WO2021093851A1 - Dispositif automoteur et son procédé de fonctionnement - Google Patents

Dispositif automoteur et son procédé de fonctionnement Download PDF

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Publication number
WO2021093851A1
WO2021093851A1 PCT/CN2020/128690 CN2020128690W WO2021093851A1 WO 2021093851 A1 WO2021093851 A1 WO 2021093851A1 CN 2020128690 W CN2020128690 W CN 2020128690W WO 2021093851 A1 WO2021093851 A1 WO 2021093851A1
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WO
WIPO (PCT)
Prior art keywords
motor
self
moving device
torque threshold
torque
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PCT/CN2020/128690
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English (en)
Chinese (zh)
Inventor
泰斯托林费德里科
多尔夫达维德
康蒂伊曼纽尔
Original Assignee
苏州宝时得电动工具有限公司
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Publication of WO2021093851A1 publication Critical patent/WO2021093851A1/fr

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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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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

Definitions

  • the present invention relates to a self-moving device, and also relates to a working method of the self-moving device.
  • the self-moving equipment in the automatic working system can run in a certain area to complete related tasks. Under normal circumstances, the automatic working system can work without human operation control. In the process of modifying the lawn, the lawn mower can generally detect obstacles through sensors.
  • the machine can use ultrasonic sensors or floating covers installed on it to detect obstacles encountered in the travel path.
  • the obstacles are identified by detecting signal changes in ultrasonic sensors or changes in the state of devices such as floating covers.
  • all of the above detection methods require additional installation of other devices on the machine, which is cumbersome, and additional costs for installing these devices need to be paid.
  • the problem to be solved by the present invention is to provide a self-moving device with higher obstacle recognition accuracy.
  • the technical solution adopted by the present invention to solve the existing technical problems is: a self-moving device that walks and works within a working area defined by a boundary, and the self-moving device includes:
  • At least one motor installed in the housing for driving the driving wheel to rotate
  • a control device, a first torque threshold and a second torque threshold are preset in the control device, and when the at least one motor is started from a stopped state to an operating state, the control device controls the maximum actual value of the at least one motor The difference between the output torque and the first torque threshold is within a predetermined range.
  • the control device controls the actual output torque of the at least one motor to increase to the second torque threshold at most, where The first torque threshold is less than or equal to the maximum output torque of the motor, the second torque threshold is less than the first torque threshold,
  • the self-moving device further includes: a wheel monitoring module for monitoring the rotation of the driving wheel, and when the motor is in operation, when the wheel monitoring module detects that the driving wheel stops rotating When it is determined that the self-mobile device collides;
  • the self-moving device includes: at least two motors, the at least two motors respectively drive the at least two driving wheels to rotate, and the control device independently controls the at least two motors;
  • the automatic walking equipment is an automatic lawn mower
  • the control device is also preset with a third torque threshold, and the control device controls the actual output torque of the at least one motor to increase up to the third torque threshold when the self-moving device is in a steering operation state,
  • the third torque threshold is less than or equal to the first torque threshold, and the third torque threshold is greater than the second torque threshold, wherein the third torque threshold is adjustable;
  • the wheel monitoring module includes: a motor speed monitoring unit, and the motor speed monitoring unit is used to monitor the rotation of the motor;
  • the self-moving device further includes: an angle monitoring device, the angle monitoring device is used to monitor the angle change of the self-moving device in the steering motion state, wherein the angle monitoring device is an inertial measurement unit;
  • the self-moving device When the self-moving device is in a turning motion state, when the angle monitoring device detects that the angle of the self-moving device is substantially unchanged within a preset time period, and the motor is in the running state, when the motor When the rotation speed monitoring unit detects that the rotation speed of the motor is substantially zero, it is determined that the self-moving device has a collision.
  • the technical solution adopted by the present invention to solve the existing technical problems is: a self-moving device that walks and works within a working area defined by a boundary, and the self-moving device includes:
  • At least one motor installed in the housing for driving the driving wheel to rotate
  • a control device, a first torque threshold and a second torque threshold are preset in the control device, and when the at least one motor is started from a stopped state to an operating state, the control device controls the maximum actual value of the at least one motor The difference between the output torque and the first torque threshold is within a predetermined range.
  • the control device controls the actual output torque of the at least one motor to increase to the second torque threshold at most, where
  • the first torque threshold is less than or equal to the maximum output torque of the motor
  • the second torque threshold is less than the first torque threshold
  • the self-moving device further includes: a wheel monitoring module for monitoring Regarding the rotation of the driving wheel, when the motor is in the running state, when the wheel monitoring module detects that the driving wheel stops rotating, it is determined that the self-moving device has a collision.
  • the wheel monitoring module includes: a motor speed monitoring unit, the motor speed monitoring unit is used to monitor the rotation of the motor, when the motor is running, when the motor speed When the monitoring unit detects that the rotation speed of the motor is substantially zero, it is determined that the self-moving device has a collision.
  • the wheel monitoring module includes: a motor torque monitoring unit, the motor torque monitoring unit is used to monitor the actual output torque of the motor, when the motor is running, when the motor When the torque monitoring unit detects that the actual output torque of the motor is greater than or equal to the fourth torque threshold, it is determined that the self-moving device has a collision.
  • the wheel monitoring module includes: a current monitoring unit, the current monitoring unit is used to monitor the current in the motor, when the motor is in operation, when the current monitoring unit monitors When the current in the motor is greater than or equal to a preset current threshold, it is determined that the self-moving device has a collision.
  • the self-moving device includes: at least two motors, the at least two motors respectively drive the at least two driving wheels to rotate, and the control device independently controls the at least two Motor.
  • control device is also preset with a third torque threshold, and the control device controls the actual output torque of the at least one motor to increase at most when the self-moving device is in a steering operation state.
  • the third torque threshold is less than or equal to the first torque threshold, and the third torque threshold is greater than the second torque threshold.
  • the self-moving device further includes: an angle monitoring device, the angle monitoring device is used to monitor the angle change of the self-moving device in the steering motion state, when the angle monitoring device monitors When the angle of the self-mobile device is substantially unchanged within a preset time period, it is determined that the self-mobile device collides.
  • the angle monitoring device is an inertial measurement unit.
  • the third torque threshold is adjustable.
  • the automatic walking device is an automatic lawn mower, and further includes a cutting mechanism installed on the housing and configured to perform a predetermined work.
  • the embodiment of the present invention also provides a working method of a self-moving device, the self-moving device includes: at least one motor, a walking mechanism, the walking mechanism includes a drive wheel, and the at least one motor is used to drive the drive
  • the first torque threshold and the second torque threshold are preset in the self-moving device, and when the at least one motor is started from the stopped state to the running state, the maximum actual output torque of the motor is controlled to be the same as the first torque.
  • the torque threshold difference is within a predetermined range.
  • the motor is in operation, the actual output torque of the motor is controlled to increase to the second torque threshold at most, wherein the first torque threshold is less than or equal to the maximum torque of the motor.
  • Output torque, the second torque threshold is less than the first torque threshold,
  • determining that the self-moving device has a collision includes: when it is detected that the motor speed is substantially zero, determining that the self-moving device has occurred collision.
  • determining that the self-moving device has a collision includes: when it is monitored that the actual output torque of the motor is greater than or equal to a fourth torque threshold, It is determined that the self-mobile device collides.
  • determining that the self-moving device has a collision includes: when it is detected that the current in the motor is greater than or equal to a preset current threshold, determining The self-moving device collides.
  • the self-moving device may include but is not limited to: at least two motors, the at least two motors drive the at least two drive wheels to rotate, and the control device independently controls the At least two motors are described.
  • the self-moving device is also preset with a third torque threshold.
  • the control device controls the actual output torque of the at least one motor.
  • the third torque threshold is increased to the third torque threshold, the third torque threshold is less than or equal to the first torque threshold, and the third torque threshold is greater than the second torque threshold.
  • determining that the self-moving device collides including: when it is detected that the angle of the self-moving device is substantially unchanged within a preset time period , It is determined that the self-mobile device collides.
  • an inertial measurement unit is provided in the self-moving device.
  • the third torque threshold is adjustable.
  • the autonomous walking device may be an automatic lawn mower.
  • the present invention has the beneficial effect that it can determine whether the lawn mower has a collision by detecting the rotation of the driving wheel.
  • the recognition accuracy is higher, and there is no need to cut Install new devices on the lawn mower or simplify the devices installed on the lawn mower, saving costs.
  • Figure 1 is a schematic diagram of an automatic working system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of functional modules of an automatic lawn mower according to an embodiment of the present invention.
  • Figure 3 is a schematic structural diagram of an automatic lawn mower of an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of torque changes of the automatic lawn mower in different working states of the embodiment of the present invention.
  • FIG. 5 is a schematic diagram of current changes of the automatic lawn mower in different working states of the embodiment of the present invention.
  • Fig. 6 is a schematic diagram showing the change of the motor speed of the automatic lawn mower in different working states according to the embodiment of the present invention.
  • the automatic working system of this specific embodiment may include: a mobile device 1, a boundary 7, and a base station 3. Among them, there are obstacles 5 in the working area 4. Since the mobile device 1 walks and works in the working area 4 defined by the boundary 7, the base station 3 can be used to supply the mobile device with insufficient energy to return and supplement energy.
  • the self-moving device 1 may be an automatic lawn mower, a sweeping robot, an automatic snowplow, and other equipment suitable for unattended operation. They automatically walk on the surface of the work area to perform grass cutting, dust collection or snow sweeping work.
  • self-moving equipment is not limited to automatic lawn mowers, sweeping robots, and automatic snow sweepers, and can also be other equipment suitable for unattended operation, which is not limited in this application.
  • the automatic working system is an automatic lawn mower system, that is, the self-moving device 1 is an automatic lawn mower 20 as an example for detailed description.
  • the boundary 7 defines the working area of the automatic lawn mower 20.
  • the automatic lawn mower 20 includes a housing 27, and may also include a walking mechanism 21, at least one motor 23, a cutting mechanism 22, a control device 24, and an energy module 25.
  • the control device 24 is connected to and controls the walking mechanism 21 and the cutting mechanism 22 to realize the automatic walking and working of the automatic lawn mower 20.
  • the walking mechanism 21 may include a driving wheel 211 and an auxiliary wheel 212 that assists in supporting the housing.
  • the at least one motor may include: a motor for driving the traveling mechanism 21 and a motor for driving the cutting mechanism 22.
  • at least one motor may be a walking motor for driving the walking mechanism.
  • two walking motors for driving the walking mechanism 21 may be provided in the lawn mower, and the control device can independently control the two walking motors, that is, the right driving wheel and the left driving wheel of the lawn mower are respectively It is equipped with a walking motor to realize the differential output to control the steering; in another embodiment, the lawn mower may also be provided with only one walking motor for driving the walking mechanism 21, that is, the same walking motor passes through different transmissions.
  • the device drives the right drive wheel and the left drive wheel to achieve differential output to control the steering.
  • the cutting mechanism 22 may include a cutting blade 221 driven by a cutting motor 222 to work.
  • the energy module 25 is fixedly or detachably installed in the housing, and may be a battery pack or the like.
  • two torque thresholds related to the walking motor can be preset in the control device, including: the first torque threshold and the second torque Threshold.
  • the control device when the walking motor is started from the stopped state to the running state, the control device can control the difference between the maximum actual output torque of at least one motor and the first torque threshold within a predetermined range; when the motor is in the running state , The control device can control the actual output torque of the at least one motor to increase up to the second torque threshold.
  • the first torque threshold is less than or equal to the maximum output torque of the motor
  • the second torque threshold is less than the first torque threshold.
  • the principle of setting the second torque threshold is: to ensure that the driving wheel of the lawn mower can overcome the resistance caused by the grass when it is working normally, and at the same time to ensure that the resistance caused by the obstacle cannot be overcome when encountering obstacles, so that the lawn mower is in the process of walking. In the event of a collision, the drive wheel will not rotate due to the excessive torque of the motor and cause grass grinding.
  • the automatic lawn mower 20 may further include: a wheel monitoring module 26, which may be used to monitor the rotation of the driving wheels.
  • a wheel monitoring module 26 When the motor is running, When the wheel monitoring module detects that the driving wheel stops rotating, it can be determined that the lawn mower encounters an obstacle 200 and a collision occurs. Since the actual output torque of the motor that drives the driving wheel is increased up to the second torque threshold when the lawn mower is in operation, the second torque threshold makes the lawn mower unable to overcome the resistance caused by the obstacle when it encounters an obstacle, Therefore, the driving wheel stops rotating, and it can be judged whether the lawn mower has a collision by detecting whether the driving wheel stops rotating.
  • the wheel monitoring module 26 can be implemented by software, can also be implemented by hardware, or can also be implemented by a combination of software and hardware.
  • the wheel monitoring module 26 can be implemented by a program algorithm, which can monitor the rotation of the driving wheel of the lawn mower. When the program algorithm detects that the driving wheel stops rotating, Make sure that the lawn mower has collided.
  • the wheel monitoring module 26 may be a hardware existence form of an electronic device.
  • the wheel monitoring module 26 may be a wheel speed monitoring sensor.
  • the wheel speed monitoring sensor can be used to monitor the rotation speed of the driving wheel. When the rotation speed of the driving wheel is substantially zero (the rotation speed is substantially zero can refer to the situation that the rotation speed of the driving wheel is zero or close to zero), the mowing can be determined The machine collided.
  • the wheel monitoring module 26 may include a motor speed monitoring unit, and the motor speed monitoring unit may be used to monitor the rotation of the walking motor.
  • the motor speed monitoring unit detects that the motor speed is approximately zero, it can be determined that the lawn mower has a collision.
  • the motor speed monitoring unit can monitor the change of the motor speed to determine the working status of the lawn mower. When it is detected that the motor is working normally and the motor speed changes to 0 as shown in Fig. 6, it can be determined that the lawn mower has a collision.
  • the motor rotation speed monitoring unit may be a Hall sensor.
  • the Hall sensor can detect the motor rotation speed in the motor, and determine whether the lawn mower has a collision according to the change of the motor rotation speed. Specifically, when the motor speed determined by the Hall sensor changes as shown in FIG. 6, it can be determined that the lawn mower has a collision.
  • the position of the rotor in the motor can be detected by detecting the back electromotive force of the motor, and whether the lawn mower collides according to the change of the rotor position. For example, when the rotor position cannot be detected, it can be judged that the rotor is blocked and cannot rotate. , So as to determine whether the lawn mower has a collision; or you can calculate the motor speed according to the back electromotive force, and determine whether the lawn mower has a collision according to the change of the motor speed.
  • the wheel monitoring module may include a motor torque monitoring unit.
  • the motor torque monitoring unit may be used to monitor the actual output torque of the motor. When the motor is running, when the motor torque monitoring unit monitors the motor torque When the actual output torque is greater than or equal to the fourth torque threshold, it can be determined that the lawn mower has a collision.
  • the fourth torque threshold may be a certain torque threshold less than or equal to the second torque threshold, may also be a value preset by the manufacturer, or may be a value set by the user before use according to the working conditions. In the scenario shown in FIG. 4, the fourth torque threshold is set to a certain value smaller than the second torque threshold.
  • the motor output torque will suddenly increase, and may increase to exceed the fourth torque threshold in a short period of time, or may exceed the second torque threshold in a short period of time.
  • the control device can cut off the working current of the motor to stop the motor, and cut off the torque output to the driving wheels, so that the actual output torque of the motor is reduced to 0. Therefore, in this embodiment, whether the actual output torque of the motor is greater than or equal to the fourth torque threshold can be monitored, or it can be determined whether the lawn mower has a collision by detecting the change of the actual output torque of the motor within a unit time.
  • the wheel monitoring module may include: a current monitoring unit, which may be used to monitor the current in the motor.
  • a current monitoring unit which may be used to monitor the current in the motor.
  • the current monitoring unit detects that the current in the motor is greater than or When it is equal to the preset current threshold, it can be determined that the lawnmower has collided, and it can also be determined whether the lawnmower has collided by detecting whether the voltage in the motor and other parameters suddenly increase to the preset voltage threshold.
  • the preset current threshold or voltage threshold can be preset by the manufacturer, or can be set by the user in advance according to the working conditions.
  • the lawn mower may include: at least two motors, the at least two motors drive at least two driving wheels to rotate, the control device independently controls the at least two motors, and the control devices are independent of each other. Is set with a first torque threshold, a second torque threshold, and a third torque threshold related to at least two motors, and correspondingly, a fourth torque threshold related to the actual output torque of the at least two motors, and a fourth torque threshold related to the current in the motor
  • the preset current thresholds can also be set individually. It is understandable that, in order to meet the needs of different scenarios, the thresholds related to different motors can be set to be the same or different.
  • the rotation of the driving wheel can be detected to determine whether the lawn mower has collided.
  • the recognition accuracy is high.
  • the devices installed on the lawn mower are not required or simplified, which can save costs.
  • a third torque threshold may be preset in the control device.
  • the control device may control the actual output torque of the walking motor to increase up to the third torque threshold.
  • the third torque threshold is less than or equal to the first torque threshold, and the third torque threshold is greater than the second torque threshold.
  • a third torque threshold greater than the second torque threshold can be set to ensure that the lawnmower can The steering was successfully completed.
  • the lawn mower may further include: an angle monitoring device, the angle monitoring device may be used to monitor the angle change of the lawn mower in the turning motion state, when the angle monitoring device detects that the lawn mower is in When the angle is roughly constant within the preset time period, it can be determined that the lawnmower has a collision, which solves the problem that the driving wheel of the lawnmower is not when the lawnmower encounters obstacles because the torque value of the walking motor is greater than the second torque threshold during the turning process of the lawnmower. Stop the rotation, so that it is impossible to judge whether the lawn mower has a collision based on the rotation of the driving wheel alone.
  • the angle monitoring device can monitor whether the angle of the lawnmower changes to determine whether the lawnmower collides.
  • the angle monitoring device can monitor whether the angle of the lawnmower changes to determine whether the lawnmower collides.
  • it can be determined that the lawn mower has collided.
  • This embodiment is a supplementary implementation of monitoring whether the driving wheel stops rotating through the wheel monitoring module described above to determine whether the lawnmower has a collision.
  • the angle monitoring device may be an inertial measurement unit, specifically, a gyroscope.
  • the change of the heading angle of the lawn mower can be detected by the inertial measurement unit to determine whether the lawn mower collides during the turning process.
  • the resistance encountered by the mower during normal straight operation may be the same as the resistance when turning. It is relatively close. Therefore, in some scenarios, the second torque threshold set in the motor when the lawn mower is moving straight may be greater than the third torque threshold when turning.
  • the third torque threshold is adjustable to adapt to different lawn working conditions. For example, the control module can adjust the third torque threshold according to the change of the working current in the cutting mechanism of the lawn mower, so as to adapt to the different requirements of dense grass working conditions or dredging working conditions.
  • the third torque threshold can be set independently in the at least two motors, that is, the third torque threshold in the two motors can be Different parameters to meet the steering force requirements of different driving wheels when turning.
  • the lawnmower when it is determined that the lawnmower has a collision, the lawnmower can be controlled to stop, reverse, turn, or give an alarm, or the lawnmower can be controlled to bypass obstacles to continue walking.
  • the recognition accuracy is high, and there is no need to install new devices on the lawn mower. Or it simplifies the devices installed on the lawn mower and saves costs.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Harvester Elements (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

L'invention concerne un dispositif automoteur (1) et son procédé de fonctionnement. Le dispositif automoteur (1) comprend : un module de surveillance de roue (26), qui est utilisé pour surveiller les conditions de rotation d'une roue d'entraînement (211). Lorsqu'un moteur (23) est dans un état de fonctionnement et lorsque le module de surveillance de roue (26) détecte que la roue d'entraînement (211) a arrêté une rotation, il est déterminé que le dispositif automoteur (1) a subi une collision. Si une tondeuse à gazon (20) est entrée en collision est déterminé au moyen de la détection des conditions de rotation de la roue d'entraînement (211). La précision de la reconnaissance est élevée, il n'est pas nécessaire d'installer un nouveau dispositif sur la tondeuse à gazon (20) ou de simplifier les dispositifs installés sur la tondeuse à gazon (20), et le dispositif permet d'économiser des coûts.
PCT/CN2020/128690 2019-11-14 2020-11-13 Dispositif automoteur et son procédé de fonctionnement WO2021093851A1 (fr)

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CN201911111654.0A CN112799390B (zh) 2019-11-14 2019-11-14 自移动设备及其工作方法
CN201911111654.0 2019-11-14

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WO2021093851A1 true WO2021093851A1 (fr) 2021-05-20

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CN105242675A (zh) * 2014-06-17 2016-01-13 苏州宝时得电动工具有限公司 自动行走设备
JP2017153550A (ja) * 2016-02-29 2017-09-07 シャープ株式会社 自走式掃除機
CN108337986A (zh) * 2017-01-25 2018-07-31 苏州宝时得电动工具有限公司 割草机
CN108427410A (zh) * 2017-02-15 2018-08-21 苏州宝时得电动工具有限公司 自移动设备
CN110073794A (zh) * 2019-04-30 2019-08-02 浙江亚特电器有限公司 用于智能割草机的碰撞检测方法
KR20190108530A (ko) * 2019-09-04 2019-09-24 엘지전자 주식회사 이동 로봇 및 그의 구동 방법

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