The content of the invention
In order to solve the above technical problems, the present invention provides a kind of control of the wide automatic working equipment of intelligent, working rangeMethod processed.
To achieve the above object, the technical scheme that provides of the present invention is：A kind of control method of automatic working equipment, it is describedAutomatic working equipment includes：Walking module, drives automatic working equipment walking；Operational module, performs predetermined work；Energy storage mouldBlock, energy is provided for automatic working equipment；Main control module, controls automatic working equipment operation；Inclination sensor, sensing is started building certainlyMake the gradient of equipment, it is characterised in that the control method comprises the following steps：Inclination sensor detects automatic working equipmentGradient, inclination information is sent to main control module；Main control module recognizes the Run-time scenario of automatic working equipment；Master control mouldRoot tuber performs corresponding pre-set control programs according to Run-time scenario, and the pre-set control programs work automatically according to control of gradient to be setReceived shipment row.
It is preferred that, in the pre-set control programs, whether main control module judges automatic working equipment according to the gradientIn inclined plane, if so, controlling automatic working equipment to continue to run in inclined plane.
It is preferred that, the Run-time scenario includes returning to scene, returns to automatic working equipment in scene and is returned along preset pathBus stop；When Run-time scenario is returns to scene, pre-set control programs are accordingly to return to control program, and the return controls journeyIn sequence, main control module detects the walking states of automatic working equipment, described based on the gradient and walking states controlThe walking module of automatic working equipment, keeps walking along preset path when making it in inclined plane.
It is preferred that, the return control program includes, and is more than or equal to when detecting the automatic working equipment along gradientWhen the inclined plane of preset value is descending, the speed of travel based on automatic working equipment described in the control of gradient.
It is preferred that, the automatic working equipment reduces energy or the offer braking opposite with direction of travel of supply walkingPower.
It is preferred that, the automatic working equipment controls the speed of travel according to the mode that gradient is inversely proportional.
It is preferred that, the return control program includes, and when the automatic working equipment deviates the preset path, leads toCross steering or retreat and return the preset path.
It is preferred that, the return control program includes, when detect the automatic working equipment along and incline direction angulationDuring the direction walking of degree, the automatic working equipment amendment direction of travel along preset path to walk.
It is preferred that, the automatic working equipment passes through driving wheel more energy of the driving wheel supply compared with opposite side to sideAmount, corrects direction of travel.
It is preferred that, the preset path is the boundary line of the working region of automatic working equipment.
It is preferred that, the Run-time scenario includes automatic working equipment in operative scenario, operative scenario and existed by walking moduleWalked in working region, and predetermined work is performed by operational module；When Run-time scenario is operative scenario, pre-set control programsIt is accordingly operation control routine, in the operation control routine, when inclination sensor monitors that the gradient is more than or equal toDuring preset value, the automatic working equipment of master control module controls is walked along zig-zag path.
It is preferred that, on each section of the zig-zag path automatic working equipment direction of travel and the inclined planeIncline direction be at an angle of.
It is preferred that, the main control module is according to the size of gradient, the regulation speed of travel being inversely proportional.
It is preferred that, the preset value is located between 3 degree to 30 degree.
To achieve the above object, the technical scheme that provides of the present invention is：A kind of automatic working equipment, including：Walking module,Automatic working equipment is driven to walk；Operational module, performs predetermined work；Energy-storage module, energy is provided for automatic working equipment；It is mainModule is controlled, automatic working equipment operation is controlled；Inclination sensor, senses the gradient of automatic working equipment, inclination sensor inspectionThe gradient of automatic working equipment is surveyed, inclination information is sent to main control module；Main control module recognizes automatic working equipmentRun-time scenario；Main control module performs corresponding pre-set control programs according to Run-time scenario, and the pre-set control programs are according to inclinationThe automatic working equipment operation of degree control.
It is preferred that, in the pre-set control programs, whether main control module judges automatic working equipment according to the gradientIn inclined plane, if so, controlling automatic working equipment to continue to run in inclined plane.
It is preferred that, the Run-time scenario includes returning to scene, returns to automatic working equipment in scene and is returned along preset pathBus stop；When Run-time scenario is returns to scene, pre-set control programs are accordingly to return to control program, and the return controls journeyIn sequence, main control module detects the walking states of automatic working equipment, described based on the gradient and walking states controlThe walking module of automatic working equipment, keeps walking along preset path when making it in inclined plane.
It is preferred that, the return control program includes, and is more than or equal to when detecting the automatic working equipment along gradientWhen the inclined plane of preset value is descending, the speed of travel based on automatic working equipment described in the control of gradient.
It is preferred that, the automatic working equipment reduces energy or the offer braking opposite with direction of travel of supply walkingPower.
It is preferred that, the automatic working equipment controls the speed of travel according to the mode that gradient is inversely proportional.
It is preferred that, the return control program includes, and when the automatic working equipment deviates the preset path, passes throughTurn to or retreat and return the preset path.
It is preferred that, the return control program includes, when detect the automatic working equipment along and incline direction angulationDuring the direction walking of degree, the automatic working equipment amendment direction of travel along preset path to walk.
It is preferred that, the automatic working equipment passes through driving wheel more energy of the driving wheel supply compared with opposite side to sideAmount, corrects direction of travel.
It is preferred that, the preset path is the boundary line of the working region of automatic working equipment.
It is preferred that, the Run-time scenario includes automatic working equipment in operative scenario, operative scenario and existed by walking moduleWalked in working region, and predetermined work is performed by operational module；When Run-time scenario is operative scenario, pre-set control programsIt is accordingly operation control routine, in the operation control routine, when inclination sensor monitors that the gradient is more than or equal toDuring preset value, the automatic working equipment of master control module controls is walked along zig-zag path.
It is preferred that, on each section of the zig-zag path automatic working equipment direction of travel and the inclined planeIncline direction be at an angle of.
It is preferred that, the main control module is according to the size of gradient, the regulation speed of travel being inversely proportional.
It is preferred that, the preset value is located between 3 degree to 30 degree.
To achieve the above object, another technical scheme that provides of the present invention is：A kind of controlling party of automatic working equipmentMethod, the control method comprises the following steps：Automatic working equipment is walked in working region along preset path；Detection is described certainlyThe inclined degree of dynamic working equipment；Detect the walking states of the automatic working equipment；Based on the inclined degree and the rowThe walking manner that state controls the automatic working equipment is walked, keeps walking along preset path when making it in inclined plane.
It is preferred that, the preset path is the boundary line of automatic working equipment working region.
It is preferred that, the control method also comprises the following steps：When detecting the automatic working equipment along inclined degreeWhen inclined plane more than or equal to preset value is descending, the speed of travel of the automatic working equipment is controlled based on the inclined degree.
It is preferred that, the automatic working equipment reduces the energy of supply walking.
It is preferred that, the automatic working equipment provides the brake force opposite with direction of travel.
It is preferred that, the automatic working equipment controls the speed of travel according to the mode that inclined degree is inversely proportional.
It is preferred that, when the automatic working equipment deviates the boundary line, the boundary line is returned by turning to or retreating.
It is preferred that, the control method also comprises the following steps：When detect the automatic working equipment along and inclination sideTo during angled direction walking, the automatic working equipment amendment direction of travel along preset path to walk.
It is preferred that, the automatic working equipment passes through driving wheel more energy of the driving wheel supply compared with opposite side to sideAmount, corrects direction of travel.
It is preferred that, the load of data or walking module that the automatic working equipment is detected based on acceleration transducerSize judges inclined degree.
The present invention also provides a kind of reliability high automatic working equipment：A kind of automatic working equipment, in working regionAlong preset path walking work, including：Housing, walking module drives the automatic working equipment walking；Main control module, controlThe walking module；Detection module, detects the walking states and inclined degree of the automatic working equipment；The main control module baseThe walking manner of the automatic working equipment is changed in the inclined degree and the walking states, is protected when making it in inclined planeHold along preset path and walk.
It is preferred that, the automatic working equipment is automatic mower or automatic cleaner.
It is preferred that, the preset path is the boundary line of automatic working equipment working region.
It is preferred that, when the detection module detects the automatic working equipment along inclined degree more than or equal to preset valueWhen inclined plane is descending, the speed of travel of walking module described in the master control module controls.
It is preferred that, when the automatic working equipment deviates the preset path, walked described in the master control module controlsModule, which is turned to, returns to the preset path.
It is preferred that, the detection module includes acceleration transducer, inclination sensor, displacement transducer or GPS modulesIn at least one.
It is preferred that, when the detection module detects the automatic working equipment along the direction row being at an angle of with incline directionWhen walking, the main control module adjustment corrects the direction of travel of the walking module to walk along preset path.
It is preferred that, the walking module includes at least two drivings for being relatively arranged on automatic working equipment housing both sidesWheel, driving wheel of the main control module based on inclined degree and walking states side thereto provides more energy.
Compared with prior art, the present invention is provided automatic working equipment and its control method, by setting automatic workStandby walking inclined plane etc. in particular cases when, work and walking side are timely adjusted according to gradient and current Run-time scenarioFormula, it is ensured that automatic working equipment can normal work all the time, improve the scope and efficiency of automatic working equipment walking work.
Embodiment
Automatic working equipment automatically walk can work in working region, such as automatic mower, or automatic dust absorptionDevice, their automatically walks on lawn or ground, mowed or dust suction work.Certainly, automatic working equipment is not limitedIn automatic mower and automatic cleaner, or other kinds of equipment, such as automatic spraying equipment or automatic monitoringEquipment etc..By automatic working equipment, the unattended operation of work in every is realized.
Fig. 1, Fig. 2 are referred to, automatic working equipment 1 includes walking module 11, operational module 12, energy-storage module 13, master controlShell 17 of module 14, detection module 15, user interface 16 and the above-mentioned module of collecting etc..
Walking module 11 is used to realize movement of the automatic working equipment 1 in working region, and walking module 11 includes symmetricalDriving wheel 111a, 111b of the automatic both sides of working equipment 1 are arranged at, driving wheel 111a, 111b are generally driven respectively by multiple motorsIt is dynamic, and the rotating speed of each motor or steering are controllable, so as to during automatic working equipment 1 is walked, pass through and adjustSection driving wheel 111a, 111b rotating speed are flexibly turned to.
Operational module 12 is that automatic working equipment 1 performs work, and the operational module of different automatic working equipments is different, such as the operational module of automatic mower includes mowing blade, cutting motor, the mowing work for performing automatic mowerMake；The operational module of automatic cleaner then includes dust-absorbing motor, and suction port, sweep-up pipe, vacuum chamber, dust collect plant etc. is used to performThe workpiece of dust suction task.
Energy-storage module 13 is usually that rechargeable battery, electric power is provided for the operation of automatic working equipment 1, also can be in deposit electricityConnection external power source is charged when power is less than predetermined value；It is preferred that, energy-storage module 13 carries charge or discharge protection location,The charge or discharge of energy-storage module 13 can be protected.Certainly, energy-storage module can also be other kinds of energy supplyDevice, such as solar power supply apparatus, gasoline engine or fuel cell etc..
User interface 16 be arranged at be easy to user on shell 17 it can be seen that and the position that is operated, for example work automaticallyThe top of equipment 1, user interface 16 generally includes display and input button, and display shows the menu of automatic working equipment,Operational factor etc., can also be shown to user by display and notified or alarm；Input button and supply user to automatic working equipment 1Input instruction, for example, start, stop automatic working equipment, sets the operational factor etc. of automatic working equipment；Optional realApply in mode, user interface 16 can also be separately positioned with automatic working equipment 1, for example, be capable of the remote control of remote controlDevice.
Please also refer to Fig. 3, detection module 15 is used to detect the information related to automatic working equipment 1, and provides detectionInformation is to main control module 14, and walking and work for automatic working equipment provide parameter.In the present embodiment, detection module 15 is wrappedInclude inclination sensor 153, inclination sensor 153 detect automatic working equipment 1 relative to gradient, and inclination information is sent outGive main control module 14.Detection module 15 may also include the sensor on sensing working region border, sense the sensing of weather conditionDevice, senses the sensor of self geographical position, sensing self-operating parameter for example the sensor of operating current, dump energy, circuit,Signal pins etc..
Inclination sensor 153 detects the gradient of automatic working equipment 1.If the general type of inclination sensor 153, then onlyDetect the gradient of automatic working equipment 1 with respect to the horizontal plane；If three axle inclination sensors, then automatic working equipment is can detect1 gradient in three dimensions, including detection fuselage orientation information.
Main control module 14 includes processing unit 141, memory cell 142 and control unit 143, and processing unit 141 is receivedThe information that detection module 15 or user interface 16 are inputted, after treatment, deposit memory cell 142 supply subsequent calls.ProcessingInformation and other information that unit 141 is inputted according to detection module 15, confirm the Run-time scenario residing for itself.Other information masterTo include it is non-obtained some machine internal informations are detected by detection module 15, such as date-time, operating time, currently holdCapable task dispatching.Also there are pre-set control programs, control unit 143 is according to Run-time scenario, in memory cell in memory cell 142Corresponding pre-set control programs are read in 142, control automatic working equipment to run according to pre-set control programs, such as control walkingModule 11 and operational module 12 are walked and worked.
Fig. 4 is referred to, automatic working equipment 1 is in working region, and working region is surrounded by the boundary line 3 manually setClosed interval, boundary line 3 can avoid automatic working equipment 1 from leaving working region；Boundary line 3 can be wall, columnBar etc.；The wire or other signal generation apparatus that can also be switched on, such as electromagnetic signal or optical signal；It is selectable, sideBoundary line 3 is virtual boundary line, for example, be stored in the boundary line on the map in automatic working equipment 1, the automatic base of working equipment 1Navigated in internal map datum, it is ensured that boundary line will not be crossed or walked along boundary line 3；It is selectable, boundary line 3Can also be the line of demarcation between working region and other regions, such as the line of demarcation between meadow and road, automatic work is setStandby 1 can be by imaging first-class image capture apparatus, and the difference of the color between identification meadow and road judges the position on borderEtc., there are a variety of implementations virtual boundary line or non-boundary line technology, numerous to list herein.
Bus stop 5 is provided with working region, bus stop 5 is arranged on boundary line 3, automatic working equipment 1 is stoppingDuring work, stopped in bus stop 5, into resting state；When needing to start working, again from bus stop 5s, into work shapeState.Bus stop 5, which usually can provide supplement, can measure function, and such as charge function is that energy-storage module 13 is charged；Or oiling work(Can etc..Bus stop 5 can also be only the place that an automatic working equipment berths when not working.Filled if bus stop 5 is providedElectricity Functional, then when the not enough power supply of energy-storage module 13, automatic working equipment 1 returns to bus stop 5 and charged.It is preferred that, stopPulling in 5 can provide the return of automatic working equipment 1 and guide and dock, and docking can pass through the side such as infrared ray or ultrasonic waveFormula realizes wireless guiding, can also guide and dock by boundary line 3.
Fig. 5 is referred to, the main-process stream of the control method of automatic working equipment 1 comprises the following steps：
Step S0：Start work.In this step, automatic working equipment 1 launches into running status.
Step S1：Detect gradient.In this step, inclination sensor 153 detects the gradient of automatic working equipment 1, andInclination information is sent to main control module 14.According to the type of inclination sensor 153, the dimension and reference system of gradient haveInstitute is different.For example, inclination sensor 153 can detect the gradient in the automatic three-dimensional of working equipment 1, i.e. space coordinates xyzIn relative to the gradient in x/y plane, z-axis, relative to the gradient in yz planes, x-axis and relative in xz planes, y-axisGradient, x/y plane preferably is horizontal plane.In this case the spatial information that inclination sensor 153 is detected enriches, can be withMore scenes are recognized, corresponding control program can also be more specific and intelligent.Inclination sensor 153 can also be detected onlyIt is with respect to the horizontal plane x/y plane, the gradient in z-axis, the scene now recognized is preferential, and control program also can be simpler.
Step S2：Recognize Run-time scenario.In this step, main control module 14 recognizes the Run-time scenario of automatic working equipment.FortuneRow scene can be the task that the mode of operation residing for automatic working equipment is carrying out in other words or start building certainlyMake working environment such as time, place, weather, gradient etc. residing for equipment or the self-operating of automatic working equipmentAt least two combination in state such as dump energy, workload or mode of operation, working environment, running status.Run-time scenario is specifically as follows recurrence scene, operative scenario, rainy day scene etc..Run-time scenario should meet predefined one orMultiple Rule of judgment.Information identification Run-time scenario of the main control module 14 according to collected by it, main control module 14 is judging to runThe information collected during scene is corresponding with foregoing Rule of judgment, can be specifically detection module 15 collect gradient, weather,Position etc. or automatically pattern, state residing for working equipment 1 itself etc. are managed, is repeated no more.
Step S1 and step S2 description order have no intention to limit their execution sequencing herein.In some specific realitiesApply in example, step S1 should be located at before step S2, in other specific embodiments, step S2 should be located at before step S1, also haveStep S1 and step S2 are preceding in some embodiments.
Step S3：Corresponding pre-set control programs are performed according to Run-time scenario.It is main in pre-set control programs in this stepControl module 14 is run according to the automatic working equipment 1 of control of gradient.Specifically, main control module 14 can control automatic working equipment1 method of operation in inclined plane 2, such as stops or starts according to gradient operational module 12, changes the work of operational module 12Mode, or carry high power output, send signal, change path etc.；The action can also be exclusively for the automatic working equipment 1 of controlWalking manner in inclined plane 2, i.e., be output to the energy of walking module 11 according to the gradient change speed of travel, change, changeBecome path etc..It is preferred that, in pre-set control programs, main control module 14 can according to gradient judge automatic working equipment 1 whether positionIn in inclined plane, the judgement is determined by the way that whether gradient meets or exceeds threshold value, threshold value may be generally defined at for 2 degree to 5 degree itBetween, if the determination result is YES, automatic working equipment 1 is located in inclined plane, then controls automatic working equipment 1 to continue in inclined plane 2Upper operation, to keep normal work, it is to avoid walked off from one's job because of the presence of inclined plane 2.
By mode above, automatic working equipment 1 can be according to Run-time scenario and the control of gradient behavior side of itselfFormula, realization is worked in inclined plane 2, and overcoming conventional automatic working equipment can not be the problem of general work be tilted.
Illustrate by the following examples in different Run-time scenarios, the working method of automatic working equipment 1.
Referring to Fig. 6 to Fig. 9, in the first embodiment of the present invention, automatic working equipment 1, which is in, returns to scene, i.e., oneself starts buildingMake equipment 1 and return to bus stop 5 along preset path.When automatic working equipment 1 is judged from execution return task, you can identificationIn return scene.
Referring to Fig. 4, automatic working equipment 1 can be by returning to bus stop 5 along the walking of boundary line 3, and preset path is sideThe extension track in boundary line 3.In the present embodiment, boundary line 3 is carries the electric wire of electric signal, and detection module 15 includes detection boundary lineThe border sensor of electric signal on 3, preferably two be respectively symmetrically arranged at automatic working equipment 1 axis X both sidesBorder sensor 151,152, the position relationship for detecting automatic working equipment 1 and boundary line 3, such as border sensor151st, 152 both sides for whether being respectively at boundary line 3, and with the distance between boundary line 3 relation etc.；When automatic working equipment1 with the position relationship of boundary line 3 when changing, border sensor 151,152 detect automatic working equipment 1 and boundary line 3 itBetween position relationship change, generation variable signal sent to main control module 14, and processing unit 141 receives variable signal, according toVariable quantity adjusts the walking manner of walking module 11 by control unit 143, so as to recover automatic working equipment 1 and borderPosition relationship between line 3, so as to ensure that automatic working equipment 1 can walk along boundary line.In other alternatives, sideBoundary's sensor can also only set one, if boundary line is other non-electrical signal types, border sensor can also be accordinglyOther types, such as, can be range sensor, infrared ray sensor, ultrasonic sensor, crash sensor, Magnetic SensorDeng.
Scene is returned to when the identification of automatic working equipment 1 is in itself, automatic working equipment 1 passes through during walkingInclination sensor 153 detects the gradient of automatic working equipment 1, and main control module 14, which is performed, returns to control program.Now, start building certainlyMake the walking states that equipment 1 also detects automatic working equipment 1 by detection module 15.Main control module 14 is based on automatic working equipment1 gradient and walking states, controls the walking manner of automatic working equipment 1, it is walked all the time along default path.
According to control program is returned, when automatic working equipment 1 is reached or descending more than the inclined plane of preset value along gradientWhen, main control module 14 controls the speed of travel of the walking module 11, or applies brake force by walking module 11 so that fromThe speed of travel of dynamic working equipment 1 is unlikely to too fast, it is to avoid automatic working equipment 1 is because excessive velocities cause to turn in descendingTurn or out-of-bounds.When automatic working equipment 1 is along preset path, i.e. 3 descending of boundary line, if border sensor 151,152 is detectedBoundary line 3 is deviate to automatic working equipment 1（Be possible as the too fast curve for leading to miss boundary line 3 of descending speed orPerson turns）, the control walking module 11 of main control module 14, which is turned to, finds boundary line 3, when border sensor 151,152 is detected automaticallyWhen working equipment 1 is on boundary line 3, the control of main control module 14 walking module 11 continues to walk along boundary line.When sensor 151,152 detect automatic working equipment 1 when beginning to deviate from boundary line 3, it may be possible to automatic working equipment 1 along with incline direction intoThe direction walking of angle, automatic working equipment 1 begins to deviate from boundary line 3 under gravity, and now main control module 14 is controlledThe size of driving wheel 111a, 111b of walking module 11 energy is supplied to, the walking side of automatic working equipment 1 is constantly correctedTo making it be walked all the time along boundary line 3.
Fig. 7 is referred to, a kind of of automatic working equipment 1 returns to control program for the control speed of travel to avoid automatic workEquipment 1 in descending excessive velocities and overturn or out-of-bounds.It comprises the following steps：
Step S40：Walked along preset path.Automatic working equipment 1 automatically walk in working region works, when energy storage mouldWhen the electric power of block 13 is not enough, main control module 14 controls automatic working equipment 1 along straight line moving, until border sensor 151,152Detect automatic working equipment 1 and reach boundary line 3, then automatic working equipment 1 starts to walk along preset path, i.e. boundary line 3,So as to return to bus stop 5, energy-storage module 142 is charged.
Step S41：Detect running status.Automatic working equipment 1 is being during boundary line 3 is walked along preset path,Detection module 15 detects the gradient and walking states of automatic working equipment 1, and by the data transfer detected to main control module14.The gradient of automatic working equipment 1 herein is the angle between the automatic place plane of working equipment 1 and horizontal plane, automaticallyThe walking states of working equipment 1 include moving direction and speed of automatic working equipment 1 etc..It may be noted that detection module 15The gradient and walking states of automatic working equipment 1 can be detected by same sensor, for example, inclination sensor 153 isAcceleration transducer, its detect by measurement due to acceleration caused by gravity, can calculate automatic working equipment 1 relative toThe angle of inclination of horizontal plane；By measuring dynamic acceleration, direction and speed that automatic working equipment 1 is moved can be analyzed.
It is selectable, the gradient and walking states of automatic working equipment 1 can also by other kinds of sensor orPerson's sensor combinations are measured, so that higher measurement accuracy is obtained, such as inclination sensor, acceleration transducer, displacementOne or several in sensor or GPS modules are combined to measurement.Set by the automatic work of inclination sensor detectionStandby 1 gradient, inclination sensor refers to detect the sensor at angle of inclination, such as level meter, gravity switch or vibrationSwitch etc., its can according to the change of angle generate electric signal, can based on its generation electric signal judge it is inclined occur withAnd the size at angle of inclination；The shifting of automatic working equipment 1 is detected by acceleration transducer, displacement transducer or GPS modulesDynamic direction and speed etc..
Selectable, the gradient and walking states of automatic working equipment 1 can also be by detecting walking module 11Load is judged that for example detection module 15 detects the electric current of driving wheel motor, when automatic working equipment 1 is in descending,Under gravity, the load of walking module 11 reduces, then the electric current detected by detection module 15 also reduces.
Step S42：Judge whether to be in descending.Main control module 14 receives the automatic working equipment 1 that detection module 15 is transmittedService data, be stored with memory cell 142 data of the automatic working equipment 1 in horizontal stationary state, processing unit 141The data of the running status detected in step S1 are handled, with number of the automatic working equipment 1 in horizontal stationary stateAccording to being contrasted, judge whether the size and automatic working equipment 1 of the automatic gradient of working equipment 1 are in descending state,Just walked from high to lower in inclined plane.
Step S43：Control the speed of travel.When automatic working equipment 1 gradient be more than or equal to predetermined value inclined plane on,And when being walked along the descending of boundary line 3, size of the control unit 143 based on gradient controls the walking speed of automatic working equipment 1Degree.The predetermined value is located between 3 degree to 30 degree.It is preferred that, the processing unit 141 of automatic working equipment 1 passes through control unit143, the energy for being supplied to drive wheel wheel 111a, 111b is reduced, such as reduction is supplied to driving wheel 111a, 111b drivingThe electric current or voltage of motor, reduce the rotating speed of motor so that the speed of travel of automatic working equipment 1 is controlled certainIn the range of.Control unit 143 is supplied to inclination of the reduction amount based on automatic working equipment 1 of driving wheel 111a, 111b energyDepending on the size of degree, the gradient of automatic working equipment 1 is bigger, and automatic working equipment 1 is walked when inclined plane climb and fall is walkedSpeed is faster, and control unit 143 is supplied to drive wheel wheel 111a, 111b energy fewer, it is to avoid driving wheel 111a,The too fast speed of travel for causing automatic working equipment 1 of 111b rotating speed goes beyond the scope；If the gradient of automatic working equipment 1 compared withSmall, control unit 143 is more when being supplied to driving wheel 111a, 111b energy big compared with gradient, drive automatic working equipment 1 afterIt is continuous to be walked along boundary line 3.
Selectable, automatic working equipment 1 to the direction opposite with the automatic direction of travel of working equipment 1 by providing brakingPower, controls the speed of travel of automatic working equipment 1 in certain scope.Brake force can be by the electric braking of motorTo realize, for example, the winding short circuit of motor is braked；Or in braking, the series resistor in the winding of motor,Energy expenditure is braked on series resistor；Or applying DC voltage on the stator of motor, stator produces quietStationary magnetic field only, cutting magnetic field produces braking moment etc. when rotor is rotated, numerous to list herein.Brake force can also lead toThe mode for crossing mechanical braking is provided, i.e., the output shaft of motor is blocked by mechanical device or block driving wheel 111a,111b, for example, pass through clutch, brake block etc..It is preferred that, brake force is sized to the inclination based on automatic working equipment 1The size of degree and be adjusted, the gradient of automatic working equipment 1 is bigger, automatic working equipment 1 inclined plane climb and fall walkWhen the speed of travel it is faster, now need to control the reduction speed of travel of automatic working equipment 1 by a relatively large margin, it is desirable to provide largerBrake force；When the gradient of automatic working equipment 1 is smaller, the walking speed of the automatic working equipment 1 of reduction that can be more by a small marginDegree need not reduce the speed of travel, now can provide less brake force or not provide brake force.
The control method of the automatic working equipment 1 provided by the present invention, automatic working equipment 1 is based on gradient and walkingState, controls the speed of travel of automatic working equipment 1, is more than or equal to inclining for preset value when automatic working equipment 1 is in gradientOn inclined-plane, along boundary line 3 it is descending when, automatic working equipment 1 controls its speed of travel in certain scope all the time, will not be because underSlope excessive velocities miss steering or curve on boundary line 3, cause the consequence for deviateing boundary line, while it also avoid possible hairThe problem of raw automatic working equipment 1 is overturn, improves the efficiency of automatic working equipment walking work, it is ensured that automatic work is setThe quality of standby 1 walking work so that the reliability of automatic working equipment 1 is higher.
Fig. 8 is referred to, second of automatic working equipment 1 returns to control program to detect automatic working equipment deviationDuring preset path, preset path is returned.It comprises the following steps：
Step S50：Run along preset path, i.e. boundary line 3.The automatic automatically walk work in working region of working equipment 1Make, when the electric power of energy-storage module 13 is not enough, main control module 14 controls automatic working equipment 1 along straight line moving, until flank passSensor 151,152 detects automatic working equipment 1 and reaches boundary line 3, and then automatic working equipment 1 starts to walk along boundary line 3,So as to return to bus stop 5, energy-storage module 142 is charged.
Step S51：Detect running status.Automatic working equipment 1 along boundary line 3 during walking, detection module 15The gradient and walking states of automatic working equipment 1 are detected, and by the data transfer detected to main control module 14.Automatic workThe gradient of equipment 1 refers to the angle between the automatic place plane of working equipment 1 and horizontal plane, the walking shape of automatic working equipment 1State includes moving direction and speed of automatic working equipment 1 etc..Its detection mode is similar to the first return control program, noRepeat again.
Step S52：Judge whether to be in descending.Main control module 14 receives the automatic working equipment 1 that detection module 15 is transmittedService data, be stored with memory cell 142 data of the automatic working equipment 1 in horizontal stationary state, processing unit 141The data of the running status detected in step S1 are handled, with number of the automatic working equipment 1 in horizontal stationary stateAccording to being contrasted, judge whether the size and automatic working equipment 1 of the automatic gradient of working equipment 1 are in descending state.
Step S53：Detect the relation of automatic working equipment 1 and boundary line 3.Automatic working equipment 1 is walked along boundary line 3During, border sensor 151,152 detects the relation between automatic working equipment 1 and boundary line 3, automatic working equipment 1Position relationship between boundary line 3 is embodied by the position relationship between border sensor 151,152 and boundary line 3, whenBorder sensor 151,152 is respectively at the both sides of boundary line 3, and when equal with the distance of boundary line 3, automatic working equipment 1In on boundary line 3；When border sensor 151,152 is respectively at the both sides of boundary line 3, but with the distance between boundary line 3 noWhen equal, automatic working equipment 1 is located on boundary line 3 but is deviateing boundary line 3；When border sensor 151,152 equal positionsOne in side in boundary line 3, or border sensor 151,152 or when all can't detect boundary line, automaticallyWorking equipment 1 is not on boundary line 3.
Automatic working equipment 1 can detect the relation with boundary line 3 by other means, for example, only set a flank passSensor 153, but signal intensity or signal shape by detecting etc. calculated from a distance from boundary line, or pass through imaging sensorShot boundary line image, calculates from a distance from boundary line etc. according to image information, repeats no more.
Step S54：Judge whether to deviate preset path.Border sensor 151 in the receiving step S23 of processing unit 141,Automatic working equipment 1 and boundary line 3 are stored with 152 data detected, memory cell 142 in different position relationshipsNormal data in normal data, data and memory cell 142 that processing unit 141 detects border sensor 151,152Compare, judge the position relationship between automatic working equipment 1 and preset path, i.e. boundary line 3.
According to detecting different with the method for the relation of boundary line 3 in step S53, judge whether to deviate the mode of boundary lineMeeting respective change, is repeated no more.
Step S55：Stop walking.When automatic working equipment 1 is not on boundary line, processing unit 141, which is sent, deviates letterNumber, and control walking module 11 to stop walking by control unit 143.In braking, brake force can pass through motorElectric braking realize, for example the winding short circuit of motor is braked；Or in braking, in the winding of motorSeries resistor, energy expenditure is braked on series resistor；Or apply DC voltage on the stator of motor, it is fixedSon produces static stationary magnetic field, and cutting magnetic field produces braking moment etc. when rotor is rotated, numerous to list herein.Brake forceIt can also be provided by way of mechanical braking, i.e., the output shaft of motor be blocked by mechanical device or block driving wheel111a, 111b, for example, pass through clutch, brake block etc..
Step S56：Return to preset path.Automatic working equipment 1 stops after walking, and walking module 11 is to the left or right sideTurned to, or straight line retreats walking, border sensor 151,152 detects the position between automatic working equipment 1 and boundary line 3Relation is put, when border sensor 151,152 is respectively at 3 both sides of boundary line, automatic working equipment 1 returns to preset pathI.e. on boundary line 3.
According to detecting different with the method for the relation of boundary line 3 in step S53, the concrete mode for returning to boundary line also can phaseIt should change, repeat no more.
In second of return control program, automatic working equipment 1 is based on gradient and walking states, and the automatic work of amendment is setStandby 1 walking path, is more than or equal in the inclined plane of preset value when automatic working equipment 1 is in gradient, descending along boundary line 3When, accelerate to have led to miss steering or the curve on boundary line 3 if walked because of descending, cause automatic working equipment 1 to deviateDuring boundary line 3, automatic working equipment 1 returns to boundary line 3 by turning to.The efficiency of automatic working equipment walking work is improved,It ensure that the quality of automatic working equipment walking work so that the reliability of automatic working equipment is higher.
Fig. 9 is referred to, the third of automatic working equipment 1 returns to control program for control direction of travel to avoid starting building certainlyMake the out-of-bounds in descending of equipment 1.It comprises the following steps：
Step S60：Run along preset path.Automatic working equipment 1 automatically walk in working region works, in order to improveThe operational efficiency of automatic working equipment 1, it generally walks according to path set in advance, such as along straight line moving, pitch of the laps walking,Walked along zig-zag path or steering walking etc. in same direction all the time；Walked according to path set in advance, canAutomatic working equipment 1 is reduced in same working region repeated work or leaks through part working region and is not carried out working conditionGeneration.
Step S61：Detect running status.Automatic working equipment 1 along boundary line 3 during walking, detection module 15The gradient and walking states of automatic working equipment 1 are detected, and by the data transfer detected to main control module 14.Automatic workThe gradient of equipment 1 refers to the angle between the automatic place plane of working equipment 1 and horizontal plane, the walking shape of automatic working equipment 1State includes moving direction and speed of automatic working equipment 1 etc..Its detection mode is similar to the first return control program, noRepeat again.
Step S62：Judge whether to walk along with the direction that incline direction is at an angle of.Main control module 14 receives detection module 15Automatic working equipment 1 is stored with the service data of the automatic working equipment 1 transmitted, memory cell 142 in horizontal stationary stateWhen data, processing unit 141 is handled the data of the running status detected in step S1, with automatic working equipment 1Whether the data in horizontal stationary state are contrasted, judge automatic working equipment 1 along with being at an angle of along with incline directionDirection walking；One driving wheel 111a of i.e. automatic working equipment 1 is located at the position more on the lower of inclined plane, and another drivesDriving wheel 111b is located at the more top position of inclined plane, and automatic working equipment 1 is along the company between driving wheel 111a, 111bThe angled intersecting or vertical direction walking of line.
Step S63：Detect the relation of automatic working equipment and preset path.Automatic working equipment 1 is along preset path rowDuring walking, the relation between automatic working equipment 1 and preset path is detected all the time, it is preferred that preset path is to be imbedded inThe electrified wire of subsurface, position relationship between automatic working equipment 1 and preset path can by border sensor 151,Position relationship between 152 and electrified wire embodies, when border sensor 151,152 is respectively at electrified wire both sides, andWhen equal with the distance of electrified wire, automatic working equipment 1 is located in preset path；When border sensor 151,152 is located respectivelyIn electrified wire both sides, but with the distance between electrified wire it is unequal when, automatic working equipment 1 be located at preset path on butIt is to deviate preset path；When border sensor 151,152 is respectively positioned on the side of electrified wire, or border sensor 151,One in 152 or when all can't detect electrified wire, automatic working equipment 1 is not in preset path.
Selectable, preset path can also carry out Route guiding to automatic working equipment 1 by other means, for example, lead toThe generating means for crossing electromagnetic signal either optical signal carries out Route guiding or carries out path by GPS location and navigation systemGuiding etc., it is numerous to list herein.
Step S64：Judge whether to deviate preset path.The data detected in the receiving step S23 of processing unit 141, are depositedBe stored with normal data of the automatic working equipment 1 from preset path in different position relationships, processing unit in storage unit 142141 compare the data detected with the normal data in memory cell 142, judge automatic working equipment 1 and preset pathBetween position relationship.
Step S65：Correct walking path.When automatic working equipment 1 begins to deviate from preset path, automatic working equipment 1Gradient of the processing unit 141 based on automatic working equipment 1 size, adjusted respectively by control unit 143 and be transferred to driveDriving wheel 111a, 111b energy.For example, when driving wheel 111a is in inclined plane position more on the lower, in order to offset Action of Gravity FieldAutomatic working equipment 1 is to the skew below inclined plane down, and control unit 143 increases the energy for being supplied to driving wheel 111a, so thatSo that automatic working equipment 1 will not deviate boundary line downwards under gravity.It is selectable, driving wheel 111a, 111bCan be along the axis pivot perpendicular to the automatic place plane of working equipment 1, when automatic working equipment 1 begins to deviate from preset pathWhen, the size of gradient of the processing unit 141 based on automatic working equipment 1 of automatic working equipment 1, by by driving wheel111a, 111b pivot certain angle along the axis perpendicular to the automatic place plane of working equipment 1, are set so as to correct automatic workStandby 1 walking path.
The third of automatic working equipment 1 is returned in control program, and automatic working equipment 1 is based on its gradient and walking shapeState, constantly corrects the direction of travel of automatic working equipment 1, when automatic working equipment 1 along with incline direction be at an angle of directionDuring walking, automatic working equipment 1 is constantly repaiied by providing the more energy of driving wheel compared with opposite side to the driving wheel of sideThe direction just walked, it is to avoid automatic working equipment 1 under gravity, deviates default run trace, improves and starts building certainlyMake the efficiency of equipment walking work, it is ensured that the quality of automatic working equipment walking work so that working equipment is reliable automaticallyProperty is higher.
Referring to Figure 10 to Figure 11, in the second embodiment of the present invention, automatic working equipment is in operative scenario, i.e., oneself starts buildingMake equipment 1 to walk in working region and perform work.
Referring to Figure 10, automatic working equipment 1 is located in inclined plane 2.When the identification of automatic working equipment 1 itself is in yardScape, automatic working equipment 1 detects the gradient of automatic working equipment 1 by inclination sensor 153 during walking, mainControl module 14 and perform operation control routine.In operation control routine, when gradient is reached or during more than preset value, main control moduleThe 14 automatic working equipments 1 of control are walked along zig-zag path.So automatic working equipment 1 can be realized oblique in inclined plane 2Walking, the bearing of trend at least part section of zig-zag path is different with the incline direction of inclined plane 2.Compared to directly existingClimb on incline direction, oblique walking has a variety of advantages in inclined plane 2.For example, it is the most laborious when directly climbing, because fromThe direction of travel in component direction and automatic working equipment 1 of the gravity of dynamic working equipment 1 on inclined plane incline direction just phaseInstead, the component is substantially all is used to hinder wheel group to roll, and causes climbing difficult；And during oblique climbing, the direction of the component and intelligenceCan hay mover direction of travel it is different, the component acts predominantly on the transverse direction or on the side of wheel group, is inclined by the friction on face surfacePower is offset.And for example, the vertical height paths traversed of oblique determination of climbing is longer, is climbed in the case where speed is certainThe time of liter is longer, and the resistance for needing the Slope grade overcome in the unit interval is also just smaller, so as to also improve climbing capacity.
In further embodiment, detection module 15 detects the direction of travel of automatic working equipment 1, based on rowWalk equal and inclined plane 2 the incline direction of bearing of trend in each section in direction, operation control routine control zig-zag pathIt is different, it is preferred that each section is and the bearing of trend of inclined plane 2 spends angles into 30 to 60, now path profile than more uniform andEntirety is than relatively labor-saving.Detection module 15 can detect direction of travel in several ways, be sensed for example, being tilted by using 3 axlesDevice detects the incline direction of automatic working equipment 1 in three dimensions, it is possible to know the fuselage direction of automatic working equipment 1,Also it is assured that direction of travel.
In further embodiment, main control module 14 is according to the size of gradient, the regulation walking being inversely proportionalSpeed.I.e. in the bigger inclined plane of the gradient, the speed of travel is smaller, can so control climbing to load more in a balanced way, it is to avoidOverload situations.
Figure 11 is referred to, the operation control routine of automatic working equipment 1 specifically includes following steps：
S70：In working region walking.In this step, automatic working equipment 1 is walked in working region and performs default workMake task such as to mow, clean.
S71：Detect gradient.In this step, inclination sensor 153 detects the gradient of automatic working equipment 1, and by itsIt is sent to main control module 14.If the general type of inclination sensor 153, then automatic working equipment 1 is only detected with respect to the horizontal planeGradient；If three axle inclination sensors, then the gradient of automatic working equipment 1 in three dimensions, including inspection are can detectSurvey fuselage orientation information.
S72：Judge whether the gradient of automatic working equipment meets or exceeds preset value.In this step, main control module 14Processing unit 141 call the gradient preset value stored in memory cell 142, and compare gradient and the size of preset value.If gradient meets or exceeds preset value, into step S73, if gradient is not up to preset value, step S71 is returned to, afterThe gradient of the continuous automatic working equipment 1 of detection.Because what this step was predominantly detected is the gradient of inclined plane, therefore generally only with regard to certainlyThe gradient of working equipment 1 with respect to the horizontal plane is moved to compare with preset value.The predetermined value is located between 3 degree to 30 degree.
S73：Walked along zig-zag path.In this step, main control module 14 controls automatic working equipment 1 according to zigzag roadFootpath is walked, i.e. the section rear steering one of straight line moving one angle, again one section of straight line moving, and subsequently reverse direction turns to oneOne section of straight line moving, and so on walks after angle.By such mode, at least part section is and inclined plane 2What incline direction was at an angle of.
In this step, the length of the parameters of zig-zag path, such as each section, the angle of steering, the speed of travelRegulate and control Deng by operation control routine.These parameters can be fixed, but it is preferable that the concrete numerical value of these parameters is by functionControl, i.e., be adjusted according to the running status of automatic working equipment, for example, according to the gradient of automatic working equipment 1, loadOr combinations thereof adjustment road section length, steering angle, the speed of travel etc..Function control can be more intelligent in inclined plane 2Upper walking, the regulation speed of travel being for example inversely proportional according to the size of gradient, the regulation row being inversely proportional according to the size of loadSpeed is walked, steering angle is adjusted according to loading condition to reduce load etc..Certainly, function control may also be the group of aforesaid wayClose.
In this step, it is preferred that the direction of travel of automatic working equipment is equal on each section of zig-zag path and inclinesThe incline direction on inclined-plane is at an angle of, and directly climbing and descending can be so avoided in whole walking process so that climbing energyPower is stronger.It is further preferred that each section is and the bearing of trend of inclined plane 2 spends angles, now path profile ratio into 30 to 60It is more uniform and overall than relatively labor-saving.Detection module 15 can detect direction of travel in several ways, for example, by using 3 axlesInclination sensor detects the incline direction of automatic working equipment 1 in three dimensions, it is possible to know the machine of automatic working equipment 1Body direction, is also assured that direction of travel.
Automatic working equipment and its control method that the present invention is provided so that automatic working equipment walking is in spies such as inclined planesWhen in the case of different, walking manner can timely be adjusted, it is ensured that start building certainly according to inclined angle and current walking situationGeneral work can tilted by making equipment, improve the scope and efficiency of automatic working equipment work, it is ensured that automatic work is setThe quality of standby walking work so that the reliability of automatic working equipment is higher.
It may occur to persons skilled in the art that, the present invention can also have other implementations, but as long as it is usedTechnical spirit and the present invention it is same or like seemingly, or it is any based on the easy full of beard made of the present invention and variations and alternativesAll within protection scope of the present invention.