01-24 | 自移动设备及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111602097A true CN111602097A (zh) | 2020-08-28 |
CN111602097B CN111602097B (zh) | 2023-09-12 |
Family
ID=67365426
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
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 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810067982.4A Active CN110063142B (zh) | 2018-01-24 | 2018-01-24 | 割草机的回归方法和装置 |
Country Status (2)
Country | Link |
---|---|
CN (2) | CN110063142B (zh) |
WO (1) | WO2019144916A1 (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112018007178T5 (de) * | 2018-02-28 | 2020-12-10 | Honda Motor Co., Ltd. | Steuervorrichtung, bewegliches objekt, steuerverfahren und programm |
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)
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 |
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)
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 |
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2018
- 2018-01-24 CN CN201810067982.4A patent/CN110063142B/zh active Active
-
2019
- 2019-01-24 WO PCT/CN2019/073033 patent/WO2019144916A1/zh active Application Filing
- 2019-01-24 CN CN201980008687.4A patent/CN111602097B/zh active Active
Patent Citations (4)
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 |
Also Published As
Publication number | Publication date |
---|---|
WO2019144916A1 (zh) | 2019-08-01 |
CN111602097B (zh) | 2023-09-12 |
CN110063142B (zh) | 2022-02-11 |
CN110063142A (zh) | 2019-07-30 |
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