WO2021017294A1

WO2021017294A1 - Machine control method

Info

Publication number: WO2021017294A1
Application number: PCT/CN2019/117844
Authority: WO
Inventors: 任雪; 陈泓
Original assignee: 苏州科瓴精密机械科技有限公司
Priority date: 2019-07-30
Filing date: 2019-11-13
Publication date: 2021-02-04
Also published as: CN112305941A

Abstract

A machine control method comprises: measuring a real-time temperature Tr of a battery; acquiring a temperature range that the real-time temperature Tr falls in; acquiring a low-voltage threshold Vd of a machine corresponding to the temperature range of the real-time temperature Tr; measuring a real-time voltage Vr of the battery; comparing the real-time voltage Vr with the low-voltage threshold Vd; and if Vr ≤ Vd, causing the machine to enter a low-voltage state, wherein low-voltage thresholds Vd of the machine corresponding to temperature ranges are not identical. The machine has different temperature ranges that can be determined and selected thereby. The temperature ranges correspond to low-voltage thresholds Vd. Different temperature ranges indicate different low-voltage thresholds Vd. When at low temperature, the machine selects an appropriate low-voltage threshold Vd, such that when the low-voltage threshold Vd is reached and the machine enters the low-voltage state, thereby facilitating subsequent operations automatically or passively performed by the machine.

Description

A machine control method

Technical field

The invention provides a control method of a machine, in particular a control method of a machine with different low electric thresholds.

Background technique

For machines, especially self-propelled lawn mowing robots used for home mowing, they are usually equipped with a charging stand, so that when the power is insufficient to support the work, the walking robot will automatically find the charging stand and charge it.

Generally speaking, the power threshold for a machine to be charged is fixed. For example, if the machine is fully charged at 28V, when the voltage of the machine reaches 17V, it needs to be charged. 17V is the low power threshold of the machine. However, at night or in winter, the ambient temperature is low, which will also affect the battery temperature accordingly, making the battery temperature also low. As a result, the discharge capacity of the battery pack is reduced and the discharge time is shortened, so that the remaining power is not enough to support the machine to return to the charging dock. And, if the battery voltage is too low, it will enter the battery's own protection, that is, enter sleep.

Therefore, it is necessary to design a new machine control method, especially a machine control method that can adjust the low power threshold.

Summary of the invention

In view of the problems existing in the prior art, the present invention aims to provide a control method of a machine that can adjust the low power threshold.

In order to achieve the above objective, the present invention provides a control method of a machine, the control method includes: detecting the real-time temperature Tr of the battery; obtaining the temperature interval in which the real-time temperature Tr is located; obtaining the low power threshold of the machine corresponding to the temperature interval Vd; detect the real-time voltage Vr of the battery; determine the real-time voltage Vr and the low-power threshold Vd; when Vr≤Vd, the machine enters a low-power state; among them, the low-power threshold Vd of the machine corresponding to each temperature range is not exactly the same .

As a further improvement of the present invention, the step of "detecting the current real-time temperature Tr of the battery" includes: measuring the real-time temperature Tr of the battery every interval S1.

As a further improvement of the present invention, S1 is 200ms.

As a further improvement of the present invention, the step of "obtaining the low electrical threshold Vd of the machine corresponding to the temperature range" includes: when Tr≤5°C, obtaining the low electrical threshold Vd of the machine is 16.9V; when Tr>5°C At this time, the low power threshold Vd of the machine is 17.5V.

As a further improvement of the present invention, the control method further includes: judging the size of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr; when Vr≤Vs, the machine enters the sleep state.

As a further improvement of the present invention, before the step of "determining the magnitude of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr", it also includes: obtaining the temperature interval in which the real-time temperature Tr is located; obtaining the sleep threshold Vs of the machine corresponding to the temperature interval .

As a further improvement of the present invention, before the step "obtaining the sleep threshold Vs of the machine corresponding to the temperature range" includes: confirming that when the machine reaches the sleep threshold, the corresponding battery dischargeable capacity is greater than 90mAh; and confirming that the machine reaches the temperature At the low power threshold corresponding to the interval, the dischargeable capacity of the battery is greater than 400mAh.

As a further improvement of the present invention, the step of "obtaining the sleep threshold Vs of the machine corresponding to the temperature range" includes: when Tr≤5°C, obtaining the sleep threshold Vs of the machine as 16.0V; when 5°C<Tr≤20°C , Get the machine's sleep threshold Vs as 16.5V; when 20℃<Tr≤35℃, get the machine's sleep threshold Vs as 16.0V; when 35℃<Tr≤50℃, get the machine's sleep threshold Vs as 16.3V ; When Tr>50°C, the sleep threshold Vs of the acquisition machine is 16.5V.

As a further improvement of the present invention, the step "the machine enters the low power state" includes: the machine suspends work and returns to the charging base for charging.

In order to achieve the above objective, the present invention provides a control method of a machine, the control method includes: detecting the real-time temperature Tr of the battery; judging the real-time temperature Tr of the battery and the maximum abnormal temperature Th and the minimum abnormal temperature Tl; When Tl or Tr≥Th, the machine enters the non-working state; when Tl≤Tr<Th, the machine enters the normal working state; the normal working state includes: obtaining the temperature interval where the real-time temperature Tr is located; obtaining the corresponding temperature interval Detect the real-time voltage Vr of the battery; determine the size of the real-time voltage Vr and the low-voltage threshold Vd; when Vr≤Vd, the machine enters the low-power state.

As a further improvement of the present invention, Tl is 0°C and Th is 70°C.

The beneficial effects of the present invention: the machine has different temperature intervals for machine judgment and selection, and the temperature intervals correspond to the low electric threshold Vd, and different temperature intervals point to different low electric thresholds Vd. In the case of low temperature, the machine selects an appropriate low-power threshold Vd, so that the machine can enter a low-power state after reaching the low-power threshold Vd, so that the machine can automatically or passively perform subsequent operations. If Vr>Vd, the machine continues to work and still measures and judges the real-time temperature Tr and real-time voltage Vr.

Description of the drawings

FIG. 1 is a schematic diagram of the flow in the first embodiment of the present invention;

Fig. 2 is a schematic flowchart of another embodiment of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the embodiments shown in the drawings. However, these embodiments do not limit the present invention, and structural or functional changes made by those skilled in the art based on these embodiments are all included in the protection scope of the present invention.

As shown in Fig. 1, in the first embodiment of the present invention, a machine control method is provided, and the control method includes:

Detect the real-time temperature Tr of the current battery;

Obtain the temperature range where the real-time temperature Tr is located;

Obtain the low electrical threshold Vd of the machine corresponding to the temperature range;

Detect the real-time voltage Vr of the current battery;

Determine the size of the real-time voltage Vr and the low-voltage threshold Vd;

When Vr≤Vd, the machine enters low power state;

Among them, the low electrical threshold Vd of the machine corresponding to each temperature interval is not completely the same.

Therefore, the machine has different temperature intervals for the machine to determine and choose, and the temperature intervals correspond to the low electric threshold Vd, and different temperature intervals point to different low electric thresholds Vd. In the case of low temperature, the machine selects an appropriate low-power threshold Vd, so that the machine can enter a low-power state after reaching the low-power threshold Vd, so that the machine can automatically or passively perform subsequent operations. If Vr>Vd, the machine continues to work and still detects and judges the real-time temperature Tr and real-time voltage Vr. The determination of the low power threshold Vd and the previous determination steps are further described below.

In this embodiment, since the machine is a walkable robot and has a corresponding charging stand, after the machine reaches a low-power state, the machine suspends work and returns to the charging stand for charging.

Further, as the battery is used for a longer time and is affected by the ambient temperature, the temperature of the battery will change, and the low-power threshold Vd of the machine will also change accordingly. Therefore, the real-time temperature Tr must be detected periodically. Specifically, the step of "detecting the current real-time temperature Tr of the battery" includes:

The real-time temperature Tr of the battery is measured every time interval S1. Therefore, the immediacy of setting the low-power threshold Vd can be ensured, and the situation where the temperature changes but the low-power threshold Vd does not change accordingly can be prevented. And, to ensure accuracy, S1 is 200ms. It is equivalent to five detections and judgments in one second, preventing sudden temperature changes and improving stability.

Since, as described above, the temperature range and the low electrical threshold Vd of the machine correspond to each other. Specifically, the corresponding manner is as follows. The step of "obtaining the low power threshold Vd of the machine corresponding to the temperature range" includes:

When Tr≤5℃, the low-voltage threshold Vd of the machine is 16.9V;

When Tr>5°C, the low electrical threshold Vd of the acquisition machine is 17.5V. That is, the battery temperature range of the machine is divided into two, and correspondingly, the low power threshold Vd also has two. When the battery's real-time temperature Tr is lower than or equal to 5°C, the low-electricity threshold Vd is 16.9V. When the battery's real-time temperature Tr is greater than 5°C, the machine's low-electricity threshold Vd is slightly higher, which is 17.5V. Therefore, after comparison, when the battery temperature is too low, the machine has a lower low-power threshold Vd. This is because the battery capacity is correspondingly reduced when the temperature is low, so the low-power threshold Vd is also lower.

After the real-time voltage Vr of the machine ≤ the low power threshold Vd, the machine enters the low power state and does not continue to work.

It should be noted that, in this embodiment, the low-power threshold Vd of the machine is judged by detecting and estimating that the battery power required to find the charging station is about 400mAh or more, and the battery power is estimated based on the return distance. In addition, the value of the aforementioned low power threshold Vd is 16.9V and 17.5V, which can be applied to most batteries and has universality.

Correspondingly, the machine also has a sleep state, and correspondingly, it also has a sleep threshold Vs. Hibernation means that when the battery cannot be recharged when it cannot find the charging station, the battery itself will go to sleep when the battery is released too much and the voltage is too low. It will not be discharged and charged, but will be self-protected. Since different temperature ranges in the present invention correspond to different low-power thresholds Vd, it is obvious that different temperature ranges also correspond to different sleep thresholds Vs, so as to control the battery more accurately and prevent the battery from being sufficiently charged but still entering the sleep state. It happened.

Therefore, the control method further includes:

Determine the size of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr;

When Vr≤Vs, the machine enters the sleep state.

The judgment process can be carried out before the judgment of the low power state, or it can be carried out after the judgment of the low power state. Specifically, after the real-time voltage Vr is obtained, the magnitude between the real-time voltage Vr and the sleep threshold Vs is determined, and then it is determined whether the machine and its battery enter the sleep state.

Of course, before judging the real-time voltage Vr and the sleep threshold Vs, the value of the sleep threshold Vs must be obtained. Specifically, before the step of "determining the magnitude of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr" includes:

Obtain the temperature range where the real-time temperature Tr is located;

Obtain the sleep threshold Vs of the machine corresponding to the temperature range.

Specifically, when Tr≤5℃, the sleep threshold Vs of the acquired machine is 16.0V; when 20℃≥Tr>5℃, the sleep threshold Vs of the acquired machine is 16.5V; when 20℃<Tr≤35℃, The dormancy threshold Vs of the obtained machine is 16.0V; when 35°C<Tr≤50°C, the dormancy threshold Vs of the obtained machine is 16.3V; when Tr>50°C, the dormant threshold Vs of the obtained machine is 16.5V. After comparison, when the temperature is different, the low power threshold Vd of the machine is also different, and the sleep threshold Vs is also different accordingly. This is also due to the different discharge rates of the batteries at different temperatures, so I will not repeat them here. Moreover, as described above, the values of the sleep threshold Vs and the low-power threshold Vd are obtained by measuring and estimating the dischargeable capacity of the battery. Therefore, the step "obtain the sleep threshold Vs of the machine corresponding to the temperature range" includes:

Confirm that when the machine reaches the sleep threshold Vs, the corresponding battery discharge capacity is greater than 90mAh;

And, confirm that when the device reaches the low power threshold Vd corresponding to this temperature range, the dischargeable capacity of the battery is greater than 400mAh.

Therefore, the size of the sleep threshold Vs can be further accurate, and it can be ensured that no matter whether the dischargeable capacity of the battery reaches the low power threshold Vd or the sleep threshold Vs, it can reach an appropriate power level for the next operation.

Therefore, in the above specific embodiments of the present invention, if the real-time voltage Vr of the machine is less than or equal to the sleep voltage Vs, the machine enters the sleep state and does not work; when the real-time voltage Vr of the machine is between the sleep voltage Vs and the low power threshold Vd , The machine enters a low-power state and seeks a charging dock for charging; only when the real-time voltage Vr is greater than the sleep voltage Vs and the low-power threshold Vd, the machine will walk normally and perform work such as mowing.

Of course, if the battery temperature is too high or too low, in order to protect the machine and its battery, the machine is not allowed to work. Specifically, as shown in FIG. 2, which is another embodiment of the present invention, the control method includes:

Detect the real-time temperature Tr of the battery;

Determine the real-time temperature Tr, the maximum abnormal temperature Th and the minimum abnormal temperature Tl of the battery;

When Tr<Tl or Tr≥Th, the machine enters the non-working state;

When Tl≤Tr＜Th, the machine enters the normal working state;

The normal working state includes:

Obtain the temperature range where the real-time temperature Tr is located;

Detect the real-time voltage Vr of the current battery;

When Vr≤Vd, the machine enters a low power state.

In the case that the battery temperature is too low or too high, it will affect the discharge efficiency of the battery and may cause safety hazards, so it is necessary to set a temperature range within the normal working state of the machine. Therefore, in this embodiment, it is necessary to compare the real-time temperature Tr with the highest abnormal temperature Th and the lowest abnormal temperature T1 first. If the real-time temperature Tr is lower than the minimum abnormal temperature Tl or higher than the maximum abnormal temperature Th, the machine enters a non-working state. Only when the real-time temperature Tr is between the lowest abnormal temperature Tl and the highest abnormal temperature Th, the machine is in a normal working state, and it is possible to detect the real-time voltage Vr and appear a low-power state or a dormant state.

In this embodiment, the lowest abnormal temperature Tl is 0°C, and the highest abnormal temperature Th is 70°C. That is, when the temperature is below 0°C or above 70°C, the machine does not work to prevent safety hazards.

Therefore, in summary, the present invention provides a machine control method, and in this control method, the real-time temperature Tr and the real-time voltage Vr of the battery are detected, and different temperature intervals correspond to different low-voltage thresholds. Vd and sleep threshold Vs, so that the low power threshold Vd and sleep threshold Vs at different real-time temperatures Tr can be obtained, which makes the control of the machine more precise and perfect, and reduces the impact of battery temperature on the operation of the machine. Secondly, the detection of battery temperature is periodic, which improves the accuracy of detection. In addition, the present invention also has a judgment as to whether the machine can work normally. When the temperature is too high or too low, the machine enters a non-working state, so that the safety of the machine can be further improved.

It should be understood that although this specification is described in accordance with the implementation manners, not each implementation manner only includes an independent technical solution. This narration in the specification is only for clarity, and those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementations or implementations made without departing from the technical spirit of the present invention All changes shall be included in the protection scope of the present invention.

Claims

A control method of a machine, characterized in that the control method includes:

Detect the real-time temperature Tr of the battery;

Obtain the temperature range where the real-time temperature Tr is located;

Obtain the low electrical threshold Vd of the machine corresponding to the temperature range;

Detect the real-time voltage Vr of the battery;

Determine the size of the real-time voltage Vr and the low-voltage threshold Vd;

When Vr≤Vd, the machine enters low power state;

Among them, the low electrical threshold Vd of the machine corresponding to each temperature interval is not completely the same.
The control method according to claim 1, wherein the step of "detecting the current real-time temperature Tr of the battery" comprises:

The real-time temperature Tr of the battery is measured every time interval S1.
The control method according to claim 2, wherein S1 is 200 ms.
The control method according to claim 1, wherein the step of "obtaining the low power threshold Vd of the machine corresponding to the temperature interval" comprises:

When Tr≤5℃, the low-voltage threshold Vd of the machine is 16.9V;

When Tr>5°C, the low electrical threshold Vd of the acquisition machine is 17.5V.
The control method according to claim 1, wherein the control method further comprises: judging the size of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr;

When Vr≤Vs, the machine enters the sleep state.
The control method according to claim 5, characterized in that, before the step of "determining the magnitude of the sleep threshold Vs under the real-time voltage Vr and the real-time temperature Tr", the method further comprises:

Obtain the temperature range where the real-time temperature Tr is located;

Obtain the sleep threshold Vs of the machine corresponding to the temperature range.
7. The control method according to claim 6, wherein before the step of "obtaining the sleep threshold Vs of the machine corresponding to the temperature interval" includes:

Confirm that when the machine reaches the sleep threshold Vs, the corresponding battery discharge capacity is greater than 90mAh;

And, confirm that when the device reaches the low power threshold Vd corresponding to this temperature range, the dischargeable capacity of the battery is greater than 400mAh.
7. The control method according to claim 7, wherein the step of "obtaining the sleep threshold Vs of the machine corresponding to the temperature interval" comprises:

When Tr≤5℃, get the sleep threshold Vs of the machine to be 16.0V;

When 5℃<Tr≤20℃, get the machine's sleep threshold Vs as 16.5V;

When 20℃<Tr≤35℃, get the machine's sleep threshold Vs as 16.0V;

When 35℃<Tr≤50℃, the sleep threshold Vs of the machine is 16.3V;

When Tr>50°C, the sleep threshold Vs of the acquisition machine is 16.5V.
The control method according to claim 1, wherein after the step "the machine enters the low-power state", it comprises:

The machine suspends work and returns to the charging dock for charging.
A control method of a machine, characterized in that the control method includes:

Detect the real-time temperature Tr of the battery;

Determine the real-time temperature Tr, the maximum abnormal temperature Th and the minimum abnormal temperature Tl of the battery;

When Tr<Tl or Tr≥Th, the machine enters the non-working state;

When Tl≤Tr＜Th, the machine enters the normal working state;

The normal working state includes:

Obtain the temperature range where the real-time temperature Tr is located;

Obtain the low electrical threshold Vd of the machine corresponding to the temperature range;

Detect the real-time voltage Vr of the battery;

Determine the size of the real-time voltage Vr and the low-voltage threshold Vd;

When Vr≤Vd, the machine enters a low power state.
The control method according to claim 10, wherein Tl is 0°C and Th is 70°C.