CN103217926B - Automatic operation equipment and control method thereof - Google Patents
Automatic operation equipment and control method thereof Download PDFInfo
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- CN103217926B CN103217926B CN201210137109.0A CN201210137109A CN103217926B CN 103217926 B CN103217926 B CN 103217926B CN 201210137109 A CN201210137109 A CN 201210137109A CN 103217926 B CN103217926 B CN 103217926B
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Abstract
A kind of automatic operation equipment and control method thereof, described automatic operation equipment is automatic mobile working in the perform region of setting, has duty and dormant state, and described control method comprises the steps: that starting described automatic operation equipment runs; Obtain the area information of described perform region; Working time plan is formulated according to default Scheduling Algorithm based on described area information; Described automatic operation equipment enters duty and state of deactivating according to described working time plan, enters dormant state.Automatic operation equipment operationally formulates working time plan automatically, carries out complicated setting, make the use of automatic operation equipment easier without the need to user.
Description
Technical field
The present invention relates to a kind of automatic operation equipment and control method thereof.
Background technology
Along with the continuous progress of science and technology, various automatic operation equipment has started the life of coming into people slowly, such as automatic cleaner and automatic mower etc.This automatic operation equipment has running gear, equipment, and automaton, thus make automatic operation equipment can depart from the operation of people, automatically walk and perform work within the specific limits, when the energy storage device energy shortage of automatic operation equipment, it can charge by auto-returned charging station device, then works on.People clean from house by this automatic operation equipment, turf-mown etc. is uninteresting and free the housework work of wasting time and energy, and save the time of people, for people's life brings facility.
But, the control of automatic operation equipment more complicated often.When first use automatic operation equipment, user needs to input a series of instruction, enables correct the starting working of automatic operation equipment.Such as user needs the setting carrying out perform region, the setting of working time, setting of mode of operation etc.But the setting of this type of instruction often difficulty, particularly have more multi-functional automatic operation equipment or can the automatic operation equipment of programmed preset work program, user needs in a large amount of menus, to find corresponding column and carry out the setting of step complexity; In addition, when the environment for use of automatic operation equipment changes, user needs to re-start above-mentioned setting, brings inconvenience to use.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of automatic operation equipment easy to use and control method thereof.
For achieving the above object, technical scheme provided by the invention is: a kind of control method of automatic operation equipment, described automatic operation equipment is automatic mobile working in the perform region of setting, have duty and dormant state, described control method comprises the steps: that starting described automatic operation equipment runs; Obtain the area information of described perform region; Working time plan is formulated according to default Scheduling Algorithm based on described area information; Described automatic operation equipment enters duty and state of deactivating according to described working time plan, enters dormant state.
Preferably, described default Scheduling Algorithm is: described area information and some area intervals of presetting are compared; Find the preset area at described area information place interval; Read the interval plan of corresponding working time of described preset area.
Preferably, described default Scheduling Algorithm is: described area information is substituted into preset function; Result is calculated according to described preset function; Read the working time plan that described result is corresponding.
Preferably, described area information is obtained by following steps: described automatic operation equipment is from starting point along the Boundary Moving of described perform region, and return to origin; Record the trace information in described automatic operation equipment moving process; The area information of described perform region is calculated according to described trace information.
Preferably, the trace information recorded in described automatic operation equipment moving process is the map datum of the described perform region by GPS position the record.
Preferably, the trace information recorded in described automatic operation equipment moving process is the coordinate information recording present position when described automatic operation equipment changes direction at every turn.
Preferably, described area information is obtained by following steps: the area information of the inputting interface typing user input arranged on described automatic equipment.
Preferably, described working time plan comprises the plan of first working time and servicing time plan.
Preferably, the plan of described working time comprises the identical sub-working time plan of multiple cycle.
Preferably, the described cycle is 24 hours.
Preferably, described multiple sub-working time plan is identical.
Preferably, the decreasing duration of duty in the works of described multiple sub-working time.
Preferably, the start time of duty in the works of described multiple sub-working time is different.
Preferably, described control method is further comprising the steps of: obtain external information; Based on described external information according to the described working time plan of default adjustment algorithm adjustment.
Preferably, described external information is the adjustment signal that user inputs.
Preferably, described external information is latitude, longitude, the date and time information of self position that described automatic operation equipment is obtained by GPS location.
Preferably, described default adjustment algorithm is: judge that the default latitude, longitude at described latitude, longitude place is interval; Between the default date field judging described date place; According to the described working time plan of plan for adjustment adjustment corresponding between described default latitude, longitude interval and described default date field.
Preferably, described external information is the temperature and humidity information of described self position of automatic operation equipment that described automatic operation equipment is obtained by sensor.
Preferably, described default adjustment algorithm is: judge that the preset temperature at described temperature place is interval; Between the default humidity province judging described humidity place; According to the described working time plan of plan for adjustment adjustment corresponding between described preset temperature interval and described humidity province.
Preferably, adjusting the plan of described working time is the duration adjusting described duty.
Preferably, adjusting the plan of described working time is the duration of described duty is multiplied by coefficient with the duration of described duty replace.
Preferably, adjusting the plan of described working time is the start time adjusting described duty.
Preferably, the border of described perform region is detected by the border sensor being arranged at both sides, described automatic operation equipment axis, when first the border sensor of wherein side detects border, described automatic operation equipment is to the directional steering at the border sensor place of opposite side.
Preferably, the border of described perform region is detected by the border sensor being arranged at both sides, described automatic operation equipment axis, when described border sensor detects border, described automatic operation equipment judges described axis and border angulation, and walks on to the direction reducing acute angle or right angle angle formed by axis and border.
Another kind of technical scheme provided by the invention is: a kind of control method of automatic operation equipment, and described automatic operation equipment is automatic mobile working in the perform region of setting, and described control method comprises the steps: that starting described automatic operation equipment runs; Described automatic operation equipment is from starting point along the Boundary Moving of described perform region, and return to origin; Record the trace information in described automatic operation equipment moving process; Calculate the area of described perform region according to preset area algorithm based on described trace information.
Preferably, the trace information recorded in described automatic operation equipment moving process is obtained by following steps: calculate the coordinate of automatic operation equipment moving track relative to starting point; Record above-mentioned coordinate.
Preferably, whether the trace information recorded in described automatic operation equipment moving process is obtained by following steps: detect automatic operation equipment and turn to; If turn to, when turning to according to the last time of record, the coordinate of automatic operation equipment and the angular dimension turned to, calculate automatic operation equipment this when turning to relative to the coordinate of described starting point; Calculate this angular dimension turned to of automatic operation equipment, the coordinate of automatic operation equipment when turning to next time for calculating.
Preferably, detect automatic operation equipment whether to change moving direction and obtain by the following method: detect the velocity contrast between automatic operation device drives wheel.
Preferably, detect automatic operation equipment by the angular-rate sensor on automatic operation equipment and whether change moving direction.
Preferably, the area of described perform region is calculated by polygon area formula relative to the coordinate of starting point based on described automatic operation equipment moving track.
Preferably, the trace information recorded in described automatic operation equipment moving process is the map datum of the described perform region by GPS position the record.
Preferably, described automatic operation equipment formulates 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 operation equipment, and work of automatically walking in the perform region of setting, comprising: casing; Operational module; Walking module, supports and drives described automatic operation equipment to walk; Main control module, controls described walking module and described operational module work; Described automatic operation equipment also comprises track detection unit and areal calculation unit, the trace information that automatic operation equipment described in track detection unit record is walked along the border of described perform region, areal calculation unit calculates the area of described perform region according to preset area algorithm based on described trace information.
Preferably, described track detection unit comprises the magnetic induction unit detecting walking block motion, and described main control module goes out the coordinate of automatic operation equipment moving track relative to starting point based on the motion calculation of described walking module.
Preferably, whether described automatic operation equipment changes moving direction by automatic operation equipment described in described magnetic induction unit inspection, calculates the size of steering angle, calculates the coordinate relative to described starting point when automatic operation equipment turns to.
Preferably, described automatic operation equipment is by the velocity contrast between described magnetic induction unit inspection automatic operation device drives wheel.
Preferably, described track detection unit comprises angular-rate sensor, detects the change in described automatic operation equipment moving direction.
Preferably, the area of described perform region is calculated by polygon area formula relative to the coordinate of starting point based on described automatic operation equipment moving track.
Preferably, described track detection unit is GPS module.
Preferably, described automatic operation equipment formulates 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 operation equipment, and work of automatically walking in the perform region of setting, comprising: casing; Operational module; Walking module, supports and drives described automatic operation equipment to walk; Perform region described in described automatic operation equipment Inspection, and based on the described perform region setting working time.
Preferably, described automatic operation equipment comprises GPS locating module, described automatic operation equipment is from starting point along the border of described perform region and return to origin, the map datum of perform region described in described GPS locating module record, calculate the area information of described perform region according to described map datum, described automatic operation equipment is based on the described area information setting working time.
Preferably, described automatic operation equipment comprises inputting interface, the area information of typing user input, and described automatic operation equipment is based on the described area information setting working time.
Preferably, described automatic operation equipment comprises external information collecting unit, and described external information collecting unit gathers external information, and described automatic operation equipment is based on the described external information adjustment described working time.
Preferably, described external information collecting unit is inputting interface, the adjustment signal of typing user input.
Preferably, described external information collecting unit is GPS locating module, and described GPS locating module obtains longitude and latitude, the date and time information of described automatic operation equipment position.
Preferably, described external information collecting unit is sensor, and described sensor obtains the temperature and humidity information of described automatic operation equipment position.
Preferably, described main control unit adjusts described automatic operation equipment run duration.
Preferably, described main control unit adjusts described automatic operation equipment attack time.
Preferably, described automatic operation equipment comprises border sensor, be arranged at the both sides of described automatic operation equipment axis, detect the border of described perform region, when first the border sensor of wherein side detects border, described automatic operation equipment is to the directional steering at the border sensor place of opposite side.
Preferably, described automatic operation equipment comprises border sensor, be arranged at the both sides of described automatic operation equipment axis, when described border sensor detects border, described automatic operation equipment judges described axis and border angulation, and walks on to the direction reducing acute angle or right angle angle formed by axis and border.
Preferably, described automatic operation equipment is mower or suction cleaner.
Another kind of technical scheme provided by the invention is: a kind of automatic operation equipment, and work of automatically walking in the perform region of setting, has duty and dormant state, comprising: casing; Operational module; Walking module, supports and drives described automatic operation equipment to walk; Main control module, controls described walking module and described operational module work; Described automatic operation equipment also comprises area information collecting unit, area information collecting unit gathers the area information of described perform region, described main control module receives described area information, working time plan is formulated according to default Scheduling Algorithm based on described area information, and control described operational module and described walking module and enter duty and state of deactivating according to described working time plan, enter dormant state.
Preferably, described automatic operation equipment comprises GPS locating module, described automatic operation equipment is from starting point along the border of described perform region and return to origin, described in described GPS locating module record, the map datum of perform region, calculates the area information of described perform region according to described map datum.
Preferably, described automatic operation equipment comprises inputting interface, the area information of typing user input.
Preferably, described automatic operation equipment comprises external information collecting unit, described external information collecting unit gathers external information, and described main control unit receives described external information, based on described external information according to the described working time plan of default adjustment algorithm adjustment.
Preferably, described external information collecting unit is inputting interface, the adjustment signal of typing user input.
Preferably, described external information collecting unit is GPS locating module, and described GPS locating module obtains longitude and latitude, the date and time information of described automatic operation equipment position.
Preferably, described external information collecting unit is sensor, and described sensor obtains the temperature and humidity information of described automatic operation equipment position.
Preferably, described main control unit adjusts the duration of described duty
Preferably, described main control unit adjusts the start time of described duty.
Preferably, described automatic operation equipment comprises border sensor, be arranged at the both sides of described automatic operation equipment axis, detect the border of described perform region, when first the border sensor of wherein side detects border, described automatic operation equipment is to the directional steering at the border sensor place of opposite side.
Preferably, described automatic operation equipment comprises border sensor, be arranged at the both sides of described automatic operation equipment axis, when described border sensor detects border, described automatic operation equipment judges described axis and border angulation, and walks on to the direction reducing acute angle or right angle angle formed by axis and border.
Preferably, described automatic operation equipment is mower or suction cleaner.
Another kind of technical scheme provided by the invention is: a kind of automatic operation equipment, and work of automatically walking in the perform region of setting, has duty and dormant state, comprising: casing; Operational module; Walking module, supports and drives described automatic operation equipment to walk; Main control module, controls described walking module and described operational module work; Described automatic operation equipment also comprises information acquisition unit, gather the information of described self region of automatic operation equipment, described main control module receives described information, working time plan is formulated according to default Scheduling Algorithm based on described information, and control described operational module and described walking module and enter duty and state of deactivating according to described working time plan, enter dormant state.
Preferably, described information acquisition unit is GPS module, and what gather in the area of self region, latitude, longitude, date, time data is one or more.
Compared with prior art, automatic operation equipment provided by the invention and control method thereof, make user first use automatic operation equipment time, can be easy or allow working equipment automatically set work program; In use, if working environment changes, also easy or automatic operation equipment automatically work program can be adjusted, use easier, good experience can be obtained.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the invention will be further described;
Fig. 1 is the schematic diagram of the automatic operation equipment that embodiment of the present invention provides;
Fig. 2 is the side schematic view of the automatic operation equipment that embodiment of the present invention provides;
Fig. 3 is the circuit block diagram of the automatic operation equipment that embodiment of the present invention provides;
Fig. 4 is the schematic diagram of automatic operation equipment in perform region that embodiment of the present invention provides;
Fig. 5 is a kind of routing schematic diagram of the automatic operation equipment that embodiment of the present invention provides;
Fig. 6 is a kind of routing schematic diagram of the automatic operation equipment that embodiment of the present invention provides;
Fig. 7 is a kind of routing schematic diagram of the automatic operation equipment that embodiment of the present invention provides;
Fig. 8 be the automatic operation equipment that provides of embodiment of the present invention turn to schematic diagram;
Fig. 9 is the coordinate schematic diagram of the automatic operation equipment that embodiment of the present invention provides;
Figure 10 is the process flow diagram of the automatic operation equipment that embodiment of the present invention provides;
Figure 11 is the process flow diagram of the automatic operation equipment that second embodiment of the invention provides;
Figure 12 is the process flow diagram of the automatic operation equipment that third embodiment of the invention provides.
Wherein
1. automatic operation equipment 143. control module
11. walking module 15. detection modules
111.111a.111b driving wheel 151,152. border sensor
12. operational module 16. user interface
13. energy-storage module 17. shell
14. main control module 3. boundary line
141. processing unit 5. bus stops
142. storage unit
Embodiment
Below in conjunction with the drawings and the specific embodiments, the present invention is described in detail.
The automatic operation equipment that the specific embodiment of the invention provides, work of automatically walking in perform region.Automatic operation equipment can be automatic mower, or automatic cleaner.They walk on lawn or ground automatically, carry out mowing or dust suction work.Certainly, automatic operation equipment is not limited to automatic mower and automatic cleaner, and also can be the equipment of other types, such as automatic spraying equipment or automatic monitoring equipment etc., by automatic operation equipment, realize the unattended operation of work in every.
Refer to Fig. 1-Fig. 2, automatic operation equipment 1 comprises walking module 11, operational module 12, energy-storage module 13, main control module 14, detection module 15, user interface 16 and accommodate the shell 17 etc. of above-mentioned module.
Walking module 11 comprises motor and driving wheel 111, driving wheel 111 is driven respectively by multiple motor usually, and the rotating speed of each motor or to turn to be controlled, thus in the process of automatic operation equipment walking, turn to flexibly by regulating the rotating speed of driving wheel 111.Walking module 11 comprises motor and driving wheel 111, arranging of driving wheel can have various ways, in the present embodiment, as shown in Figure 2, be the front portion of automatic operation equipment 1 with left side in scheming, right side is the rear portion of automatic operation equipment 1, and two driving wheels 111 are symmetricly set in the both sides, rear portion of automatic operation equipment 1 respectively, and in the part near automatic operation equipment 1 front portion, be provided with angle sheave.Certainly, the number of driving wheel also can be more or less, and such as driving wheel can be 1, or more than two; The position of driving wheel also can be positioned at the front portion of automatic operation equipment, or four angles laying respectively at automatic operation equipment etc., do not enumerate at this.
The operational module that operational module 12 performs for automatic operation equipment, the operational module of different automatic operation equipment is different, and the operational module of such as automatic mower comprises mowing blade, cutting motor etc., for performing the grass cutting action of automatic mower; The operational module of automatic cleaner then comprises dust-absorbing motor, the service part for performing dust suction task such as suction port, sweep-up pipe, vacuum chamber, dust collect plant.
Energy-storage module 13 is generally chargeable battery, provides electric power for automatic mower runs, or connection external power source charges; Preferably, energy-storage module 13, with charging or discharge prevention unit, can be protected the charge or discharge of energy-storage module 13.
User interface 16 is arranged at shell 17 to be convenient to user and can to see and carry out the position that operates, the such as top of automatic operation equipment, user interface 16 generally includes display and input key, user inputs instruction by input key to automatic operation equipment, such as arrange the time of automatic operation equipment, work program etc., user interface 16 also can be can the telepilot of Long-distance Control.
Please also refer to Fig. 3, detection module 15 for detecting the information relevant to mower 1, and provides Detection Information to main control module 14, for the walking of automatic operation equipment and work provide parameter.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 input, after treatment, stored in storage unit 142, or from storage unit 142, read corresponding program, control walking module 11 by control module 143 and operational module 12 is walked and works.
Refer to Fig. 4, automatic operation equipment 1 in perform region, perform region be by the boundary line 3 manually arranged around closed interval, boundary line 3 can avoid automatic operation equipment 1 to leave perform region; Boundary line can be wall, railing etc.; Also can be wire or other signal generation apparatus of energising, such as electromagnetic signal or light signal.In perform region, be provided with bus stop 5, bus stop 5 is arranged on boundary line 3, and automatic operation equipment 1, when quitting work, is stopped at bus stop 5, entered dormant state; When needing to start working, again from bus stop 5s, enter duty.Bus stop 5 can provide charge function usually, for energy-storage module 13 charges.When the electricity of energy-storage module 13 is not enough, automatic operation equipment 1 returns bus stop 5 and charges.Bus stop 5 can provide guiding and docking to returning of automatic operation equipment 1, and docking can realize wireless guiding by the mode such as infrared ray or ultrasound wave, also can be guided by boundary line 3 and be docked.
Refer to Fig. 5-Fig. 7, automatic operation equipment 1 is walked work in perform region, automatic operation 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 operation equipment 1, for detecting the position relationship of automatic operation equipment 1 and boundary line 3.Border sensor 1 can be range sensor, infrared ray sensor, ultrasonic sensor, crash sensor, Magnetic Sensor etc.
Dotted line through automatic operation equipment 1 is the run trace of automatic operation equipment 1, automatic operation equipment 1 is linearly walked in perform region, border sensor 151,152 detects the distance between boundary line 3, if first the border sensor on the left of axis 151 detects be less than preset value with the distance of boundary line 3, automatic operation equipment 1 is to the right hand steering of the axis at border sensor 152 place; If first the border sensor on the right side of axis 152 detects be less than preset value with the distance of boundary line 3, automatic operation equipment 1 turns to the left side of the axis at border sensor 151 place.
Border sensor 151,152 also can detect the corner dimension between axis and boundary line 3, when the distance that in border sensor 151,152, any one detects between boundary line 3 is less than preset value, the axis of automatic operation equipment 1 and boundary line 3 have an intersection point, axis and boundary line 3 form an acute angle θ through the tangent line of this intersection point, automatic operation equipment 1 continues to walk forward, and to reducing the directional steering of this acute angle.Border sensor 151,152 when the both sides, axis of automatic operation equipment 1 detects that the distance between boundary line 3 is less than preset value simultaneously, the axis of automatic operation equipment 1 is mutually vertical between the tangent line of their intersection points with boundary line 3, now, automatic operation equipment turns at random.
The preset value of the minor increment between automatic operation equipment 1 and boundary line 3 is set to satisfied following condition: in the steering procedure of automatic operation equipment 1; walking can be kept; thus avoid when automatic operation equipment 1 turns to and halt or fall back; save the time; avoid and to start frequently and shutdown also saves electric power; decrease the charging times of automatic operation equipment, thus greatly improve the work efficiency of automatic operation equipment.Routing form as above, also can improve the wheel efficiency of automatic operation equipment 1 in perform region, particularly can walk out the narrow range in perform region efficiently.Routing form as above, make automatic operation equipment 1 when the perform region that processing area is identical, how are obstacle no matter in the shape of perform region, perform region or work complexity, the time that automatic operation equipment 1 is finished the work is similar, for the present invention, this is important.Certainly, automatic operation equipment 1 can be met when the perform region that processing area is identical, the time of finishing the work is the path planning mode of similar this condition is not unique, the route that such as automatic operation equipment once can be passed by by GPS position the record, when automatic operation equipment is walked, avoid the route that repeated rows is passed by as far as possible, thus improve the wheel efficiency of automatic operation equipment in perform region, for the perform region that area is identical, the time of finishing the work is similar.Also have other path planning mode, do not repeat one by one at this.
Refer to Figure 10, the control method of automatic operation equipment 1 provided by the invention comprises the following steps:
Step S0: system starts.User is when first use automatic operation equipment 1, and by user interface 16 start up system, carry out the initialization of system, initialization comprises every self-examination of automatic operation equipment 1, dump energy of such as energy-storage module 142 etc.When system starts, automatic operation equipment 1 is preferably on bus stop 5, if the dump energy of energy-storage module 142 is not enough, is charged by bus stop 5 pairs of energy-storage modules 142.
Step S1: the area information obtaining perform region.Automatic operation equipment 1, from bus stop 5s, takes a round along boundary line 3 around perform region row, again gets back to bus stop 5; The detection module 15 of automatic operation equipment 1 comprises track detection unit, track detection unit can be GPS module, in the process of walking, the position at automatic operation equipment place, GPS module location, the i.e. on-site latitude and longitude coordinates of automatic operation equipment, these measurement points couple together the run trace defining automatic operation equipment 1, after processing unit 141 receives the coordinate of measurement point, be X, Y-coordinate according to preset area algorithm by obtained latitude and longitude coordinates inverse, and according to coordinate calculate each measurement point around the area of perform region; Preset area algorithm can be CASIOfx-4500P areal calculation program, certainly, also can calculate area by other algorithm according to latitude and longitude coordinates, not enumerate at this.For the perform region of shape matching rule, automatic operation equipment 1 also by the coordinate on each summit of independent measurement perform region, and then can calculate the area of perform region.
Now, the area information of perform region is by automatic operation equipment 1 automatic acquisition, certainly, if user has known the area of perform region, then area information also can be inputted by user by user interface 16, or is inputted by the connecting interface of automatic operation equipment 1 with computer or other equipment.
Step S2: judge that area information obtains and whether complete.When automatic operation equipment 1 gets back to bus stop 5 again, main control module 14 is judged as that area information has obtained, and control automatic operation equipment 1 stops the walking along boundary line 3.When artificial input area information, main control module 14 detects user interface 16 whether input validation signal, when user interface 16 input validation signal being detected, is judged as that area information has obtained.When judging that area information has obtained, next step operation can be carried out; If judge that area information has not also obtained, then continue the area information obtaining perform region.
Step S3: processing area information.Processing unit 141 processes area information, the data layout that the main control module 14 converting automatic operation equipment 1 to can identify after receiving the area information of the perform region that detection module 15 or user interface 16 provide.
Step S4: formulate working time plan according to default Scheduling Algorithm.Store the working time plan preset in storage unit 142, the working time of presetting plan is interval corresponding with working area.Such as, the perform region of 600 square metres to 699 square metres, corresponding working time plan is work 10 hours, the perform region of 700 square metres to 799 square metres, and corresponding working time plan is work 15 hours.When the area of perform region is 720 square metres, processing unit 141 by area information compared with each area interval in storage unit 142, the area of perform region is greater than 700 square metres and be less than 800 square metres, the work program that then 700 square metres to 800 square metres, processing unit 141 read work area interval is corresponding, the working time plan of formulating this task is work 15 hours.Present embodiment provide preset working time in the works, in order to describe easy, only citing list two area intervals, the area interval of each perform region is 100 square metres; In fact, the number in area interval can be more, and area interval also can be other values beyond 100 square metres.The working area scope of such as automatic operation equipment 1 is 0 square metre to 1500 square metres, when each area interval is 100 square metres, can be divided into 15 area intervals; The working area scope of automatic operation 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; The working area scope of automatic operation 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; The working area scope of automatic operation 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, the Scheduling Algorithm preset also can be that to be stored in storage unit 142 take area information as the preset function of variable, the area information received is substituted into described preset function by processing unit 141, the required time of finishing the work is calculated according to described preset function, from described storage unit 142, read the working time plan that described result is corresponding, formulate the working time plan of task for this reason.
Further, the working time plans to carry out respectively within multiple unit interval, comprises the identical sub-working time plan of multiple cycle, the length of each unit period can set as required, such as each unit period is 8 hours, 12 hours, 24 hours etc.; In each unit period, the duty duration of automatic operation equipment 1 can be identical, also can be different.In the present embodiment, when automatic operation equipment 1 performs the plan of the work working time of 15 hours, its first day work terminates after 7 hours to enter dormant state, terminate after 5 hours to enter dormant state work in second day, work in the 3rd day 3 hours, finish the work, in each unit period, the decreasing duration of duty.
Further, working time plan comprises the plan of first working time and servicing time plan, when automatic operation equipment 1 works for the first time in perform region, is brand-new work, and workload is comparatively large, so consuming time longer; After completing first task, spend less time maintenance working effect every day.Servicing time plan performs from after first task completes, comprises the working time plan of multiple unit period.In the present embodiment, after automatic operation equipment 1 completes the plan of first working time, perform servicing time plan, work every day 2 hours.
The working time plan preset or formula are the path planning modes according to automatic operation equipment 1, draw through experiment or Modling model.Choose comparatively loose data when formulating the working time plan preset, such as, under this path planning mode, in perform region of the same area, finish the work required maximum time, thus ensure in all cases, can most work be completed.
Step S5: perform working time plan.Automatic operation equipment 1, after obtaining working time plan, is planned to enter duty in predetermined time according to the working time, and to deactivate state in predetermined time, enters dormant state.
In the present embodiment, the area information of automatic operation equipment 1 automatic acquisition perform region needs by GPS module detection coordinates, and certainly, automatic operation equipment also measures the area information of perform region by other modes.
User can input instruction by user interface 16, makes automatic operation equipment 1 from bus stop 5s, along boundary line walking until return to origin.In the process of walking, automatic operation equipment 1 detects and records the track of walking.
The detection module 15 of automatic operation equipment 1 comprises track detection unit, and track detection unit measures the travel distance of driving wheel 111.Trajectory measurement unit is measured by magnetic induction principle, it comprises magnetic generator and magnetic detector, two driving wheels 111 are respectively arranged with magnetic element, magnetic element can be magnet or other can produce the element in magnetic field, the position near driving wheel 111 in housing 17 arranges Magnetic Induction device respectively for sensing magnetic element.Turn around whenever driving wheel 111 revolves, magnetic element on driving wheel 111 is when Magnetic Induction device, Magnetic Induction device just can detect and carry out sending a signal to processing unit 141, it represents driving wheel and have rotated a circle, and the number of turns that girth and the driving wheel 111 of driving wheel 111 roll is multiplied the distance that can show that driving wheel 111 is walked.Processing unit 141 can calculate the displacement of automatic operation equipment 1 in certain hour section or in certain distance according to the distance that driving wheel is walked.Certainly, track detection unit is not limited to the above-mentioned magnetic element mentioned and magnetic detector, and all detectors that can detect driving wheel rotating speed are all fine.
Refer to Fig. 8, driving wheel 111 is symmetricly set in the both sides, rear portion of automatic operation equipment 1, and the wheel spacing between two driving wheels is D, and the diameter of driving wheel 111 is identical.Whether processing unit 141 distance of walking according to driving wheel 111 is identical judges whether automatic operation equipment 1 is linearly walking, if track detection unit inspection is identical to the speed of travel of two driving wheels 111, then illustrate that automatic operation equipment 1 is linearly being walked; If track detection unit inspection is different to the speed of travel of two driving wheels 111, then illustrate that automatic operation equipment 1 is turning to.
When processing unit 141 judges that automatic operation equipment is when turning to, they are different according to the distance of driving wheel walking, calculate automatic operation equipment 1 and change nyctitropic angle.When automatic operation equipment 1 changes direction, the distance that driving wheel 111a walks is C1, and the distance that driving wheel 112b walks is C2, then the angle that turns over of automatic operation equipment 1
certainly, the steering angle of automatic operation equipment 1 also can be measured by other means, such as, on automatic operation equipment 1, arrange angular-rate sensor, or digital compass etc.
Automatic operation equipment 1 runs to an A from bus stop along boundary line, now boundary line 3 changes direction, processing unit 141 judges that automatic operation equipment 1 is turning to, and calculates the position now residing for automatic operation equipment 1, and positional information is stored into storage unit 142.The coordinate (x1, y1) that position residing for automatic operation equipment 1 can be point in the rectangular coordinate system of true origin in order to bus stop 5 represents.As shown in Figure 9, the horizontal ordinate x1 of A point is automatic operation equipment 1 moves to the movement of A point distance from bus stop 5, and ordinate y1 is 0.
Automatic operation equipment 1 turns at A point place, and it is α that processing unit 141 calculates based on aforementioned algorism the angle that automatic operation equipment 1 turns over, and now, processing unit 141 restarts the distance calculating the movement of automatic operation equipment 1.Automatic operation equipment 1 continues to walk along boundary line 3 to arrive turning point B point, processing unit 141 judges that automatic operation equipment 1 turns at B point, calculate the coordinate (x2 of B point in the rectangular coordinate system taking bus stop as true origin, y2), processing unit 141 calculate automatic operation equipment 1 from A point to B point the distance of movement be D1, then the horizontal ordinate x2 of B point calculates by formula (x1+D1*cos α), and the ordinate y2 of B point calculates by formula (y1+D1*sin α).
Make to use the same method, processing unit can calculate automatic operation equipment 1 in the process of walking along boundary line 3, the coordinate of each turning point, until get back to bus stop 5, namely when automatic operation equipment 1 returns true origin (x0y0) again, main control module 14 judges that run trace information has obtained, and control automatic operation equipment 1 stops the walking along boundary line 3.Now, automatic operation equipment 1 obtains one group of coordinate figure, (x0y0) (x1y1) (x2y2) ... (xnyn) (x0y0), these coordinates are the trace information that automatic operation equipment 1 is walked along boundary line.
In the present embodiment, processing unit 141 calculates the coordinate of turning point according to sinusoidal or cosine formula, certainly, also has other formula also can calculate the coordinate of turning point, such as tangent formula, the combination between cotangent formula or above-mentioned formula.
Processing unit 141 based on the coordinate of each turning point stored in storage unit 142, according to the area in preset area algorithm evaluation work region.In the rectangular coordinate system being true origin with bus stop 5, each turning point is connected to form a polygon closed, namely the area of perform region equals this polygonal area, processing unit 141 goes out the area of perform region by polygonal areal calculation formulae discovery, such as S=0.5*| (x0*y1-x1*y0)+(x1*y2-x2*y1)+...+(xn*y0-x0*yn) |.
Refer to Figure 11, the control method of the automatic operation equipment 1 that second embodiment of the invention provides comprises the following steps:
Step S10: system starts.In second embodiment of the invention, the start-up course of system is identical with the first embodiment, in this not repeated description.
Step S11: judge whether to enter self-studying mode.Automatic operation equipment 1 upon actuation, judge whether to need to enter self-studying mode, such as, when the processing unit 141 of automatic operation equipment 1 detects and there is working time plan, judging that automatic operation equipment 1 is without the need to entering self-studying mode, performing the plan of this working time; When the processing unit 141 of automatic operation equipment 1 detects and there is not working time plan, enter self-studying mode.Whether automatic operation equipment 1 also can be changed by himself geographic location of detection judges whether to need to enter self-studying mode, when the geographic position at automatic operation equipment 1 place does not change, automatic operation equipment 1 does not enter self-studying mode, when the geographic position at automatic operation equipment 1 place changes, enter self-studying mode.Automatic operation equipment 1 also can judge whether to need to enter self-studying mode by the time interval detected between its this on time and on time last time, when interval greater than predetermined value, automatic operation equipment 1 enters self-studying mode, when the time interval is less than predetermined value, automatic operation equipment 1 does not enter self-studying mode.
In addition, automatic operation equipment 1 can also judge whether to enter self-studying mode by the information that user interface 16 inputs according to user, and when user selects to enter self-studying mode by user interface 16, automatic operation equipment 1 enters self-studying mode; When user selects not enter self-studying mode by user interface 16, automatic operation equipment 1 does not enter self-studying mode.
Step S12: enter self-studying mode.Automatic operation equipment 1 enters self-studying mode, and under self-studying mode, automatic operation equipment 1 does not carry out the setting of working time plan, from bus stop 5s, according to the path planning mode preset, and work of walking in perform region.Detection module 15 detects the job information of automatic operation equipment 1, and it is one or more that job information can comprise in the working time, walking mileage, operating load, walking path etc. that automatic operation equipment 1 runs under self-studying mode.
Step S13: judge whether to exit self-studying mode.Detection module 15 comprises current detecting unit, the load current of testing module 12, the preset value of the storage in the load current detected and storage unit 142 compares by processing unit 141, if within a period of time, the load current of operational module 12 is less than preset value all the time, processing unit 141 judges that operational module 12 does not have load in long-time, controls automatic operation equipment 1 and exits self-studying mode.
Automatic operation equipment 1 also can judge whether exit self-studying mode by out of Memory.Such as, when automatic operation equipment 1 is automatic mower, detection module 15 comprises the feeler of the bottom being arranged on automatic mower, feeler detects the contact information of the bottom of grass and automatic mower, if within a period of time, feeler does not detect activation signal all the time, processing unit 141 thinks that work completes, and controls automatic mower and exits self-studying mode.When automatic operation equipment is automatic cleaner, detection module 15 can detect the recruitment of dust in dust collect plant, within 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 completes, and controls automatic cleaner and exits self-studying mode.In addition, automatic operation equipment 1 can also pass through camera, and infrared sensor etc. judges whether exit self-studying mode, does not enumerate at this.
Whether self-studying mode should be exited as described above by automatic operation equipment 1 automatic decision, certainly, it also can be controlled by user interface 16 by user, when user judges that automatic operation equipment 1 needs to exit self-studying mode, press corresponding button in user interface 16, automatic operation equipment 1 exits self-studying mode.
Step S14: job information when record meets pre-conditioned.When automatic operation equipment 1 meets pre-conditioned, record the job information of the automatic operation equipment 1 that detection module 15 detects, the working time that such as automatic operation equipment 1 runs under self-studying mode, walking mileage, operating load, walking path etc.
Job information when record meets pre-conditioned, can carry out before exiting self-studying mode or after exiting self-studying mode or when exiting self-studying mode, so the order of step S13 and step S14 can be exchange or carry out simultaneously, but record always meet this time point pre-conditioned time job information.
Step S15: the job information under process self-studying mode.Processing unit 141 pairs of job informations process, the data layout that the main control module 14 converting automatic operation equipment 1 to can identify.
Step S16: according to the algorithmization working time plan preset.Store the working time plan preset in storage unit 142, the working time of presetting plan is corresponding with the job information of automatic operation equipment 1 under self-studying mode.Such as, automatic operation equipment 1 is under self-studying mode, and the time that the work of finishing the work in region uses is interval at 10 hours-15 hours, and corresponding working time plan is safeguarded for working every day for 2 hours; Finish the work under self-studying mode time of using is interval at 16 hours-20 hours, and corresponding working time plan is safeguarded for working every day for 3 hours.It is 12 hours when the working time under the self-studying mode recorded, processing unit 141 by the working time compared with each time interval in storage unit 142, the size of working time is greater than 10 hours and is less than 15 hours, the then little work program corresponding up to 15 hours of processing unit 141 read work time interval 10, the working time plan of formulating this task is safeguarded for working every day for 2 hours.
Certainly, the working time plan preset also can be that other job information with automatic operation equipment 1 under self-studying mode is corresponding, the walking mileage such as run under self-studying mode, walking mileage compared with each mileage interval in storage unit 142, is chosen corresponding work program and is planned as the working time of automatic operation equipment 1 by processing unit 141.
Certainly, the working time plan preset also can be one or more corresponding with automatic operation equipment 1 in the job information under self-studying mode, such as, in the working time of automatic operation equipment 1 under self-studying mode, walking mileage, operating load, walking path etc. one or more.
In addition, the formula that the algorithm preset also can be is variable with the job information of automatic operation equipment 1 under self-studying mode, the job information received is substituted into the formula preset by processing unit 141, calculates the required time of finishing the work, and formulates the working time plan of task for this reason.
Step S17: perform working time plan.Automatic operation equipment 1, after obtaining working time plan, is planned to enter duty in predetermined time according to the working time, and to deactivate state in predetermined time, enters dormant state.
Refer to Figure 12, the control method of the automatic operation equipment 1 that third embodiment of the invention provides comprises the following steps:
Step S20: system starts.In third embodiment of the invention, the start-up course of system is identical with the first embodiment, in this not repeated description.
Step S21: formulate working time plan.Automatic operation equipment 1 upon actuation, formulates working time plan.Working time plan can be the method adopting first embodiment of the invention and the second embodiment to provide, and is formulated voluntarily by automatic operation equipment 1.The working time plan of automatic operation equipment 1 also can be by user interface 16 by manually inputting, or is inputted by the connecting interface of automatic operation equipment 1 with computer or other equipment.
Step S22: perform work.Automatic operation equipment 1, after obtaining working time plan, is planned to enter duty in predetermined time according to the working time, and to deactivate state in predetermined time, enters dormant state.
Step S23: obtain external information.The external information of automatic operation equipment 1 comprises the date, time, geographic coordinate, environmental information etc. of himself position.Operationally, the detection external information that detection module 15 is real-time; Detect external information also can timing to carry out, such as, when automatic operation equipment 1 enters duty from dormant state, perform one-time detection at every turn; Or the cycle carries out one-time detection to automatic operation equipment 1 at set intervals, such as, every a week or one month, carries out one-time detection.
Detection module 15 comprises GPS module, is obtained the data such as geographic coordinate, time and date of self position of automatic operation equipment 1 by GPS module.Detection module 15 also can comprise environmental sensor, detects the environmental information of self position of automatic operation equipment 1; Environmental sensor can be temperature sensor and humidity sensor, detects temperature information and the humidity information of automatic operation equipment 1 position.
Step S24: judge whether external information has obtained.When automatic operation equipment 1 obtains external information, normally obtain with certain combination, when GPS module obtains geographic coordinate, the time and date of self position of automatic operation equipment 1, when three data have all obtained, judge that external information has obtained.During environmental sensor testing environment information, when temperature and humidity data have all obtained, be judged as that external information has obtained.
Step S25: process external information.Processing unit 141 processes external information, the data layout that the main control module 14 converting automatic operation equipment 1 to can identify after receiving the external information that detection module 15 provides.
Step S26: according to the algorithm modification period planning preset.The plan for adjustment preset that in storage unit 142, storage is benchmark with working time plan.
Different automatic operation equipment sets up the foundation of working time Plan rescheduling plan to be different.
When automatic operation equipment 1 is automatic mower, the plan for adjustment stored in storage unit 142 sets based on the growth rhythm of grass in 1 year in each area, the whole world, and these rules can be learnt by meteorological statistics data.Such as, the grass of CHINESE REGION, the speed of growth is in summer the soonest, is next spring, autumn, and winter, grass growth was the slowest, then storage unit 142 in, the plan for adjustment of storage is as shown in Table 1:
Table one
| February-April | May-July | August-October | November-January next year |
| 100％ | 150％ | 90％ | 50％ |
Plan for adjustment in table one is, on the basis of planning in the working time of automatic mower 1, the time worked is multiplied by default coefficient, thus increases or reduce the working time in each unit interval.In Table 1, the coefficient preset is the form of number percent, and certainly, default coefficient also can be other form, such as decimal or function.
The time that the GPS module that processing unit 141 receives detection module 15 provides, date and geographic coordinate information, first judge which region automatic mower is in, the coordinate being such as obtained from the position at motor mower place when GPS module is east longitude 120 degree, north latitude 20 degree, date is when being June 1, the global map data stored in geographic coordinate information and storage unit 142 compare by processing unit 141, show that automatic mower is in regional; Again compared with between each date field as shown in Table 1 stored in storage unit 142, know the plan for adjustment of automatic mower be operationally between plan basis on, be multiplied by 150%.Such as the working time in the works, and automatic mower needs mowing 10 hours, and when automatic mower detects external information as above, the mowing time of adjustment automatic mower is 15 hours.
In the plan for adjustment preset that present embodiment provides, easy in order to describe, be interval with 3 months, this interval can set according to needs, such as one month even shorter, and the time of range spans is shorter, can be more accurate to the adjustment of the work of automatic mower.
Further, automatic mower can also by changing the time plan for adjustment starting to mow.Different regions are in the different time of a year, and different at sunrise, before sunrise, grass can be moister, and this is disadvantageous to grass cutting action.The adjustment to starting the time of mowing can be added in the plan for adjustment preset.Plan for adjustment as described in table one: February-April time, do not change mow the start time; May-July time, the mowing start time is shifted to an earlier date 1 hour because summer at sunrise between comparatively early; August-October time, do not change mow the start time; When November-January next year, the mowing start time is postponed 2 hours, because more late at sunrise.Thus avoid and mow when grass is very moist.
The plan for adjustment stored in storage unit 142 also can set based on the growth rhythm under careless different temperatures and different humidity situation, and these rules can easily pass through meteorological statistics data equally and learn.Such as, grass is greater than 20 degrees Celsius in temperature, and when humidity is greater than 30%, the speed of growth is the fastest, then automatic mower can increase the mowing time accordingly by plan for adjustment; Grass in temperature lower than 10 degrees Celsius, humidity lower than 10% time the speed of growth the slowest, then automatic mower can reduce the mowing time accordingly by plan for adjustment; When temperature humidity is between above-mentioned two intervals, automatic mower does not adjust working time plan.
When automatic operation equipment 1 is automatic cleaner, the plan for adjustment stored in storage unit 142 then can set based on weather and the corresponding relation formed between airborne dust, such as by external information that GPS module detects, processing unit 141 judges the geographic position at automatic cleaner place, be easy to form airborne dust weather in current time, then increase the dust suction time accordingly; When the geographic position at automatic cleaner place, when current time not easily forms airborne dust weather, the corresponding minimizing dust suction time.When obtaining external information by environmental sensor detection, processing unit 141 judges the position at automatic cleaner place, and whether temperature and humidity situation is beneficial to formation airborne dust, if temperature is higher, humidity is comparatively large, then not easily form airborne dust, can reduce the dust suction time accordingly; If temperature is higher, humidity is lower, be then easy to formation and form, and can increase the dust suction time accordingly.Mode and the foregoing automatic mower of automatic cleaner adjustment working time plan are similar, in this not repeated description.
Step S27: perform the plan of amended working time.Automatic operation equipment 1 was planned to enter duty in predetermined time according to the amended working time, and to deactivate state in predetermined time, entered dormant state.
In the present embodiment, automatic operation equipment 1 is by detection module automatic acquisition external information, and in addition, automatic operation equipment 1 also can by user interface 16 by user's manual input working time Plan rescheduling parameter.
The user interface 16 of automatic operation equipment 1 arranges adjustment button, such as increase and reduce operating time button, when user selects to increase operating time button, processing unit 141 receives the input information that user interface 16 provides, it is processed, reads from storage unit 142 and adjust parameter accordingly; Such as, when user selects once to increase operating time button, corresponding plan for adjustment is 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 user selects once to reduce operating time button, corresponding plan for adjustment is 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, user also can be regulated the time that automatic operation equipment 1 is started working easily by user interface 16.
Certainly, the control method of the automatic operation equipment that third embodiment of the invention provides, can be applied in need manually arrange the working time plan automatic operation equipment on, also can be applied on the automatic operation equipment without the need to manually arranging working time plan, the control method of the automatic operation equipment particularly provided with first embodiment of the invention and second embodiment of the invention is combined.
Automatic operation equipment provided by the invention and control method thereof, when first task, without the need to carrying out complicated setting, just can start working, in the process used, more can according to external conditions such as weathers, change working time plan automatically, make use more convenient, bring good experience to user.
What it may occur to persons skilled in the art that is; the present invention can also have other implementation; as long as but its technical spirit adopted is identical with the present invention or close, or any easy full of beard of making based on the present invention and change and replace all within protection scope of the present invention.
Claims (29)
1. a control method for automatic operation equipment, described automatic operation equipment is automatic mobile working in the perform region of setting, and have duty and dormant state, it is characterized in that, described control method comprises the steps:
Start described automatic operation equipment to run;
Obtain the area information of described perform region;
Working time plan is formulated according to default Scheduling Algorithm based on described area information;
Described automatic operation equipment enters duty and state of deactivating according to described working time plan, enters dormant state.
2. the control method of automatic operation equipment according to claim 1, is characterized in that: described default Scheduling Algorithm is:
Described area information and some area intervals of presetting are compared;
Find the preset area at described area information place interval;
Read the interval plan of corresponding working time of described preset area.
3. the control method of automatic operation equipment according to claim 1, is characterized in that: described default Scheduling Algorithm is:
Described area information is substituted into preset function;
Result is calculated according to described preset function;
Read the working time plan that described result is corresponding.
4. the control method of automatic operation equipment according to claim 1, is characterized in that: described area information is obtained by following steps:
Described automatic operation equipment is from starting point along the Boundary Moving of described perform region, and return to origin;
Record the trace information in described automatic operation equipment moving process;
The area information of described perform region is calculated according to described trace information.
5. the control method of automatic operation equipment according to claim 4, is characterized in that: the trace information recorded in described automatic operation equipment moving process is the map datum of the described perform region by GPS position the record.
6. the control method of automatic operation equipment according to claim 4, is characterized in that: the trace information recorded in described automatic operation equipment moving process is the coordinate information recording present position when described automatic operation equipment changes direction at every turn.
7. the control method of automatic operation equipment according to claim 1, is characterized in that: described area information is obtained by following steps:
The area information of the inputting interface typing user input that described automatic equipment is arranged.
8. the control method of automatic operation equipment according to claim 1, is characterized in that: described working time plan comprises the plan of first working time and servicing time plan.
9. the control method of automatic operation equipment according to claim 1, is characterized in that: the plan of described working time comprises the identical sub-working time plan of multiple cycle.
10. the control method of automatic operation equipment according to claim 9, is characterized in that:
The described cycle is 24 hours.
The control method of 11. automatic operation equipment according to claim 9, is characterized in that:
Described multiple sub-working time plan is identical.
The control method of 12. automatic operation equipment according to claim 9, is characterized in that:
The decreasing duration of duty in the works of described multiple sub-working time.
The control method of 13. automatic operation equipment according to claim 9, is characterized in that:
The start time of duty in the works of described multiple sub-working time is different.
The control method of 14. automatic operation equipment according to claim 1, is characterized in that:
Described control method is further comprising the steps of: obtain external information; Based on described external information according to the described working time plan of default adjustment algorithm adjustment.
The control method of 15. automatic operation equipment according to claim 14, is characterized in that:
Described external information is the adjustment signal that user inputs.
The control method of 16. automatic operation equipment according to claim 14, is characterized in that:
Described external information is latitude, longitude, the date and time information of self position that described automatic operation equipment is obtained by GPS location.
The control method of 17. automatic operation equipment according to claim 16, is characterized in that:
Described default adjustment algorithm is:
Judge that the default latitude, longitude at described latitude, longitude place is interval;
Between the default date field judging described date place;
According to the described working time plan of plan for adjustment adjustment corresponding between described default latitude, longitude interval and described default date field.
The control method of 18. automatic operation equipment according to claim 14, is characterized in that:
Described external information is the temperature and humidity information of described self position of automatic operation equipment that described automatic operation equipment is obtained by sensor.
The control method of 19. automatic operation equipment according to claim 18, is characterized in that:
Described default adjustment algorithm is:
Judge that the preset temperature at described temperature place is interval;
Between the default humidity province judging described humidity place;
According to the described working time plan of plan for adjustment adjustment corresponding between described preset temperature interval and described humidity province.
The control method of 20. automatic operation equipment according to claim 14, is characterized in that:
Adjusting the plan of described working time is the duration adjusting described duty.
The control method of 21. automatic operation equipment according to claim 20, is characterized in that:
Adjusting the plan of described working time is the duration of described duty is multiplied by coefficient with the duration of described duty replace.
The control method of 22. automatic operation equipment according to claim 14, is characterized in that:
Adjusting the plan of described working time is the start time adjusting described duty.
The control method of 23. automatic operation equipment according to claim 1, is characterized in that:
The border of described perform region is detected by the border sensor being arranged at both sides, described automatic operation equipment axis, when first the border sensor of wherein side detects border, described automatic operation equipment is to the directional steering at the border sensor place of opposite side.
The control method of 24. automatic operation equipment according to claim 1, is characterized in that:
The border of described perform region is detected by the border sensor being arranged at both sides, described automatic operation equipment axis, when described border sensor detects border, described automatic operation equipment judges described axis and border angulation, and walks on to the direction reducing acute angle or right angle angle formed by axis and border.
25. 1 kinds of automatic operation equipment, work of automatically walking in the perform region of setting, comprising:
Casing;
Operational module;
Walking module, supports and drives described automatic operation equipment to walk;
It is characterized in that, perform region described in described automatic operation equipment Inspection, and based on the described perform region setting working time.
26. 1 kinds of automatic operation equipment, work of automatically walking in the perform region of setting, has duty and dormant state, comprising:
Casing;
Operational module;
Walking module, supports and drives described automatic operation equipment to walk;
Main control module, controls described walking module and described operational module work;
It is characterized in that, described automatic operation equipment also comprises area information collecting unit, area information collecting unit gathers the area information of described perform region, described main control module receives described area information, working time plan is formulated according to default Scheduling Algorithm based on described area information, and control described operational module and described walking module and enter duty and state of deactivating according to described working time plan, enter dormant state.
27. automatic operation equipment according to claim 26, is characterized in that: described automatic operation equipment is mower or suction cleaner.
28. 1 kinds of automatic operation equipment, work of automatically walking in the perform region of setting, has duty and dormant state, comprising:
Casing;
Operational module;
Walking module, supports and drives described automatic operation equipment to walk;
Main control module, controls described walking module and described operational module work;
It is characterized in that, described automatic operation equipment also comprises information acquisition unit, gather the information of described self region of automatic operation equipment, described main control module receives described information, working time plan is formulated according to default Scheduling Algorithm based on described information, and control described operational module and described walking module and enter duty and state of deactivating according to described working time plan, enter dormant state.
29. automatic operation equipment according to claim 28, is characterized in that: described information acquisition unit is GPS module, and what gather in the area of self region, latitude, longitude, date, time data is one or more.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| CN201210017838.2 | 2012-01-20 | ||
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| CN201210045300.2 | 2012-02-27 | ||
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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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| CN103217898A (en) | 2013-07-24 |
| CN103217926A (en) | 2013-07-24 |
| CN103217898B (en) | 2016-04-06 |
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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 |