CN103217926A - Automatic working equipment and control method thereof - Google Patents
Automatic working equipment and control method thereof Download PDFInfo
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- CN103217926A CN103217926A CN2012101371090A CN201210137109A CN103217926A CN 103217926 A CN103217926 A CN 103217926A CN 2012101371090 A CN2012101371090 A CN 2012101371090A CN 201210137109 A CN201210137109 A CN 201210137109A CN 103217926 A CN103217926 A CN 103217926A
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Abstract
Provided are automatic working equipment and a control method of the automatic working equipment. The automatic working equipment can automatically move and work in a set working area and has a working state and a dormant state. The control method of the automatic working equipment comprises the following steps: starting the automatic working equipment to operate; acquiring area information of a working area; setting a working time plan according to a pre-set scheduling algorithm based on the working information; accessing to the working state or quitting the working state by the automatic working equipment according to the working time plan, and accessing to the dormant state. The automatic working equipment and the control method of the automatic working equipment have the advantages that the working time plan can be automatically set in the working process, a user does not need to conduct complicated setting, and thus use of the automatic working equipment is simple and convenient.
Description
Technical field
The present invention relates to a kind of automatic working equipment and control method thereof.
Background technology
Along with continuous progress in science and technology, various automatic working equipments have begun the life of coming into people slowly, for example automatic cleaner and automatic mower etc.This automatic working equipment has running gear, equipment, and automaton, thereby make automatic working equipment can break away from people's operation, automatically walking and execution work within the specific limits, when the energy storage device energy shortage of automatic working equipment, it can return the charging station device automatically and charge, and works on then.Free people are uninteresting from house cleaning, turf-mown etc. and the housework work of wasting time and energy of this automatic working equipment, saved people's time, for people's life has brought facility.
Yet, the automatic control of working equipment more complicated often.When using automatic working equipment, the user need import a series of instruction first, makes starting working that automatic working equipment can be correct.For example the user need carry out the setting of perform region, the setting of working time, setting of mode of operation or the like.Yet the setting of this type of instruction often the difficulty, particularly have more multi-functional automatic working equipment or automatic working equipment that can the programmed preset work program, the setting that the user need seek corresponding column and carry out the step complexity in a large amount of menus; In addition, when the environment for use of automatic working equipment changed, the user need carry out above-mentioned setting again, has brought inconvenience to use.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of automatic working equipment and control method thereof easy to use.
For achieving the above object, technical scheme provided by the invention is: a kind of control method of automatic working equipment, described automatic working equipment is automatic mobile working in the perform region of setting, have duty and dormant state, described control method comprises the steps: to start described automatic working equipment operation; Obtain the area information of described perform region; Formulate the working time plan based on described area information according to default Scheduling Algorithm; Described automatic working equipment enters duty and the state of deactivating according to described working time plan, enters dormant state.
Preferably, described default Scheduling Algorithm is: described area information and some areas interval of presetting are compared; Find the preset area interval at described area information place; Read the interval plan of corresponding working time of described preset area.
Preferably, described default Scheduling Algorithm is: with described area information substitution preset function; Calculate the result according to described preset function; Read the working time plan of described correspondence as a result.
Preferably, described area information is obtained by following steps: move on the border of described automatic working equipment from starting point along described perform region, and return to origin; Write down the trace information in the described automatic working equipment moving process; Calculate the area information of described perform region according to described trace information.
Preferably, the trace information that writes down in the described automatic working equipment moving process is the map datum that passes through the described perform region of GPS position the record.
Preferably, the trace information that writes down in the described automatic working equipment moving process is the coordinate information of the described automatic working equipment of record present position when at every turn changing direction.
Preferably, described area information is obtained by following steps: the area information of the inputting interface typing user input that is provided with on described automatic equipment.
Preferably, described working time plan comprises first working time plan and servicing time plan.
Preferably, described working time plan comprises the sub-working time plan that a plurality of cycles are identical.
Preferably, the described cycle is 24 hours.
Preferably, described a plurality of sub-working time plan is identical.
Preferably, the duration of duty successively decreases in the works described a plurality of sub-working time.
Preferably, the start time difference of duty in the works of described a plurality of sub-working time.
Preferably, described control method is further comprising the steps of: obtain external information; Adjust described working time plan based on described external information according to default adjustment algorithm.
Preferably, described external information is the adjustment signal of user's input.
Preferably, latitude, longitude, the date and time information of described external information self position that to be described automatic working equipment obtain by the GPS location.
Preferably, described default adjustment algorithm is: the default latitude, longitude interval of judging described latitude, longitude place; Judge between the default date field at described date place; Adjust described working time plan according to corresponding plan for adjustment between described default latitude, longitude interval and described default date field.
Preferably, described external information is the temperature and humidity information of described automatic working equipment by described automatic working equipment self position of sensor acquisition.
Preferably, described default adjustment algorithm is: the preset temperature interval of judging described temperature place; Judge between the default humidity province at described humidity place; Adjust described working time plan according to corresponding plan for adjustment between described preset temperature interval and described humidity province.
Preferably, adjusting described working time plan is the duration of adjusting described duty.
Preferably, adjusting described working time plan is the duration of described duty to be multiply by coefficient with the duration of described duty replace.
Preferably, adjusting described working time plan is the start time of adjusting described duty.
Preferably, detect the border of described perform region by the border sensor that is arranged at both sides, described automatic working equipment axis, when wherein the border sensor of a side at first detected the border, described automatic working equipment was to the directional steering at the border sensor place of opposite side.
Preferably, detect the border of described perform region by the border sensor that is arranged at both sides, described automatic working equipment axis, when described border sensor detects the border, described automatic working equipment is judged described axis and border angulation, and walks on to reducing the acute angle angle that the axis become with the border or the direction of right angle angle.
Another kind of technical scheme provided by the invention is: a kind of control method of automatic working equipment, described automatic working equipment be automatic mobile working in the perform region of setting, and described control method comprises the steps: to start described automatic working equipment operation; Move on the border of described automatic working equipment from starting point along described perform region, and return to origin; Write down the trace information in the described automatic working equipment moving process; Calculate the area of described perform region according to the preset area algorithm based on described trace information.
Preferably, the trace information that writes down in the described automatic working equipment moving process obtains by following steps: calculate the coordinate of automatic working equipment motion track with respect to starting point; Write down above-mentioned coordinate.
Whether preferably, the trace information that writes down in the described automatic working equipment moving process obtains by following steps: detect automatic working equipment and turn to; If turn to, when turning to last time of record, the coordinate of working equipment and the angular dimension that turns to automatically, calculate automatic working equipment this when turning to respect to the coordinate of described starting point; Calculate this angular dimension that turns to of automatic working equipment, be used to calculate the coordinate of automatic working equipment when turning to next time.
Whether change moving direction by the following method obtain: detect the velocity contrast between the automatic working equipment driving wheel if preferably, detecting automatic working equipment.
Preferably, detect automatic working equipment by the angular-rate sensor on the automatic working equipment and whether change moving direction.
Preferably, the area of described perform region calculates by the area of a polygon formula based on the coordinate of described automatic working equipment motion track with respect to starting point.
Preferably, the trace information that writes down in the described automatic working equipment moving process is the map datum that passes through the described perform region of GPS position the record.
Preferably, described automatic working equipment is formulated the working time plan based on the area of described perform region.
Another kind of technical scheme provided by the invention is: a kind of automatic working equipment, and walking work automatically comprises: casing in the perform region of setting; Operational module; Walking module supports and drives described automatic working equipment walking; Main control module is controlled described walking module and described operational module work; Described automatic working equipment also comprises track detection unit and area computing unit, the described automatic working equipment of track detection unit record is along the trace information of the border walking of described perform region, and the area computing unit is calculated the area of described perform region according to the preset area algorithm based on described trace information.
Preferably, described track detection unit comprises the magnetic induction unit that detects the walking module motion, and described main control module comes from based on the motion calculation of described walking module starts building to do the coordinate of equipment motion track with respect to starting point.
Preferably, described automatic working equipment detects described automatic working equipment by described magnetic induction unit and whether changes moving direction, calculates the size of steering angle, when calculating automatic working equipment and turning to respect to the coordinate of described starting point.
Preferably, described automatic working equipment detects velocity contrast between the automatic working equipment driving wheel by described magnetic induction unit.
Preferably, described track detection unit comprises angular-rate sensor, detects the change of described automatic working equipment moving direction.
Preferably, the area of described perform region calculates by the area of a polygon formula based on the coordinate of described automatic working equipment motion track with respect to starting point.
Preferably, described track detection unit is the GPS module.
Preferably, described automatic working equipment is formulated the working time plan based on the area of described perform region.
Another kind of technical scheme provided by the invention is: a kind of automatic working equipment, and walking work automatically comprises: casing in the perform region of setting; Operational module; Walking module supports and drives described automatic working equipment walking; Described automatic working equipment detects described perform region, and sets the working time based on described perform region.
Preferably, described automatic working equipment comprises the GPS locating module, border and the return to origin of described automatic working equipment from starting point along described perform region, described GPS locating module writes down the map datum of described perform region, calculate the area information of described perform region according to described map datum, described automatic working equipment is set the working time based on described area information.
Preferably, described automatic working equipment comprises inputting interface, the area information of typing user input, and described automatic working equipment is set the working time based on described area information.
Preferably, described automatic working equipment comprises the external information collecting unit, and described external information collecting unit is gathered external information, and described automatic working equipment is adjusted the described working time based on described external information.
Preferably, described external information collecting unit is an inputting interface, the adjustment signal of typing user input.
Preferably, described external information collecting unit is the GPS locating module, and described GPS locating module obtains longitude and latitude, the date and time information of described automatic working equipment position.
Preferably, described external information collecting unit is a sensor, and described sensor obtains the temperature and humidity information of described automatic working equipment position.
Preferably, described main control unit is adjusted described automatic working equipment run duration.
Preferably, described main control unit is adjusted described automatic working equipment attack time.
Preferably, described automatic working equipment comprises border sensor, be arranged at the both sides of described automatic working equipment axis, detect the border of described perform region, when wherein the border sensor of a side at first detected the border, described automatic working equipment was to the directional steering at the border sensor place of opposite side.
Preferably, described automatic working equipment comprises border sensor, be arranged at the both sides of described automatic working equipment axis, when described border sensor detects the border, described automatic working equipment is judged described axis and border angulation, and walks on to reducing the acute angle angle that the axis become with the border or the direction of right angle angle.
Preferably, described automatic working equipment is mower or suction cleaner.
Another kind of technical scheme provided by the invention is: a kind of automatic working equipment, and walking work automatically has duty and dormant state in the perform region of setting, and comprising: casing; Operational module; Walking module supports and drives described automatic working equipment walking; Main control module is controlled described walking module and described operational module work; Described automatic working equipment also comprises the area information collecting unit, the area information collecting unit is gathered the area information of described perform region, described main control module receives described area information, formulate the working time plan based on described area information according to default Scheduling Algorithm, and control described operational module and described walking module and enter duty and the state of deactivating according to described working time plan, enter dormant state.
Preferably, described automatic working equipment comprises the GPS locating module, border and the return to origin of described automatic working equipment from starting point along described perform region, described GPS locating module writes down the map datum of described perform region, calculates the area information of described perform region according to described map datum.
Preferably, described automatic working equipment comprises inputting interface, the area information of typing user input.
Preferably, described automatic working equipment comprises the external information collecting unit, described external information collecting unit is gathered external information, and described main control unit receives described external information, adjusts described working time plan based on described external information according to default adjustment algorithm.
Preferably, described external information collecting unit is an inputting interface, the adjustment signal of typing user input.
Preferably, described external information collecting unit is the GPS locating module, and described GPS locating module obtains longitude and latitude, the date and time information of described automatic working equipment position.
Preferably, described external information collecting unit is a sensor, and described sensor obtains the temperature and humidity information of described automatic working equipment position.
Preferably, described main control unit is adjusted the duration of described duty
Preferably, described main control unit is adjusted the start time of described duty.
Preferably, described automatic working equipment comprises border sensor, be arranged at the both sides of described automatic working equipment axis, detect the border of described perform region, when wherein the border sensor of a side at first detected the border, described automatic working equipment was to the directional steering at the border sensor place of opposite side.
Preferably, described automatic working equipment comprises border sensor, be arranged at the both sides of described automatic working equipment axis, when described border sensor detects the border, described automatic working equipment is judged described axis and border angulation, and walks on to reducing the acute angle angle that the axis become with the border or the direction of right angle angle.
Preferably, described automatic working equipment is mower or suction cleaner.
Another kind of technical scheme provided by the invention is: a kind of automatic working equipment, and walking work automatically has duty and dormant state in the perform region of setting, and comprising: casing; Operational module; Walking module supports and drives described automatic working equipment walking; Main control module is controlled described walking module and described operational module work; Described automatic working equipment also comprises information acquisition unit, gather the information of described automatic working equipment self region, described main control module receives described information, formulate the working time plan based on described information according to default Scheduling Algorithm, and control described operational module and described walking module and enter duty and the state of deactivating according to described working time plan, enter dormant state.
Preferably, described information acquisition unit is the GPS module, gathers one or more in the area, latitude, longitude, date, time data of self region.
Compared with prior art, automatic working equipment provided by the invention and control method thereof make the user first when using automatic working equipment, can be easy or allow working equipment automatic setting work program; In use, if working environment changes, also can be easy or automatically working equipment automatically work program is adjusted, use easylier, can obtain good experience.
Description of drawings
The invention will be further described below in conjunction with drawings and embodiments;
Fig. 1 is the synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 2 is the side schematic view of the automatic working equipment that provides of embodiment of the present invention;
Fig. 3 is the circuit block diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 4 is the synoptic diagram of automatic working equipment in the perform region that embodiment of the present invention provides;
Fig. 5 is a kind of routing synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 6 is a kind of routing synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 7 is a kind of routing synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 8 is the synoptic diagram that turns to of the automatic working equipment that provides of embodiment of the present invention;
Fig. 9 is the coordinate synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Figure 10 is the process flow diagram of the automatic working equipment that provides of embodiment of the present invention;
Figure 11 is the process flow diagram of the automatic working equipment that provides of second embodiment of the invention;
Figure 12 is the process flow diagram of the automatic working equipment that provides of third embodiment of the invention.
Wherein
1. automatic working equipment 143. control modules
11. walking module 15. detection modules
111.111a.111b driving wheel 151,152. border sensors
12. operational module 16. user interfaces
13. energy-storage module 17. shells
14. main control module 3. boundary lines
141. processing unit 5. bus stops
142. storage unit
Embodiment
The present invention is described in detail below in conjunction with the drawings and the specific embodiments.
The automatic working equipment that the specific embodiment of the invention provides, walking work automatically in the perform region.Automatically working equipment can be automatic mower, perhaps automatic cleaner.They walk on lawn or the ground automatically, mow or dust suction work.Certainly, working equipment is not limited to automatic mower and automatic cleaner automatically, also can be the equipment of other types, and for example automatic spray appliance or automatic monitoring equipment etc. by automatic working equipment, are realized the unattended operation of every work.
See also Fig. 1-Fig. 2, automatically working equipment 1 comprises walking module 11, operational module 12, energy-storage module 13, main control module 14, detection module 15, user interface 16 and the shell 17 etc. of accommodating above-mentioned module.
Walking module 11 comprises motor and driving wheel 111, driving wheel 111 is driven respectively by a plurality of motors usually, and each rotating speed of motor or to turn to all be controlled, thereby in the process of working equipment walking automatically, turn to flexibly by the rotating speed of regulating driving wheel 111.Walking module 11 comprises motor and driving wheel 111, being provided with of driving wheel can have multiple mode, in the present embodiment, as shown in Figure 2, be the front portion of automatic working equipment 1 with left side in scheming, the right side is the rear portion of automatic working equipment 1, and two driving wheels 111 are symmetricly set in the both sides, rear portion of automatic working equipment 1 respectively, and the part near automatic working equipment 1 front portion is provided with angle sheave.Certainly, the number of driving wheel also can be more or less, and for example driving wheel can be 1, perhaps more than two; The position of driving wheel also can be positioned at the front portion of automatic working equipment, perhaps lays respectively at four angles of automatic working equipment or the like, does not enumerate one by one at this.
Energy-storage module 13 is generally chargeable battery, for the automatic mower operation provides electric power, perhaps connects external power source and charges; Preferably, energy-storage module 13 has charging or discharge prevention unit, can protect the charge or discharge of energy-storage module 13.
Please in the lump referring to Fig. 3, detection module 15 is used to detect the information relevant with mower 1, and provides detection information to main control module 14, for the walking and the work of working equipment provide parameter automatically.Main control module 14 comprises processing unit 141, storage unit 142 and control module 143, processing unit 141 receives the information of detection module 15 or user interface 16 inputs, after treatment, deposit storage unit 142 in, perhaps from storage unit 142, read corresponding program, walk and work by control module 143 control walking module 11 and operational module 12.
See also Fig. 4, automatically working equipment 1 in the perform region, the perform region be boundary line 3 by artificial setting around the closed interval that forms, boundary line 3 can avoid automatic working equipment 1 to leave the perform region; The boundary line can be wall, railing etc.; Also can be lead or other signal generation apparatus of energising, for example electromagnetic signal or light signal.Be provided with bus stop 5 in the perform region, bus stop 5 is arranged on the boundary line 3, and working equipment 1 is stopped at bus stop 5 when quitting work automatically, enters dormant state; In the time of need starting working, from bus stop 5, enter duty once more.Bus stop 5 can provide charge function usually, for energy-storage module 13 charges.When the electric weight of energy-storage module 13 was not enough, working equipment 1 returned bus stop 5 and charges automatically.Bus stop 5 can provide guiding and butt joint to returning of automatic working equipment 1, and butt joint can realize wireless guiding by modes such as infrared ray or ultrasound waves, also can pass through boundary line 3 channeling conducts and butt joint.
See also Fig. 5-Fig. 7, automatically working equipment 1 walking work in the perform region, automatically working equipment 1 comprises at least one border sensor 151,152, border sensor 151,152 is arranged at the both sides of the axis of automatic working equipment 1, is used to detect the position relation of automatic working equipment 1 and boundary line 3.Border sensor 1 can be range sensor, infrared ray sensor, ultrasonic sensor, crash sensor, Magnetic Sensor etc.
The dotted line that passes automatic working equipment 1 is the run trace of automatic working equipment 1, automatically working equipment 1 in the perform region along straight line moving, distance between border sensor 151,152 detections and the boundary line 3, if the border sensor 151 in axis left side at first detects distance with boundary line 3 less than preset value, working equipment 1 is to the right hand steering of the axis at border sensor 152 places automatically; If the border sensor 152 on right side, axis at first detects distance with boundary line 3 less than preset value, 1 left side to the axis at border sensor 151 places of working equipment turns to automatically.
Border sensor 151,152 also can detect the corner dimension between axis and the boundary line 3, when in the border sensor 151,152 any one detect and boundary line 3 between distance during less than preset value, automatically the axis and the boundary line 3 of working equipment 1 have an intersection point, axis and boundary line 3 form an acute angle angle theta through the tangent line of this intersection point, automatically working equipment 1 continues walking forward, and to the directional steering that reduces this acute angle angle.When the border sensor 151,152 of the both sides, axis of automatic working equipment 1 detect simultaneously and boundary line 3 between distance less than preset value, automatically the axis of working equipment 1 is passed through between the tangent lines of their intersection points vertical mutually with boundary line 3, at this moment, working equipment turns at random automatically.
Automatically the preset value of the minor increment between working equipment 1 and the boundary line 3 is set to and satisfies following condition: in the steering procedure of automatic working equipment 1; can keep walking; thereby halt or fall back when having avoided automatic working equipment 1 to turn to; saved the time; avoided frequent startup and shutdown also to save electric power; reduce the charging times of automatic working equipment, thereby improved the work efficiency of automatic working equipment greatly.Aforesaid routing form also can improve the wheel efficiency of automatic working equipment 1 in the perform region, particularly can walk out the narrow range in the perform region efficiently.Aforesaid routing form, make automatic working equipment 1 when the identical perform region of processing area, no matter how are the shape of perform region, the obstacle in the perform region or work complexity, the time that automatic working equipment 1 is finished the work is similar, for the present invention, this is important.Certainly, can satisfy automatic working equipment 1 when the identical perform region of processing area, the time of finishing the work is that the path planning mode of similar this condition is not unique, the automatic route that can once pass by by the GPS position the record of working equipment for example, when working equipment is walked automatically, the route of as far as possible avoiding repeated rows to pass by, thus improved the wheel efficiency of automatic working equipment in the perform region, for the identical perform region of area, the time of finishing the work is similar.Also have other path planning mode, do not give unnecessary details one by one at this.
See also Figure 10, the control method of automatic working equipment 1 provided by the invention may further comprise the steps:
Step S0: system start-up.The user when using automatic working equipment 1, by user interface 16 start-up systems, carries out the initialization of system first, and initialization comprises every self-examination of automatic working equipment 1, for example dump energy of energy-storage module 142 or the like.During system start-up, working equipment 1 preferably is on the bus stop 5 automatically, if the dump energy deficiency of energy-storage module 142 is charged by 5 pairs of energy-storage modules 142 of bus stop.
Step S1: the area information of obtaining the perform region.Automatically working equipment 1 is from bus stop 5, and 3 take a round around the perform region row along the boundary line, get back to bus stop 5 once more; Automatically the detection module 15 of working equipment 1 comprises the track detection unit, the track detection unit can be the GPS module, in the process of walking, the GPS module is located the position at automatic working equipment place, it is the on-site latitude and longitude coordinates of automatic working equipment, these measurement points couple together the run trace that has formed automatic working equipment 1, after processing unit 141 receives the coordinate of measurement point, is X, Y coordinate according to the preset area algorithm with resulting latitude and longitude coordinates inverse, and goes out the area of the perform region that each measurement point centers on according to coordinate Calculation; The preset area algorithm can be a CASIOfx-4500P area calculation procedure, certainly, also can calculate area according to latitude and longitude coordinates by other algorithm, does not enumerate one by one at this.For the perform region of shape comparison rule, the automatic coordinate on each summit that working equipment 1 also can be by the independent measurement perform region, and then calculate the area of perform region.
At this moment, the area information of perform region is obtained automatically by automatic working equipment 1, certainly, if the user has known the area of perform region, then area information also can be imported by the user by user interface 16, perhaps imports by the automatic working equipment 1 and the connecting interface of computer or other equipment.
Step S2: judge that area information is obtained and whether finish.When automatically working equipment 1 was got back to bus stop 5 once more, main control module 14 was judged as area information and obtains and finish, and controlled automatic working equipment 1 and stopped along the boundary line 3 walking.When artificial input area information, main control module 14 detects whether input validation signal of user interface 16, when detecting user interface 16 input validation signals, is judged as area information and obtains and finish.When judging that area information obtains when finishing, can carry out next step operation; If the judgement area information is also obtained do not finish, then continue to obtain the area information of perform region.
Step S3: processing area information.After the area information of the perform region that processing unit 141 reception detection modules 15 or user interface 16 provide, area information is handled, the main control module 14 that converts automatic working equipment 1 to can the recognition data form.
Step S4: formulate the working time plan according to default Scheduling Algorithm.Storage unit 142 stored preset work time plans, the preset work time plan is corresponding with the working area interval.For example, 600 square metres to 699 square metres perform region, corresponding working time plan is work 10 hours, 700 square metres to 799 square metres perform region, corresponding working time plan is work 15 hours.When the area of perform region is 720 square metres, processing unit 141 is compared area information with each area interval in the storage unit 142, the area of perform region is greater than 700 square metres and less than 800 square metres, then processing unit 141 reads the interval 700 square metres of work programs to 800 square metres of correspondences of working area, and the working time plan of formulating this task is work 15 hours.The preset work time that provides in present embodiment in the works, and is easy in order to narrate, and only listed two area intervals for example, and the area interval of each perform region is 100 square metres; In fact, the number in area interval can be more, and the area interval also can be other values beyond 100 square metres.For example the working area scope of working equipment 1 is 0 square metre to 1500 square metres automatically, when each area interval is 100 square metres, can be divided into 15 area intervals; Automatically the working area scope of working equipment 1 is 0 square metre to 2000 square metres, when each area interval is 100 square metres, can be divided into 20 area intervals; Automatically the working area scope of working equipment 1 is 0 square metre to 1500 square metres, when each area interval is 50 square metres, can be divided into 30 area intervals; Automatically the working area scope of working equipment 1 is 0 square metre to 2000 square metres, when each area interval is 50 square metres, can be divided into 40 area intervals.
In addition, default Scheduling Algorithm also can be that to be stored in the storage unit 142 be the preset function of variable with the area information, processing unit 141 is with the described preset function of area information substitution that receives, calculate the required time of finishing the work according to described preset function, from described storage unit 142, read the working time plan of described correspondence as a result, formulate the working time plan of task for this reason.
Further, the working time plans to carry out respectively in a plurality of unit interval, comprises the sub-working time plan that a plurality of cycles are identical, the length in each cycle unit interval can be set as required, for example each cycle unit interval is 8 hours, 12 hours, 24 hours or the like; In each cycle unit interval, the duty duration of working equipment 1 can be identical automatically, also can be different.In the present embodiment, when working equipment 15 hours working time of 1 execution work plans automatically, work in its first day finishes to enter dormant state after 7 hours, finish to enter dormant state after 5 hours work in second day, work in the 3rd day 3 hours, finish the work, in each cycle unit interval, the duration of duty successively decreases.
Further, the working time plan comprises first working time plan and servicing time plan, when working equipment 1 is worked in the perform region for the first time automatically, is brand-new work, and workload is bigger, so consuming time longer; After finishing first task, spend less time maintenance work effect every day.The servicing time plan begins to carry out after first task is finished, and comprises the working time plan in a plurality of cycles unit interval.In the present embodiment, after working equipment 1 is finished first working time plan automatically, carry out the servicing time plan, worked every day 2 hours.
Preset work time plan or formula are according to the automatic path planning mode of working equipment 1, through experiment or set up that model draws.Choose comparatively loose data when formulating the preset work time plan, for example under this path planning mode, in perform region of the same area, finish the work required maximum time, thereby guarantee in all cases, can both finish overwhelming majority work.
Step S5: execution work period planning.Automatically working equipment 1 is planned to enter duty at preset time according to the working time after obtaining the working time plan, and at the preset time state of deactivating, enters dormant state.
In the present embodiment, the area information that automatic working equipment 1 obtains the perform region automatically need be passed through GPS module detection coordinates, and certainly, working equipment also can be measured the area information of perform region by other modes automatically.
The user can pass through user interface 16 input instructions, makes automatic working equipment 1 from bus stop 5, walks until return to origin along the boundary line.In the process of walking, working equipment 1 detects and writes down the track of walking automatically.
Automatically the detection module 15 of working equipment 1 comprises the track detection unit, and the travel distance of driving wheel 111 is measured in the track detection unit.The trajectory measurement unit is measured by magnetic induction principle, it comprises magnetic generator and magnetic detector, on two driving wheels 111, be respectively arranged with magnetic element, magnetic element can be that magnet or other can produce the element in magnetic field, near the position of driving wheel 111 the Magnetic Induction device is set respectively and is used for the sensing magnetic element in housing 17.Whenever revolving, driving wheel 111 turns around, magnetic element on the driving wheel 111 is when the Magnetic Induction device, the Magnetic Induction device just can detect and send a signal to processing unit 141, on behalf of driving wheel, it revolve and makes a circle, and the number of turns that the girth of driving wheel 111 and driving wheel 111 roll multiplies each other and can draw the distance of driving wheel 111 walkings.Processing unit 141 can be calculated automatic working equipment 1 in the certain hour section or the displacement in certain distance according to the distance of driving wheel walking.Certainly, the track detection unit is not limited to above-mentioned magnetic element of mentioning and magnetic detector, and all detectors that can survey the driving wheel rotating speed all are fine.
See also Fig. 8, driving wheel 111 is symmetricly set in the both sides, rear portion of automatic working equipment 1, and the wheel spacing between two driving wheels is D, and the diameter of driving wheel 111 is identical.Processing unit 141 judges that according to the distance of driving wheel 111 walking is whether identical automatic working equipment 1 is whether along straight line moving, if it is identical that the track detection unit detects the speed of travel of two driving wheels 111, illustrate that then automatic working equipment 1 is along straight line moving; If it is different that the track detection unit detects the speed of travel of two driving wheels 111, illustrate that then automatic working equipment 1 is turning to.
When processing unit 141 is judged automatic working equipment when turning to, its distance according to the driving wheel walking is different, calculates the angle that automatic working equipment 1 changes direction.When working equipment 1 changed direction automatically, the distance of driving wheel 111a walking was C1, and the distance of driving wheel 112b walking is C2, the angle that then automatic working equipment 1 turns over
Certainly, the steering angle of working equipment 1 also can be measured by other modes automatically, for example on the working equipment 1 angular-rate sensor is being set automatically, perhaps digital compass or the like.
Automatically working equipment 1 runs to an A from bus stop along the boundary line, boundary line 3 changes directions at this moment, processing unit 141 is judged automatic working equipment 1 and is being turned to, and calculates automatic working equipment 1 residing position this moment, and positional information is stored into storage unit 142.Automatically working equipment 1 residing position can be that (x1 y1) represents for the coordinate of the point in the rectangular coordinate system of true origin in order to bus stop 5.As shown in Figure 9, the horizontal ordinate x1 that A is ordered is automatic working equipment 1 and moves to A from bus stop 5 and order the distance that is moved, and ordinate y1 is 0.
Automatically working equipment 1 turns at A point place, and it is α that processing unit 141 comes from the angle that the equipment of doing 1 of starting building turns over based on aforementioned algorithm computation, and at this moment, processing unit 141 restarts to calculate the distance that automatic working equipment 1 moves.Automatically working equipment 1 continues the 3 walking arrival turning point B points along the boundary line, processing unit 141 is judged automatic working equipment 1 and is turned at the B point, calculate the coordinate (x2 of B point in the rectangular coordinate system that with the bus stop is true origin, y2), it is D1 from the A point to the distance that moves the B point that processing unit 141 calculates automatic working equipment 1, then the B horizontal ordinate x2 of ordering can calculate by formula (x1+D1*cos α), and the ordinate y2 that B is ordered can calculate by formula (y1+D1*sin α).
Make and use the same method, processing unit can calculate automatic working equipment 1 in the process of walking along boundary line 3, the coordinate of each turning point, until getting back to bus stop 5, be that automatic working equipment 1 is when returning true origin (x0y0) once more, main control module 14 judges that the run trace information have been obtained and finishes, and controls automatic working equipment 1 and stops along the boundary line 3 walking.At this moment, automatically working equipment 1 has obtained one group of coordinate figure, and (x0y0) (x1y1) (x2y2) ... (xnyn) (x0y0), these coordinates are the trace information of automatic working equipment 1 along the boundary line walking.
In the present embodiment, processing unit 141 calculates the coordinate of turning point according to sine or cosine formula, certainly, also has other formula also can calculate the coordinate of turning point, tangent formula for example, the combination between cotangent formula or the above-mentioned formula.
See also Figure 11, the control method of the automatic working equipment 1 that second embodiment of the invention provides may further comprise the steps:
Step S10: system start-up.The start-up course of system is identical with first embodiment in the second embodiment of the invention, is not repeated in this description at this.
Step S11: judge whether to enter the self study pattern.Automatically working equipment 1 is after startup, judge whether to enter the self study pattern, for example the processing unit 141 of working equipment 1 detects when existing the working time to plan automatically, judges that automatic working equipment 1 need not to enter the self study pattern, carries out this working time plan; Automatically the processing unit 141 of working equipment 1 detects when not existing the working time to plan, and enters the self study pattern.Automatically whether working equipment 1 also can change and judge whether to enter the self study pattern by detecting himself geographic location, when the geographic position at automatic working equipment 1 place does not change, automatically working equipment 1 does not enter the self study pattern, when the geographic position at working equipment 1 place changes automatically, enter the self study pattern.Automatically working equipment 1 also can judge whether to enter the self study pattern by the time interval of detecting between its this on time and on time last time, when time interval during greater than predetermined value, automatically working equipment 1 enters the self study pattern, when time interval during less than predetermined value, working equipment 1 does not enter the self study pattern automatically.
In addition, working equipment 1 can also judge whether to enter the self study pattern according to the information that the user imports by user interface 16 automatically, and when the user selected to enter the self study pattern by user interface 16, working equipment 1 entered the self study pattern automatically; When the user selected not enter the self study pattern by user interface 16, working equipment 1 did not enter the self study pattern automatically.
Step S12: enter the self study pattern.Automatically working equipment 1 enters the self study pattern, and under the self study pattern, working equipment 1 does not carry out the setting of working time plan automatically, from bus stop 5, according to default path planning mode, walking work in the perform region.Detection module 15 detects the job information of automatic working equipment 1, and job information can comprise one or more in working time that automatic working equipment 1 moves, walking mileage, operating load, walking path or the like under the self study pattern.
Step S13: judge whether to withdraw from the self study pattern.Detection module 15 comprises current detecting unit, the load current of testing module 12, processing unit 141 compares the preset value of the storage in detected load current and the storage unit 142, if in a period of time, the load current of operational module 12 is all the time less than preset value, processing unit 141 judgment task modules 12 do not have load in long-time, control automatic working equipment 1 and withdraw from the self study pattern.
Automatically working equipment 1 also can judge whether withdraw from the self study pattern by out of Memory.When for example working equipment 1 is automatic mower automatically, detection module 15 comprises the feeler of the bottom that is arranged on automatic mower, feeler detects the contact information of the bottom of grass and automatic mower, if in a period of time, feeler does not detect activation signal all the time, processing unit 141 thinks that work finishes, and the control automatic mower withdraws from the self study pattern.When automatic working equipment is automatic cleaner, detection module 15 can detect the recruitment of dust in the dust collect plant, in a period of time, if sensor does not detect the increase of dust all the time, processing unit 141 thinks that the work of automatic cleaner finishes, and the control automatic cleaner withdraws from the self study pattern.In addition, working equipment 1 can also pass through camera automatically, and infrared sensor or the like judges whether withdraw from the self study pattern, does not enumerate one by one at this.
Automatically judge whether withdraw from the self study pattern by automatic working equipment 1 as mentioned above, certainly, it also can be controlled by user interface 16 by the user, when the user judges that automatic working equipment 1 need withdraw from the self study pattern, press corresponding button on the user interface 16, working equipment 1 withdraws from the self study pattern automatically.
Step S14: record satisfies the job information when pre-conditioned.Automatically working equipment 1 satisfies when pre-conditioned, notes the job information of detection module 15 detected automatic working equipments 1, for example working time of moving under the self study pattern of working equipment 1, walking mileage, operating load, walking path or the like automatically.
Record satisfies the job information when pre-conditioned, can or withdraw from before withdrawing from the self study pattern after the self study pattern or carrying out in the self study pattern withdrawing from, so the order of step S13 and step S14 can be exchange or carry out simultaneously, but record always satisfy pre-conditioned this time point the time job information.
Step S15: handle the job information under the self study pattern.141 pairs of job informations of processing unit are handled, and the main control module 14 that converts automatic working equipment 1 to can the recognition data form.
Step S16: according to default algorithmization working time plan.Storage unit 142 stored preset work time plans, preset work time plan are corresponding with the job information of automatic working equipment 1 under the self study pattern.For example, working equipment 1 is under the self study pattern automatically, and the time that the work in the zone of finishing the work is used, corresponding working time plan was safeguarded for working every day in 2 hours in 10 hours-15 hours intervals; Finish the work time of using in 16 hours-20 hours intervals under the self study pattern, and corresponding working time plan was safeguarded for working every day in 3 hours.Working time under the self study pattern of noting is 12 hours, processing unit 141 is compared the working time with each time interval in the storage unit 142, the size of working time is greater than 10 hours and less than 15 hours, then processing unit 141 reads corresponding work program of interval 10 hours to 15 hours of working time, formulates the working time plan of this task and safeguards in 2 hours for working every day.
Certainly, the preset work time plan also can be corresponding with automatic working equipment 1 other job information under the self study pattern, the walking mileage that for example under the self study pattern, moves, processing unit 141 mileage of will walking is compared with each mileage interval in the storage unit 142, chooses corresponding work program as the working time plan of working equipment 1 automatically.
Certainly, the preset work time plan also can be with the job information of automatic working equipment 1 under the self study pattern in one or more corresponding, automatic one or more in the working time of working equipment 1 under the self study pattern, walking mileage, operating load, walking path or the like for example.
In addition, default algorithm also can be to be the formula of variable with the job information of automatic working equipment 1 under the self study pattern, processing unit 141 calculates the required time of finishing the work with the default formula of job information substitution that receives, and formulates the working time plan of task for this reason.
Step S17: execution work period planning.Automatically working equipment 1 is planned to enter duty at preset time according to the working time after obtaining the working time plan, and at the preset time state of deactivating, enters dormant state.
See also Figure 12, the control method of the automatic working equipment 1 that third embodiment of the invention provides may further comprise the steps:
Step S20: system start-up.The start-up course of system is identical with first embodiment in the third embodiment of the invention, is not repeated in this description at this.
Step S21: formulate the working time plan.Automatically working equipment 1 is formulated the working time plan after startup.The working time plan can be the method that adopts the first embodiment of the invention and second embodiment to provide, and formulates voluntarily by automatic working equipment 1.Automatically the plan of the working time of working equipment 1 also can be by user interface 16 by manually importing, perhaps import by the automatic working equipment 1 and the connecting interface of computer or other equipment.
Step S22: execution work.Automatically working equipment 1 is planned to enter duty at preset time according to the working time after obtaining the working time plan, and at the preset time state of deactivating, enters dormant state.
Step S23: obtain external information.Automatically the external information of working equipment 1 comprises the date, time, geographic coordinate, environmental information of himself position etc.In when work, the detection external information that detection module 15 is real-time; Detect external information and also can regularly carry out, for example working equipment 1 is carried out one-time detection at every turn when dormant state enters duty automatically; Perhaps automatically working equipment 1 at set intervals the cycle carry out one-time detection, for example every a week or one month, carry out one-time detection.
Step S24: judge whether external information is obtained and finish.When working equipment 1 obtains external information automatically, normally obtain with certain combination, when the GPS module is obtained from geographic coordinate, the time and date of the equipment of doing 1 self position of starting building, all obtain when finishing, judge that external information is obtained to finish when three data.During environmental sensor testing environment information, all obtain when finishing, be judged as external information and obtain and finish when the temperature and humidity data.
Step S25: handle external information.After the external information that processing unit 141 reception detection modules 15 provide, external information is handled, the main control module 14 that converts automatic working equipment 1 to can the recognition data form.
Step S26: according to default algorithm modification period planning.Storage unit 142 stored are the default plan for adjustment of benchmark with the working time plan.
It is different that different automatic working equipments is set up the foundation of working time plan plan for adjustment.
When automatic working equipment 1 was automatic mower, the plan for adjustment of storage unit 142 stored was set based on the growth rhythm of grass in 1 year in each area, the whole world, and these rules can be learnt by the meteorological statistics data.For example, the grass of CHINESE REGION, the speed of growth is in summer the soonest, next is spring, autumn, winter, grass growth was the slowest, then as shown in Table 1 at the plan for adjustment of storage unit 142 stored:
Table one
| February-April | May-July | August-October | November-January next year |
| 100％ | 150％ | 90％ | 50％ |
Plan for adjustment in the table one is on the basis of the working time of automatic mower 1 plan, and the time of working in each unit interval be multiply by default coefficient, thereby increases or the minimizing working time.In Table 1, default coefficient is the form of number percent, and certainly, default coefficient also can be other form, for example decimal or function.
Time, date and geographic coordinate information that the GPS module that processing unit 141 receives detection module 15 provides, judge at first which zone automatic mower is in, for example the coordinate that is obtained from the position at motor mower place when the GPS module is east longitude 120 degree, north latitude 20 degree, date is when being June 1, processing unit 141 compares the global map data of geographic coordinate information and storage unit 142 stored, draws automatic mower and is in regional; Compare between each date field as shown in Table 1 of storage again with in the storage unit 142, the plan for adjustment of knowing automatic mower multiply by 150% on the basis of working time plan.For example automatic mower need be mowed 10 hours in the works the working time, and when automatic mower detected aforesaid external information, the mowing time of adjusting automatic mower was 15 hours.
In the default plan for adjustment that present embodiment provides, easy in order to narrate, be the interval with 3 months, this interval can be set according to needs, for example one month even shorter, the interval time that crosses over was short more, can be more accurate to the adjustment of the work of automatic mower.
Further, the automatic mower time plan for adjustment that can also begin to mow by change.Different regions in the different time in 1 year, the sunrise asynchronism(-nization), grass is can be relatively moist before sunrise, this is disadvantageous to mowing work.In default plan for adjustment, can add beginning the adjustment of the time of mowing.As the described plan for adjustment of table one: February-during April, do not change the start time of mowing; The May-during July, will mow 1 hour in advance start time because summer at sunrise between early; The August-during October, do not change the start time of mowing; When November-January next year, the start time of will mowing postpones 2 hours, because later at sunrise.Thereby avoided under the very moist situation of grass, mowing.
The plan for adjustment of storage unit 142 stored also can be set based on the growth rhythm under careless different temperatures and the different humidity situation, and these rules can be learnt by the meteorological statistics data equally easily.For example, greater than 20 degrees centigrade, humidity is the fastest greater than 30% o'clock speed of growth in temperature for grass, and then automatic mower can increase the mowing time accordingly by plan for adjustment; Grass is lower than 10 degrees centigrade in temperature, and it is the slowest that humidity is lower than 10% o'clock speed of growth, and then automatic mower can reduce the mowing time accordingly by plan for adjustment; Temperature humidity is between above-mentioned two intervals the time, and automatic mower is not adjusted the working time plan.
When working equipment 1 is automatic cleaner automatically, the plan for adjustment of storage unit 142 stored then can be set based on weather and the corresponding relation that forms between the airborne dust, for example by the detected external information of GPS module, processing unit 141 is judged the geographic position at automatic cleaner place, be easy to form airborne dust weather in the current time, then increase the dust suction time accordingly; The dust suction time when the current time is difficult for forming airborne dust weather, is reduced accordingly in geographic position when the automatic cleaner place.When obtaining external information by the environmental sensor detection, processing unit 141 is judged the position at automatic cleaner places, and whether the temperature and humidity situation is beneficial to the formation airborne dust, if temperature is higher, humidity is bigger, then is difficult for forming airborne dust, can reduce the dust suction time accordingly; If temperature is higher, humidity is lower, then is easy to form form, and can increase the dust suction time accordingly.The mode and the foregoing automatic mower of automatic cleaner adjustment working time plan are similar, are not repeated in this description at this.
Step S27: carry out amended working time plan.Automatically working equipment 1 was planned to enter duty at preset time according to the amended working time, and at the preset time state of deactivating, entered dormant state.
In the present embodiment, working equipment 1 obtains external information automatically by detection module automatically, and in addition, working equipment 1 also can be adjusted parameter by the manual input working time plan of user by user interface 16 automatically.
Automatically on the user interface 16 of working equipment 1 the adjustment button is set, for example increase and reduce work duration button, when the user selects to increase work duration button, processing unit 141 receives the input information that user interface 16 provides, it is handled, read corresponding adjustment parameter from storage unit 142; When for example the user selected once to increase work duration button, the plan for adjustment of correspondence was for the working time of increase by 10%, and when user's Continuous Selection twice, corresponding plan for adjustment is the working time of increase by 20%; When the user selected once to reduce work duration button, the plan for adjustment of correspondence was for the working time of minimizing 10%, and when user's Continuous Selection twice, corresponding plan for adjustment is the working time of minimizing 20%.Equally, the user also can regulate the time that automatic working equipment 1 is started working easily by user interface 16.
Certainly, the control method of the automatic working equipment that third embodiment of the invention provides, can be applied on the automatic working equipment that the working time plan need manually be set, also can be applied on the automatic working equipment that need not manually to be provided with the working time plan, particularly the control method of the automatic working equipment that provides with first embodiment of the invention and second embodiment of the invention is used in combination.
Automatic working equipment provided by the invention and control method thereof, when first task, need not to carry out complicated setting, just can start working, in the process of using, more can change the working time plan automatically according to external conditions such as weathers, feasible use is convenient more, brings good experience to the user.
What it may occur to persons skilled in the art that is; the present invention can also have other implementation; but as long as its technical spirit that adopts is identical with the present invention or close, variation that perhaps any easy full of beard of making based on the present invention reaches and replacement are all within protection scope of the present invention.
Claims (29)
1. the control method of an automatic working equipment, described automatic working equipment mobile working automatically in the perform region of setting has duty and dormant state, it is characterized in that described control method comprises the steps:
Start described automatic working equipment operation;
Obtain the area information of described perform region;
Formulate the working time plan based on described area information according to default Scheduling Algorithm;
Described automatic working equipment enters duty and the state of deactivating according to described working time plan, enters dormant state.
2. the control method of automatic working equipment according to claim 1, it is characterized in that: described default Scheduling Algorithm is:
Described area information and some areas interval of presetting are compared;
Find the preset area interval at described area information place;
Read the interval plan of corresponding working time of described preset area.
3. the control method of automatic working equipment according to claim 1, it is characterized in that: described default Scheduling Algorithm is:
With described area information substitution preset function;
Calculate the result according to described preset function;
Read the working time plan of described correspondence as a result.
4. the control method of automatic working equipment according to claim 1, it is characterized in that: described area information is obtained by following steps:
Move on the border of described automatic working equipment from starting point along described perform region, and return to origin;
Write down the trace information in the described automatic working equipment moving process;
Calculate the area information of described perform region according to described trace information.
5. the control method of automatic working equipment according to claim 4 is characterized in that: the trace information that writes down in the described automatic working equipment moving process is the map datum of the described perform region by the GPS position the record.
6. the control method of automatic working equipment according to claim 4 is characterized in that: the coordinate information of present position when writing down trace information in the described automatic working equipment moving process and changing direction for the described automatic working equipment of record at every turn.
7. the control method of automatic working equipment according to claim 1, it is characterized in that: described area information is obtained by following steps:
The area information of the inputting interface typing user input that on described automatic equipment, is provided with.
8. the control method of automatic working equipment according to claim 1 is characterized in that: described working time plan comprises that first working time plan and servicing time plan.
9. the control method of automatic working equipment according to claim 1 is characterized in that: described working time plan comprises the sub-working time plan that a plurality of cycles are identical.
10. the control method of automatic working equipment according to claim 9 is characterized in that:
The described cycle is 24 hours.
11. the control method of automatic working equipment according to claim 9 is characterized in that:
Described a plurality of sub-working time plan is identical.
12. the control method of automatic working equipment according to claim 9 is characterized in that:
Described a plurality of sub-working time, the duration of duty successively decreased in the works.
13. the control method of automatic working equipment according to claim 9 is characterized in that:
Described a plurality of sub-working time is the start time difference of duty in the works.
14. the control method of automatic working equipment according to claim 1 is characterized in that:
Described control method is further comprising the steps of: obtain external information; Adjust described working time plan based on described external information according to default adjustment algorithm.
15. the control method of automatic working equipment according to claim 14 is characterized in that:
Described external information is the adjustment signal of user's input.
16. the control method of automatic working equipment according to claim 14 is characterized in that:
Latitude, longitude, the date and time information of described external information self position that to be described automatic working equipment obtain by the GPS location.
17. the control method of automatic working equipment according to claim 16 is characterized in that:
Described default adjustment algorithm is:
Judge the default latitude, longitude interval at described latitude, longitude place;
Judge between the default date field at described date place;
Adjust described working time plan according to corresponding plan for adjustment between described default latitude, longitude interval and described default date field.
18. the control method of automatic working equipment according to claim 14 is characterized in that:
Described external information is the temperature and humidity information of described automatic working equipment by described automatic working equipment self position of sensor acquisition.
19. the control method of automatic working equipment according to claim 18 is characterized in that:
Described default adjustment algorithm is:
Judge the preset temperature interval at described temperature place;
Judge between the default humidity province at described humidity place;
Adjust described working time plan according to corresponding plan for adjustment between described preset temperature interval and described humidity province.
20. the control method of automatic working equipment according to claim 14 is characterized in that:
Adjusting described working time plan is the duration of adjusting described duty.
21. the control method of automatic working equipment according to claim 20 is characterized in that:
Adjusting described working time plan is the duration of described duty to be multiply by coefficient with the duration of described duty replace.
22. the control method of automatic working equipment according to claim 14 is characterized in that:
Adjusting described working time plan is the start time of adjusting described duty.
23. the control method of automatic working equipment according to claim 1 is characterized in that:
Detect the border of described perform region by the border sensor that is arranged at both sides, described automatic working equipment axis, when wherein the border sensor of a side at first detected the border, described automatic working equipment was to the directional steering at the border sensor place of opposite side.
24. the control method of automatic working equipment according to claim 1 is characterized in that:
Detect the border of described perform region by the border sensor that is arranged at both sides, described automatic working equipment axis, when described border sensor detects the border, described automatic working equipment is judged described axis and border angulation, and walks on to reducing the acute angle angle that the axis become with the border or the direction of right angle angle.
25. an automatic working equipment, walking work automatically in the perform region of setting comprises:
Casing;
Operational module;
Walking module supports and drives described automatic working equipment walking;
It is characterized in that described automatic working equipment detects described perform region, and set the working time based on described perform region.
26. an automatic working equipment, walking work automatically has duty and dormant state in the perform region of setting, and comprising:
Casing;
Operational module;
Walking module supports and drives described automatic working equipment walking;
Main control module is controlled described walking module and described operational module work;
It is characterized in that, described automatic working equipment also comprises the area information collecting unit, the area information collecting unit is gathered the area information of described perform region, described main control module receives described area information, formulate the working time plan based on described area information according to default Scheduling Algorithm, and control described operational module and described walking module and enter duty and the state of deactivating according to described working time plan, enter dormant state.
27. automatic working equipment according to claim 26 is characterized in that: described automatic working equipment is mower or suction cleaner.
28. an automatic working equipment, walking work automatically has duty and dormant state in the perform region of setting, and comprising:
Casing;
Operational module;
Walking module supports and drives described automatic working equipment walking;
Main control module is controlled described walking module and described operational module work;
It is characterized in that, described automatic working equipment also comprises information acquisition unit, gather the information of described automatic working equipment self region, described main control module receives described information, formulate the working time plan based on described information according to default Scheduling Algorithm, and control described operational module and described walking module and enter duty and the state of deactivating according to described working time plan, enter dormant state.
29. automatic working equipment according to claim 28 is characterized in that: described information acquisition unit is the GPS module, gathers one or more in the area, latitude, longitude, date, time data of self region.
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| CN201210137109.0A CN103217926B (en) | 2012-01-20 | 2012-05-04 | Automatic operation equipment and control method thereof |
| PCT/CN2013/070649 WO2013107374A1 (en) | 2012-01-20 | 2013-01-18 | Automatic work apparatus and control method therefor |
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| CN2012100453002 | 2012-02-27 | ||
| CN201210137109.0A CN103217926B (en) | 2012-01-20 | 2012-05-04 | Automatic operation equipment and control method thereof |
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|---|---|
| CN103217898B (en) | 2016-04-06 |
| CN103217898A (en) | 2013-07-24 |
| CN103217926B (en) | 2015-08-19 |
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Effective date of registration: 20170315 Address after: 215123 Jiangsu Province, Suzhou City Industrial Park East Road, No. 18 Patentee after: Technology (China) Co., Ltd. Address before: 215123 Jiangsu Province, Suzhou City Industrial Park East Road, No. 18 Patentee before: Baoshide Electric Tools Co., Ltd., Suzhou |