CN112783217A - Auxiliary positioning device, automatic working system and working method thereof - Google Patents
Auxiliary positioning device, automatic working system and working method thereof Download PDFInfo
- Publication number
- CN112783217A CN112783217A CN202011557449.XA CN202011557449A CN112783217A CN 112783217 A CN112783217 A CN 112783217A CN 202011557449 A CN202011557449 A CN 202011557449A CN 112783217 A CN112783217 A CN 112783217A
- Authority
- CN
- China
- Prior art keywords
- automatic working
- power supply
- supply device
- charging
- auxiliary positioning
- 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 38
- 238000012937 correction Methods 0.000 claims description 20
- 238000005070 sampling Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 16
- 238000005516 engineering process Methods 0.000 description 8
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides an auxiliary positioning device, an automatic working system and a working method thereof. The automatic work system includes: the automatic working device is used for executing the garden work task; the power supply device is used for supplying power to the automatic working device; the auxiliary positioning device is matched with the power supply device and used for calibrating a preset position and a preset direction, the preset position comprises a first position and a second position, the first position enables the automatic working device to be in charging connection with the power supply device, the second position is arranged at intervals with the first position, the second position forms the preset direction towards the first position, the automatic working device can identify the second position and moves to the preset first position from the second position along the preset direction, and charging connection with the power supply device is achieved. The automatic working system can enable the automatic working device to enter a designated position according to a designated direction to be in charging connection with the power supply device.
Description
Technical Field
The invention relates to an auxiliary positioning device, an automatic working system and a working method thereof, in particular to an automatic working system applied to a garden tool and a working method thereof.
Background
With the continuous development of intelligent technology in recent years, intelligent mechanical equipment is applied to various fields, and particularly in the field of garden machinery, the generation of intelligent garden equipment frees users from time-consuming and labor-consuming work such as cleaning and maintenance.
As shown in fig. 1, an RTK (Real-time kinematic) technique is a differential method for processing observed quantities of carrier phases of two measurement stations in Real time, and sends carrier phases acquired by a reference station to a user receiver for difference calculation and coordinate calculation. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurement needs to be solved afterwards to obtain centimeter-level precision, and the RTK is a measurement method capable of obtaining centimeter-level positioning precision in real time in the field.
With the maturity of the RTK technology and the reduction of the price cost, there are many companies that have been or try to use the technology in the field of intelligent garden machinery, such as an intelligent lawn mower, as shown in fig. 2, because the position accuracy of the RTK-based lawn mower can reach the centimeter level, the lawn mower can return to the designated position from any position only under the support of the RTK module, but when the lawn mower returns to the designated position, the direction state of the lawn mower cannot be guaranteed, and thus the user cannot correctly return to the charging pile with contacts. As shown in fig. 3, which is a simple structure of the lawn mower, the power contacts in front of the lawn mower need to be fully linked with the power contacts of the charging post to be charged correctly. As shown in fig. 2, although the lawn mower can reach the specified location of the charging pile correctly, the power contacts of the lawn mower and the charging pile cannot be connected because the direction of the lawn mower cannot be determined.
In view of the above, it is necessary to provide a new auxiliary positioning device, an automatic working system and a working method thereof to solve the above problems.
Disclosure of Invention
The invention aims to provide an auxiliary positioning device, an automatic working system and a working method thereof.
In order to achieve the above object, the present invention provides an automatic working system, comprising: the automatic working device is used for executing a garden work task; the power supply device is used for supplying power to the automatic working device; the auxiliary positioning device is matched with the power supply device and used for calibrating a preset position and a preset direction, the preset position comprises a first position and a second position, the first position is used for enabling the automatic working device to be in charging connection with the power supply device, the second position is arranged at an interval with the first position, the second position faces the first position to form the preset direction, the automatic working device can identify the second position and move to the preset first position along the preset direction from the second position, and charging connection with the power supply device is achieved.
As a further improvement of the present invention, the auxiliary positioning device is disposed in a plate shape and has a matching portion matching with the power supply device and an extending portion extending outward from the matching portion, the first position is marked on the matching portion, the second position is marked on the extending portion, and when the auxiliary positioning device is matched with the power supply device, the first position, the charging pole piece of the power supply device and the second position are located on the same straight line.
As a further improvement of the present invention, a plurality of second positions are simultaneously provided, and the plurality of second positions are all located on the same straight line as the first position, and the automatic working device can identify any second position and move to the first position along the preset direction after identifying the second position.
As a further improvement of the present invention, the auxiliary positioning device further has a revision module, the revision module is configured to set a third position different from the first position and the second position and a revision parameter, and the auxiliary positioning device can revise the second position according to the third position and the revision parameter.
As a further improvement of the present invention, the distance between the third position and the first position is greater than the distance between the second position and the first position, and when the distance between the second position and the connecting line between the first position and the third position is less than the correction parameter, the automatic working device can turn at the second position and move to the first position along the preset direction for charging.
As a further improvement of the present invention, the automatic working device includes a housing, a rechargeable battery pack accommodated in the housing, a control unit electrically connected to the battery pack, and a working unit, wherein the control unit has a navigation recognition component for recognizing the preset position and the preset direction.
As a further improvement of the present invention, the navigation recognition component may record the first position, the second position and the preset direction, and fit to obtain a control map for charging when the automatic working device moves to the power supply device, and when the auxiliary positioning device is removed, the automatic working device may still return to the power supply device along the control map for charging.
In order to achieve the above object, the present invention provides a working method of an automatic working system, where the automatic working system includes an automatic working device, a power supply device for charging the automatic working device, and an auxiliary positioning device disposed in cooperation with the power supply device, and the working method of the automatic working system includes the following steps:
marking a first marking line, combining the auxiliary positioning device on the power supply device, and marking the first marking line through the auxiliary positioning device;
marking a first position, connecting the automatic working device with the power supply device in a charging mode, and marking and acquiring data for representing the first position of the automatic working device and the power supply device in a charging state through the auxiliary positioning device;
marking a second marking line, wherein the second marking line extends perpendicular to the first marking line, and the starting point of the second marking line is the first position;
marking a preset direction and a second position, placing the automatic working device at a position which is away from the power supply device by a preset length along a second marking line, wherein a charging interface for charging the automatic working device is positioned on the second marking line, sampling the position as data of the second position, and the second position faces the first position to form a preset direction;
the automatic working device can identify the second position and move to the first position from the second position along the preset direction, so that the charging connection between the automatic working device and the power supply device is realized.
As a further improvement of the present invention, the working method of the automatic working system further includes correcting the second position, and the correcting step of the second position includes: setting a third position that is different from the first position and the second position, and the second position is located between the first position and the third position; setting a correction parameter, wherein when the distance between the second position and a connecting line between the first position and the third position is less than the correction parameter, the automatic working device can turn at the second position and move to the first position along the preset direction for charging; and when the distance between the second position and the connecting line between the first position and the third position is greater than the correction parameter, correcting the second position.
As a further improvement of the present invention, a plurality of second positions are simultaneously disposed, and distances from the plurality of second positions to a connecting line between the first position and the third position are all smaller than the correction parameter.
As a further improvement of the present invention, the working method of the automatic working system further includes: and the automatic working device establishes a control map for the automatic working device to move to the power supply device for charging according to the first position, the second position and the preset direction.
As a further improvement of the present invention, the first marking line is disposed perpendicular to an extending direction of a charging pole piece of the power supply device.
In order to achieve the above object, the present invention further provides an auxiliary positioning device, which is disposed in cooperation with the power supply device, is used for assisting the automatic working device to be in butt joint with the power supply device for charging, the automatic working device is used for executing garden work tasks, the power supply device is used for supplying power to the automatic working device, the auxiliary positioning device is used for calibrating a preset position and a preset direction, the preset positions comprise a first position enabling the automatic working device to be in charging connection with the power supply device and a second position arranged at a distance from the first position, the second position forms the preset direction towards the first position, the automatic working device can identify the second position, and moving from the second position to the preset first position along the preset direction to realize charging connection with the power supply device.
As a further improvement of the present invention, the auxiliary positioning device is disposed in a plate shape and has a matching portion matching with the power supply device and an extending portion extending outward from the matching portion, the first position is marked on the matching portion, the second position is marked on the extending portion, and when the auxiliary positioning device is matched with the power supply device, the first position, the charging pole piece of the power supply device and the second position are located on the same straight line.
As a further improvement of the present invention, a plurality of second positions are simultaneously provided, and the plurality of second positions are all located on the same straight line as the first position, and the automatic working device can identify any second position and move to the first position along the preset direction after identifying the second position.
As a further improvement of the present invention, the auxiliary positioning device further has a revision module, the revision module is configured to set a third position different from the first position and the second position and a revision parameter, and the auxiliary positioning device can revise the second position according to the third position and the revision parameter.
As a further improvement of the present invention, the distance between the third position and the first position is greater than the distance between the second position and the first position, and when the distance between the second position and the connecting line between the first position and the third position is less than the correction parameter, the automatic working device can turn at the second position and move to the first position along the preset direction for charging.
As a further improvement of the present invention, the automatic working device includes a housing, a rechargeable battery pack accommodated in the housing, a control unit electrically connected to the battery pack, and a working unit, wherein the control unit has a navigation recognition component for recognizing the preset position and the preset direction.
As a further improvement of the present invention, the navigation recognition component may record the first position, the second position and the preset direction, and fit to obtain a control map for charging when the automatic working device moves to the power supply device, and when the auxiliary positioning device is removed, the automatic working device may still return to the power supply device along the control map for charging.
The invention has the beneficial effects that: according to the automatic working system, the auxiliary positioning system and the navigation identification component which is arranged in the automatic working device and can be applied to the real-time dynamic technology are arranged, so that the automatic working device can identify the preset first position, the plurality of second positions and the preset direction, the navigation identification component is further used for searching and moving the second positions to the first position along the preset direction from the second positions, the charging connection between the automatic working device and the power supply device is realized, and the use convenience of the automatic working system is effectively improved. Meanwhile, the working method of the automatic working system for controlling the automatic working system provided by the invention has simple steps and is suitable for popularization.
Drawings
Fig. 1 is a schematic diagram of a real-time dynamic technology in the prior art.
Fig. 2 is a schematic diagram of a prior art mower employing real-time dynamic techniques to return to a charging post.
Fig. 3 is a schematic structural view of the automatic working system of the present invention.
Fig. 4 is a schematic view of the automatic working system of the present invention correcting the second position.
Fig. 5 is a flow chart illustrating a working method of the automatic working system of the present invention.
Fig. 6 is a schematic view of the operation method of the automatic operation system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.
In addition, it is also to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 3, an automatic working system 100 according to the present invention includes an automatic working device 1, a power supply device 2 for charging the automatic working device 1, and an auxiliary positioning device 3, wherein the automatic working device 1 can automatically search and move to the power supply device 2 for charging connection under the guiding action of the auxiliary positioning device 3.
The automatic working device 1 is used for moving and performing garden work tasks in a work area, in the embodiment, the automatic working device 1 is an intelligent lawn mower, but of course, in other embodiments of the present invention, the automatic working device 1 may be other types of intelligent garden tools, that is, the intelligent lawn mower given in the description and the drawings of the present invention is only an example and should not be limited thereto.
In the present invention, the automatic working apparatus 1 includes a case 11, a rechargeable battery pack (not shown) housed in the case, a control unit (not shown) electrically connected to the battery pack, and a working unit (not shown).
A charging interface 111 is provided at one side of the housing 11, a charging power terminal (not shown) provided in correspondence with the power supply device 2 is provided in the charging interface 111, and the control unit further has a navigation recognition member for recognizing the operation position of the automatic working device 1 and the relative position between the automatic working device 1 and the power supply device 2.
In a preferred embodiment of the present invention, the navigation recognition component is a control component that can control the automatic working device 1 by Real-time kinematic (RTK) to automatically find the power supply device 2, and in other embodiments of the present application, the navigation recognition component can also be a control component for executing other technologies, and it is only necessary to ensure that the control component can control the automatic working device 1 to recognize the operating position and the charging position thereof and complete automatic charging docking with the power supply device 2.
The power supply device 2 supplies a charging power source to the automatic working device 1. In the present invention, the power supply device 2 includes a base plate 21 and a power supply interface 22 provided at one end of the base plate 21. Specifically, the bottom plate 21 is disposed in a horizontal plate shape, the power supply interface 22 is disposed at an edge of the bottom plate 21 and extends upward from the edge of the bottom plate substantially perpendicular to the bottom plate 21, and further, a charging pole piece 23 is disposed on a side of the power supply interface 22 close to the bottom plate 21.
Specifically, the charging tab 23 is disposed in the middle of the power supply interface 22 in parallel with the bottom plate 21, the charging tab 23 is disposed corresponding to the charging power terminal, in this embodiment, the charging tab 23 includes a first portion 231 disposed at the front end of the extending direction thereof for being plugged into the charging power terminal and a second portion 232 disposed at the rear end of the extending direction of the charging tab 23, and the width of the first portion 231 is smaller than that of the second portion 232, so that the charging tab 23 can be inserted into the charging interface 111 of the automatic working device 1 and mechanically cooperate with the charging power terminal disposed in the charging interface 111 to realize the charging connection between the automatic working device 1 and the power supply device 2.
The auxiliary positioning device 3 is matched with the power supply device 2 to assist the automatic working device 1 to be correctly connected with the power supply device 2, so that the power supply device 2 is used for charging the automatic working device 1.
In the present invention, the auxiliary positioning device 3 is provided in a plate shape, and has an engaging portion 31 that engages with the power supply device 2 and an extending portion 32 connected to the engaging portion 31. Specifically, the auxiliary positioning device 3 is held on the bottom plate 21 during use, the matching part 31 has substantially the same shape as the bottom plate 21, and further, the matching part 31 is provided with a groove 311 for accommodating the power supply interface 22, and the auxiliary positioning device 3 is held and positioned on the bottom plate 21 through the groove 311. Further, an extension portion 32 is formed by extending outward from the edge of the fitting portion 31, and the extension portion 32 has the same extension direction as that of the charging pole piece 23.
The position where the automatic working device 1 can recognize and control the steering of the automatic working device to realize charging plugging is defined as a preset position, and the direction where the automatic working device 1 moves from one preset position to another preset position to realize charging plugging with the power supply device 2 is defined as a preset direction, so that the auxiliary positioning device 3 can be used for calibrating the preset position and the preset direction.
The preset positions in this embodiment include a first position a for charging and connecting the automatic working device 1 and the power supply device 2, and a second position B spaced from the first position a, where the second position B forms a preset direction D toward the first position a, and the first position a is used to represent that the automatic working device 1 and the power supply device 2 are in a charging state; the second position B is used to indicate a rotational position at which the automatic working device 1 can be steered to achieve charging of the automatic working device 1 with the power supply device 2.
Further, the first position a is marked on the matching portion 31, the second position B is marked on the extending portion 32, and when the auxiliary positioning device 3 is matched with the power supply device 2, the first position a, the charging pole piece 23 of the power supply device 2 and the second position B are located on the same straight line; when the auxiliary positioning device 3 is matched with the power supply device 2 and the automatic working device 1 is in charging connection with the power supply device 2, the first position a, the charging power terminal of the automatic working device 1, the charging pole piece 23 of the power supply device 2 and the second position B are located on the same straight line.
Specifically, the navigation recognition component can distinguish between the preset position and the preset direction, that is, in the embodiment, the navigation recognition component can recognize the first position a, the second position B and the preset direction D, when the electric quantity of the automatic working device 1 is low and charging is needed, the control component controls the navigation recognition component to start working, the navigation recognition component controls the automatic working device 1 to search and move to the second position B and turn at the second position B, so that the automatic working device 1 moves from the second position B to the preset first position a along the preset direction D, and finally, the charging connection between the automatic working device 1 and the power supply device is realized.
In fact, since the navigation recognition component uses the RTK navigation positioning, the navigation recognition component can identify the orientation of the power supply device 2 after controlling the automatic working device 1 to find the power supply device 2, so that the charging interface 111 can be aligned with the power supply interface 22 to realize plugging and charging. Furthermore, because the first position a and the second position B are on the same straight line with the charging pole piece 23 of the power supply interface 22, after the automatic working device 1 finds the second position B, the orientation of the power supply device 2 can be determined along the preset direction D, and then the automatic working device can be accurately moved and correctly connected with the power supply device 2 for charging, so that the accuracy and the stability of the automatic working device 1 and the power supply device 2 during charging and butting are further improved.
In another preferred embodiment of the present invention, the second position B is provided in plural, and the plural second positions B are all located on the same straight line as the first position a, further, the navigation recognition component can recognize any second position B, and move to the first position a along the preset direction D after recognizing the second position B, specifically, the recognition of the plural second positions B by the navigation recognition component is random, further making the position where the automatic working device 1 turns to be random, further avoiding the abrasion or loss of the lawn/working area surface caused by the automatic working device 1 turning at the same position for many times, and further improving the practicability of the automatic working system 100.
Furthermore, the auxiliary positioning device 3 further includes a modification module (not shown) configured to set a third position C and a modification parameter n, which are different from the first position a and the second position B, and the auxiliary positioning device 3 can modify the second position B according to the third position C and the modification parameter n.
Referring to fig. 4, the third position C is disposed along the extending direction of the charging pole piece 23, and can ensure that the automatic working device 1 realizes the optimal position point for charging and plugging with the power supply device 2 along the connecting line L between the third position C and the charging pole piece 23, and the distance between the third position C and the first position a is greater than the distance between the second position B and the first position a.
Further, the correction parameter n is defined as a maximum offset distance that the charging and docking between the automatic working device 1 and the power supply device 2 can still be achieved when the second position B is deviated from the connection line L, and when the vertical distance D between the second position B and the connection line L between the first position a and the third position C is smaller than the correction parameter n, the automatic working device 1 can turn at the second position B and move to the first position a along the preset direction D for charging.
And when the vertical distance D between the second position B and the connecting line L between the first position A and the third position C is greater than the correction parameter n, the automatic working device 1 cannot turn at the second position B and moves to the first position A along the preset direction D for charging, and at the moment, the revision module controls the auxiliary positioning device 3 to reselect the second position B.
It should be noted that, in the foregoing embodiment, only the auxiliary positioning device 3 is always matched with the power supply device 2, and the navigation recognition component recognizes the preset position and the preset direction D preset on the auxiliary positioning device 3 to control the operation of the automatic working device 1, for example, in other embodiments of the present invention, the auxiliary positioning device 3 may be removed after the preset position and the preset direction D are preset, and the automatic working device 1 directly realizes the charging connection with the power supply device 2 through the recording of the navigation recognition component.
Specifically, the navigation recognition component in this embodiment has the functions of recognition, fitting and memory, that is, the navigation recognition component can record the specific positions of the first position a, the plurality of second positions B and the preset direction D arranged on the auxiliary positioning device 3, and fit to obtain the control map for charging when the automatic working device 1 moves to the power supply device 2, and when the auxiliary positioning device 3 is removed, the automatic working device 1 can still recognize the second position B along the control map and return to the first position a along the preset direction D to realize the charging connection with the power supply device 2.
Referring to fig. 5 and fig. 6 in combination with fig. 4, the present invention further provides a working method 200 of an automatic working system for controlling the automatic working system 100 to perform charge return control, wherein the working method 200 of the automatic working system includes the following steps:
s1, marking a first marking line l1The auxiliary positioning device 3 is combined on the power supply device 2, and the first marking line l is marked through the auxiliary positioning device 31；
S2, marking a first position A, connecting the automatic working device 1 with the power supply device 2 in a charging mode, and marking and acquiring data of the first position A for representing the charging state of the automatic working device 1 and the power supply device 2 through the auxiliary positioning device 3;
s3, marking a second marking line l2Second marking line l2Perpendicular to the first marking line1Extended and a second marking line l2Is a first position a;
s4, marking the preset direction D and the second position B along the second marking line l2The automatic working device 1 is placed at a position apart from the power supply device 2 by a predetermined length, and the charging interface 111 at which the automatic working device 1 is charged is located at the second marking line l2Sampling the position as data of a second position B, wherein the second position B faces the first position A to form a preset direction D;
s5, the automatic working device 1 may identify the second position B, and move from the second position B to the first position a along the preset direction D, so as to realize the charging connection between the automatic working device 1 and the power supply device 2.
The following description will be made in detail with respect to steps S1 to S5.
Specifically, the first target in step S1Injection line1Arranged perpendicularly to the direction of extension of the charging pole piece 23 of the power supply device 2. In step S2, the data of the first position a may be the position coordinates of the first position a that the navigation identification means can identify and record, but in other embodiments of the present invention, the data of the first position a may also be other data for calibrating the first position a, so long as it is ensured that the navigation identification means can identify and record the first position a.
Further, the working method 200 of the automatic working system further includes correcting the second position B, and the correcting step of the second position B includes:
setting a third position C which is different from the first position A and the second position B, wherein the second position B is positioned between the first position A and the third position C;
setting a correction parameter n, and when the vertical distance D between the second position B and a connecting line L between the first position A and the third position C is smaller than the correction parameter n, the automatic working device 1 can turn at the second position B and move to the first position A along a preset direction D for charging;
and when the vertical distance d between the second position B and the connecting line L between the first position A and the third position C is greater than the correction parameter n, correcting the second position B.
The plurality of second positions B set in step S4 are provided at the same time, and the vertical distances d between the plurality of second positions B and the connecting line L between the first position a and the third position C are all smaller than the correction parameter n, so that the damage to the working area/lawn surface of the automatic working device 1 caused by the automatic working device 1 turning at the same position for many times can be effectively avoided.
Further, the working method 200 of the automatic working system further includes: the automatic working device 1 establishes a control map for the automatic working device 1 to move to the power supply device 2 for charging according to the first position a, the plurality of second positions B and the preset direction D, specifically, the establishment of the control map is mainly realized by a navigation identification component in the automatic working device 1, the navigation identification component can be used for application of a real-time dynamic technology, and the accuracy of charging and butting of the automatic working device 1 and the power supply device 2 is further improved.
It should be noted that, for convenience of description, the order of the steps is labeled in the description of the working method 200 of the automatic working system, but in the practical application process, the order between each step may be adjusted according to the practical need, and different two or more steps may also be performed simultaneously, that is, the labeling of the order of the steps of the working method 200 of the automatic working system in the description is only exemplary, and should not be limited thereto.
Further, the auxiliary positioning device 3 of the present invention can be operated as a separate component, specifically, when the auxiliary positioning device 3 is used alone, the auxiliary positioning device 3 can be matched with any one of the power supply devices 2 to assist the automatic working device 1 to be in butt-joint charging with the power supply device 2, and in this embodiment, the automatic working device 1 can be any automatic garden working device for performing garden work tasks, and the charging interface 111 of the automatic working device 1 is matched with the power supply interface 22 of the power supply device 2, so that the power supply device 2 can be used for supplying power to the automatic working device 1.
The auxiliary positioning device 3 used alone is also used for calibrating a preset position and a preset direction D, the preset position comprises a first position a and a second position B, the first position a is used for enabling the automatic working device 1 to be in charging connection with the power supply device 2, the second position B is arranged at intervals with the first position a, the second position B faces the first position a to form the preset direction D, the automatic working device 1 can identify the second position B and moves to the preset first position a from the second position B along the preset direction D, and charging connection with the power supply device 2 is achieved. Similarly, the auxiliary positioning device 3 may further correct the position of the second position B by setting the third position C, the correction parameter n, and the like, so as to further improve the accuracy when the automatic working device 1 is in charging connection with the power supply device 2. That is, in the present invention, when the auxiliary positioning device 3 is used alone, the automatic charging docking between the two adaptive automatic operating devices 1 and the power supply device 2 can be realized, and the aforementioned operating method 200 of the automatic operating system can be executed, and since the method and steps used in the automatic operating system 100 when the auxiliary positioning device 3 is used alone are the same, the structure and the using method of the auxiliary positioning device 3 will not be described in detail in the following description.
It should be noted that, when the auxiliary positioning device 3 is used alone, the shape of the fitting portion 31 of the auxiliary positioning device 3, which is fitted with the power supply device 2, may be changed according to the shape of the power supply device 2, and further, the length and the shape of the extension portion 32 connected to the fitting portion 31 may also be changed according to the type and the shape of the automatic working device 1 fitted with the power supply device 2, that is, the description of the structure of the auxiliary positioning device 3 in this specification is only exemplary, and should not be limited thereto.
In summary, the automatic working system 100 of the present invention, by providing the auxiliary positioning system 3 and the navigation identification component which is disposed in the automatic working device 1 and can apply the real-time dynamic technology, the automatic working device 1 can identify the preset first position a, the plurality of second positions B and the preset direction D, further search and move to the second position B through the navigation identification component, and move from the second position B to the first position a along the preset direction D, so as to realize the charging connection between the automatic working device 1 and the power supply device 2, and effectively improve the convenience of the automatic working system 100 of the present invention. Meanwhile, the working method 200 for controlling the automatic working system of the automatic working system 100 according to the present invention has simple steps and is suitable for popularization.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (19)
1. An automatic working system, characterized in that the automatic working system comprises:
the automatic working device is used for executing a garden work task;
the power supply device is used for supplying power to the automatic working device;
the auxiliary positioning device is matched with the power supply device and used for calibrating a preset position and a preset direction, the preset position comprises a first position and a second position, the first position is used for enabling the automatic working device to be in charging connection with the power supply device, the second position is arranged at an interval with the first position, the second position faces the first position to form the preset direction, the automatic working device can identify the second position and move to the preset first position along the preset direction from the second position, and charging connection with the power supply device is achieved.
2. The automatic work system according to claim 1, wherein: the auxiliary positioning device is in a plate shape and provided with a matching part matched with the power supply device and an extending part extending outwards from the matching part, the first position is marked on the matching part, the second position is marked on the extending part, and when the auxiliary positioning device is matched with the power supply device, the first position, the charging pole piece of the power supply device and the second position are positioned on the same straight line.
3. The automatic work system according to claim 1, wherein: the automatic working device can identify any second position and move to the first position along the preset direction after identifying the second position.
4. The automatic work system according to claim 1, wherein: the auxiliary positioning device is also provided with a revising module, the revising module is used for setting a third position different from the first position and the second position and a revising parameter, and the auxiliary positioning device can revise the second position according to the third position and the revising parameter.
5. The automatic work system according to claim 4, wherein: and when the distance between the second position and a connecting line between the first position and the third position is less than the correction parameter, the automatic working device can turn at the second position and move to the first position along the preset direction for charging.
6. The automatic work system according to claim 1, wherein: the automatic working device comprises a shell, a rechargeable battery pack accommodated in the shell, a control assembly electrically connected with the battery pack and a working assembly, wherein the control assembly is provided with a navigation identification component for identifying the preset position and the preset direction.
7. The automatic work system according to claim 6, wherein: the navigation identification component can record the first position, the second position and the preset direction, a control map for charging when the automatic working device moves to the power supply device is obtained through fitting, and when the auxiliary positioning device is detached, the automatic working device can still return to the power supply device along the control map for charging.
8. The working method of the automatic working system comprises the following steps:
marking a first marking line, combining the auxiliary positioning device on the power supply device, and marking the first marking line through the auxiliary positioning device;
marking a first position, connecting the automatic working device with the power supply device in a charging mode, and marking and acquiring data for representing the first position of the automatic working device and the power supply device in a charging state through the auxiliary positioning device;
marking a second marking line, wherein the second marking line extends perpendicular to the first marking line, and the starting point of the second marking line is the first position;
marking a preset direction and a second position, placing the automatic working device at a position which is away from the power supply device by a preset length along a second marking line, wherein a charging interface for charging the automatic working device is positioned on the second marking line, sampling the position as data of the second position, and the second position faces the first position to form a preset direction;
the automatic working device can identify the second position and move to the first position from the second position along the preset direction, so that the charging connection between the automatic working device and the power supply device is realized.
9. The method of operating an automatic work system according to claim 8, further comprising correcting the second position, the step of correcting the second position comprising:
setting a third position that is different from the first position and the second position, and the second position is located between the first position and the third position;
setting a correction parameter, wherein when the distance between the second position and a connecting line between the first position and the third position is less than the correction parameter, the automatic working device can turn at the second position and move to the first position along the preset direction for charging;
and when the distance between the second position and the connecting line between the first position and the third position is greater than the correction parameter, correcting the second position.
10. The working method of an automatic working system according to claim 9, characterized in that: the second positions are simultaneously provided with a plurality of positions, and the distances from the second positions to a connecting line between the first position and the third position are all smaller than the correction parameters.
11. The working method of an automatic working system according to claim 8, characterized in that: the working method of the automatic working system further comprises the following steps: and the automatic working device establishes a control map for the automatic working device to move to the power supply device for charging according to the first position, the second position and the preset direction.
12. The working method of an automatic working system according to claim 8, characterized in that: the first marking line is perpendicular to the extending direction of the charging pole piece of the power supply device.
13. An auxiliary positioning device is matched with a power supply device and used for assisting an automatic working device to be in butt joint with the power supply device for charging, the automatic working device is used for executing a garden work task, and the power supply device is used for supplying power to the automatic working device.
14. The auxiliary positioning device as set forth in claim 13, wherein: the auxiliary positioning device is in a plate shape and provided with a matching part matched with the power supply device and an extending part extending outwards from the matching part, the first position is marked on the matching part, the second position is marked on the extending part, and when the auxiliary positioning device is matched with the power supply device, the first position, the charging pole piece of the power supply device and the second position are positioned on the same straight line.
15. The auxiliary positioning device as set forth in claim 13, wherein: the automatic working device can identify any second position and move to the first position along the preset direction after identifying the second position.
16. The auxiliary positioning device as set forth in claim 13, wherein: the auxiliary positioning device is also provided with a revising module, the revising module is used for setting a third position different from the first position and the second position and a revising parameter, and the auxiliary positioning device can revise the second position according to the third position and the revising parameter.
17. The auxiliary positioning device as set forth in claim 16, wherein: and when the distance between the second position and a connecting line between the first position and the third position is less than the correction parameter, the automatic working device can turn at the second position and move to the first position along the preset direction for charging.
18. The auxiliary positioning device as set forth in claim 13, wherein: the automatic working device comprises a shell, a rechargeable battery pack accommodated in the shell, a control assembly electrically connected with the battery pack and a working assembly, wherein the control assembly is provided with a navigation identification component for identifying the preset position and the preset direction.
19. The auxiliary positioning device as set forth in claim 18, wherein: the navigation identification component can record the first position, the second position and the preset direction, a control map for charging when the automatic working device moves to the power supply device is obtained through fitting, and when the auxiliary positioning device is detached, the automatic working device can still return to the power supply device along the control map for charging.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011557449.XA CN112783217B (en) | 2020-12-24 | 2020-12-24 | Auxiliary positioning device, automatic working system and working method thereof |
| US17/555,491 US20220197295A1 (en) | 2020-12-22 | 2021-12-19 | Robotic mower, and control method thereof |
| PCT/CN2021/139509 WO2022135317A1 (en) | 2020-12-22 | 2021-12-20 | Robotic tool system and control method thereof |
| EP21909313.5A EP4268042A4 (en) | 2020-12-22 | 2021-12-20 | Robotic tool system and control method thereof |
| EP21216244.0A EP4020112B1 (en) | 2020-12-22 | 2021-12-21 | Robotic mower and control method thereof |
| EP23207591.1A EP4293468A3 (en) | 2020-12-22 | 2021-12-21 | Robotic mower and control method thereof |
| ES21216244T ES2963141T3 (en) | 2020-12-22 | 2021-12-21 | Lawnmower robot and its control method |
| US18/321,798 US20230292657A1 (en) | 2020-12-22 | 2023-05-23 | Robotic tool system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011557449.XA CN112783217B (en) | 2020-12-24 | 2020-12-24 | Auxiliary positioning device, automatic working system and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112783217A true CN112783217A (en) | 2021-05-11 |
| CN112783217B CN112783217B (en) | 2024-07-16 |
Family
ID=75752340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011557449.XA Active CN112783217B (en) | 2020-12-22 | 2020-12-24 | Auxiliary positioning device, automatic working system and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112783217B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117369541A (en) * | 2023-12-07 | 2024-01-09 | 湖南华夏特变股份有限公司 | Auxiliary control method for power transmission vehicle, and readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004283956A (en) * | 2003-03-20 | 2004-10-14 | Sony Corp | Charging system, robot device, charging device, and charging method |
| CN104242411A (en) * | 2014-10-14 | 2014-12-24 | 深圳市科松电子有限公司 | Intelligent charging method and system, patrol robot and charging power supply |
| FR3029862A1 (en) * | 2014-12-15 | 2016-06-17 | Volkswagen Ag | DETERMINING A LOAD POSITION OF A CHARGING DEVICE OF A RECHARGEABLE TERMINAL |
| CN109660027A (en) * | 2019-01-09 | 2019-04-19 | 山东大学 | A kind of robot automatic charging system and method merging infrared navigation and magnetic navigation |
| CN209765334U (en) * | 2019-05-23 | 2019-12-10 | 湖南工学院 | Wireless charging system for intelligent navigation trolley |
| CN210468903U (en) * | 2019-09-26 | 2020-05-05 | 珠海市一微半导体有限公司 | Charging seat and robot recharging system based on magnetic sensor |
| CN216083501U (en) * | 2020-12-24 | 2022-03-18 | 格力博(江苏)股份有限公司 | Auxiliary positioning device and automatic working system |
-
2020
- 2020-12-24 CN CN202011557449.XA patent/CN112783217B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004283956A (en) * | 2003-03-20 | 2004-10-14 | Sony Corp | Charging system, robot device, charging device, and charging method |
| CN104242411A (en) * | 2014-10-14 | 2014-12-24 | 深圳市科松电子有限公司 | Intelligent charging method and system, patrol robot and charging power supply |
| FR3029862A1 (en) * | 2014-12-15 | 2016-06-17 | Volkswagen Ag | DETERMINING A LOAD POSITION OF A CHARGING DEVICE OF A RECHARGEABLE TERMINAL |
| CN109660027A (en) * | 2019-01-09 | 2019-04-19 | 山东大学 | A kind of robot automatic charging system and method merging infrared navigation and magnetic navigation |
| CN209765334U (en) * | 2019-05-23 | 2019-12-10 | 湖南工学院 | Wireless charging system for intelligent navigation trolley |
| CN210468903U (en) * | 2019-09-26 | 2020-05-05 | 珠海市一微半导体有限公司 | Charging seat and robot recharging system based on magnetic sensor |
| CN216083501U (en) * | 2020-12-24 | 2022-03-18 | 格力博(江苏)股份有限公司 | Auxiliary positioning device and automatic working system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117369541A (en) * | 2023-12-07 | 2024-01-09 | 湖南华夏特变股份有限公司 | Auxiliary control method for power transmission vehicle, and readable storage medium |
| CN117369541B (en) * | 2023-12-07 | 2024-03-26 | 湖南华夏特变股份有限公司 | Auxiliary control method for power transmission vehicle, and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112783217B (en) | 2024-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105739501B (en) | A kind of method of intelligent robot automatic charging | |
| CN109782770B (en) | Method for automatically charging mower | |
| CN216083501U (en) | Auxiliary positioning device and automatic working system | |
| CN108575095B (en) | Self-moving equipment and positioning system, positioning method and control method thereof | |
| CN110986920B (en) | Positioning navigation method, device, equipment and storage medium | |
| EP4020112B1 (en) | Robotic mower and control method thereof | |
| CN105759825A (en) | Algorithm for positioning control of automatic guided vehicle (AGV) robot based on fuzzy proportion integration differentiation (PID) | |
| CN112783217B (en) | Auxiliary positioning device, automatic working system and working method thereof | |
| CN109141402B (en) | Positioning method based on laser grids and robot autonomous charging method | |
| CN108536146B (en) | Intelligent control method for positioning charging base of mobile robot based on path and RSSI (received Signal Strength indicator) | |
| CN112247988A (en) | Method for automatically charging mobile robot based on laser radar | |
| CN105334849A (en) | Automatic walking equipment control method and automatic operation system | |
| CN112000100A (en) | Charging system and method for robot | |
| CN108762261B (en) | Mobile robot traversal path planning method based on double wireless networks | |
| CN108829100B (en) | Indoor mobile robot traversal path planning method based on wireless network and geomagnetic signals | |
| CN113900454A (en) | Charging pile aligning method, device, equipment and storage medium | |
| CN106014058A (en) | Deviation-correcting method for railless retractable door based on GPS positioning technology and deviation-correcting device for railless retractable door based on GPS positioning technology | |
| CN103900535A (en) | Camera four-point repositioning method orienting to detection on small change of cultural relics | |
| US20230210050A1 (en) | Autonomous mobile device and method for controlling same | |
| CN215244368U (en) | Mobile charging system | |
| CN116414124A (en) | Robot recharging method, device and system | |
| CN111947660B (en) | Course correction method and device | |
| CN211786757U (en) | Modular fine positioning device | |
| JPS6294230A (en) | Hole searching system | |
| CN112179358B (en) | Map data comparison auxiliary positioning system and method thereof |
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 |