CN103217977A - Control method of automatic working equipment - Google Patents
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- CN103217977A CN103217977A CN2012100183658A CN201210018365A CN103217977A CN 103217977 A CN103217977 A CN 103217977A CN 2012100183658 A CN2012100183658 A CN 2012100183658A CN 201210018365 A CN201210018365 A CN 201210018365A CN 103217977 A CN103217977 A CN 103217977A
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Abstract
Provided is a control method of automatic working equipment. The automatic working equipment can automatically walk and work in a set working area and has a working state and a dormant state. The control method of the automatic working equipment comprises the following steps: starting the automatic working equipment to operate; accessing to a studying state, walking and working are both conducted by the automatic working equipment; recording working information when the automatic working equipment meets pre-set conditions; setting a working time plan according to a pre-set scheduling algorithm based on the working information; accessing to the working state or quitting the working state according to the working time plan by the automatic working equipment, and accessing to the dormant state. The control method of the automatic working equipment has the advantages that the working time plan can be automatically set in the working process, a user does not need to conduct complicated setting, and thus use of the automatic working equipment is simple and convenient.
Description
Technical field
The present invention relates to a kind of control method of automatic working equipment.
Background technology
Along with continuous progress in science and technology, various automatic working equipments have begun the life of coming into people slowly, for example automatic cleaner and automatic mower etc.This automatic working equipment has running gear, equipment, and automaton, thereby make automatic working equipment can break away from people's operation, automatically walking and execution work within the specific limits, when the energy storage device energy shortage of automatic working equipment, it can return the charging station device automatically and charge, and works on then.Free people are uninteresting from house cleaning, turf-mown etc. and the housework work of wasting time and energy of this automatic working equipment, saved people's time, for people's life has brought facility.
Yet, the automatic control of working equipment more complicated often.When using automatic working equipment, the user need import a series of instruction first, makes starting working that automatic working equipment can be correct.For example the user need carry out the setting of perform region, the setting of working time, setting of mode of operation or the like.Yet the setting of this type of instruction often the difficulty, particularly have more multi-functional automatic working equipment or automatic working equipment that can the programmed preset work program, the setting that the user need seek corresponding column and carry out the step complexity in a large amount of menus; In addition, when the environment for use of automatic working equipment changed, the user need carry out above-mentioned setting again, has brought inconvenience to use.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of control method of automatic working equipment easy to use.
For achieving the above object, technical scheme provided by the invention is: a kind of control method of automatic working equipment, described automatic working equipment is walking work automatically in the perform region of setting, have duty and dormant state, described control method comprises the steps: to start described automatic working equipment operation; Enter mode of learning, described automatic working equipment walking and work; Write down described automatic working equipment and satisfy job information when pre-conditioned; Formulate the working time plan based on described job information according to default Scheduling Algorithm; Described automatic working equipment enters duty and the state of deactivating according to described working time plan, enters dormant state.
Preferably, described pre-conditioned be described automatic working equipment at the Preset Time internal burden less than preset value.
Preferably, the job information under the described recording learning pattern is the duration of recording learning pattern.
Preferably, described default Scheduling Algorithm is: the Preset Time interval of judging described duration place; Read the interval plan of corresponding working time of described Preset Time.
Preferably, the job information under the described recording learning pattern is the walking mileage under the recording learning pattern.
Preferably, described default Scheduling Algorithm is: the default mileage interval of judging described walking mileage place; Read the interval plan of corresponding working time of described default mileage.
Preferably, described working time plan comprises the sub-working time plan that a plurality of cycles are identical.
Preferably, the described cycle is 24 hours.
Preferably, described a plurality of sub-working time plan is identical.
Preferably, the duration of duty successively decreases in the works described a plurality of sub-working time.
Preferably, the start time difference of duty in the works of described a plurality of sub-working time.
Preferably, described control method is further comprising the steps of: obtain external information; Adjust described working time plan based on described external information according to default adjustment algorithm.
Preferably, described external information is the adjustment signal of user's input.
Preferably, latitude, longitude, the date and time information of described external information self position that to be described automatic working equipment obtain by the GPS location.
Preferably, described default adjustment algorithm is: the default latitude, longitude interval of judging described latitude, longitude place; Judge between the default date field at described date place; Adjust described working time plan according to corresponding plan for adjustment between described default latitude, longitude interval and described default date field.
Preferably, described external information is the temperature and humidity information of described automatic working equipment by described automatic working equipment self position of sensor acquisition.
Preferably, described default adjustment algorithm is: the preset temperature interval of judging described temperature place; Judge between the default humidity province at described humidity place; Adjust described working time plan according to corresponding plan for adjustment between described preset temperature interval and described humidity province.
Preferably, adjusting described working time plan is the duration of adjusting described duty.
Preferably, adjusting described working time plan is the duration of described duty to be multiply by coefficient with the duration of described duty replace.
Preferably, adjusting described working time plan is the start time of adjusting described duty.
Another kind of technical scheme provided by the invention is: a kind of automatic working equipment, and walking work automatically has duty and dormant state in the perform region of setting, and comprising: casing; Operational module; Walking module supports and drives described automatic working equipment walking; Main control module is controlled described walking module and described operational module work; Described automatic working equipment has mode of learning, and described main control module writes down described automatic working equipment and satisfy job information when pre-conditioned under mode of learning; Formulate the working time plan based on described job information according to default Scheduling Algorithm; Described automatic working equipment enters duty and the state of deactivating according to described working time plan, enters dormant state.
Preferably, described main control module detects the load of the operational module of described automatic working equipment, described pre-conditioned be described automatic working equipment at the Preset Time internal burden less than preset value.
Preferably, described main control module writes down the walking mileage of described automatic working equipment mode of learning.
Preferably, described main control module writes down the duration of described automatic working equipment mode of learning
Preferably, described automatic working equipment comprises inputting interface, the area information of typing user input.
Preferably, described automatic working equipment comprises the external information collecting unit, described external information collecting unit is gathered external information, and described main control unit receives described external information, adjusts described working time plan based on described external information according to default adjustment algorithm.
Preferably, described external information collecting unit is an inputting interface, the adjustment signal of typing user input.
Preferably, described external information collecting unit is the GPS locating module, and described GPS locating module obtains longitude and latitude, the date and time information of described automatic working equipment position.
Preferably, described external information collecting unit is a sensor, and described sensor obtains the temperature and humidity information of described automatic working equipment position.
Preferably, described main control unit is adjusted the duration of described duty
Preferably, described main control unit is adjusted the start time of described duty.
Preferably, described automatic working equipment comprises border sensor, be arranged at the both sides of described automatic working equipment axis, detect the border of described perform region, when wherein the border sensor of a side at first detected the border, described automatic working equipment was to the directional steering at the border sensor place of opposite side.
Preferably, described automatic working equipment comprises border sensor, be arranged at the both sides of described automatic working equipment axis, when described border sensor detects the border, described automatic working equipment is judged described axis and border angulation, and walks on to reducing the acute angle angle that the axis become with the border or the direction of right angle angle.
Preferably, described automatic working equipment is mower or suction cleaner.
Compared with prior art, the control method of automatic working equipment provided by the invention makes the user first when using automatic working equipment, can be easy or allow working equipment automatic setting work program; In use, if working environment changes, also can be easy or automatically working equipment automatically work program is adjusted, use easylier, can obtain good experience.
Description of drawings
The invention will be further described below in conjunction with drawings and embodiments;
Fig. 1 is the synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 2 is the side schematic view of the automatic working equipment that provides of embodiment of the present invention;
Fig. 3 is the circuit block diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 4 is the synoptic diagram of automatic working equipment in the perform region that embodiment of the present invention provides;
Fig. 5 is a kind of routing synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 6 is a kind of routing synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 7 is a kind of routing synoptic diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 8 is the process flow diagram of the automatic working equipment that provides of embodiment of the present invention;
Fig. 9 is the process flow diagram of the automatic working equipment that provides of second embodiment of the invention;
Figure 10 is the process flow diagram of the automatic working equipment that provides of third embodiment of the invention.
Wherein
1. automatic working equipment 143. control modules
11. walking module 15. detection modules
111. driving wheel 151,152. border sensors
12. operational module 16. user interfaces
13. energy-storage module 17. shells
14. main control module 3. boundary lines
141. processing unit 5. bus stops
142. storage unit
Embodiment
The present invention is described in detail below in conjunction with the drawings and the specific embodiments.
The automatic working equipment that the specific embodiment of the invention provides, walking work automatically in the perform region.Automatically working equipment can be automatic mower, perhaps automatic cleaner.They walk on lawn or the ground automatically, mow or dust suction work.Certainly, working equipment is not limited to automatic mower and automatic cleaner automatically, also can be the equipment of other types, and for example automatic spray appliance or automatic monitoring equipment etc. by automatic working equipment, are realized the unattended operation of every work.
See also Fig. 1-Fig. 2, automatically working equipment 1 comprises walking module 11, operational module 12, energy-storage module 13, main control module 14, detection module 15, user interface 16 and the shell 17 etc. of accommodating above-mentioned module.
Walking module 11 comprises motor and driving wheel 111, driving wheel 111 is driven respectively by a plurality of motors usually, and each rotating speed of motor or to turn to all be controlled, thereby in the process of working equipment walking automatically, turn to flexibly by the rotating speed of regulating driving wheel 111.Operational module 12 is the operational module that automatic working equipment is carried out, and the operational module of different automatic working equipments is different, and for example the operational module of automatic mower comprises mowing blade, cutting motor etc., is used to carry out the mowing work of automatic mower; The operational module of automatic cleaner then comprises dust-absorbing motor, and suction port, sweep-up pipe, vacuum chamber, dust collect plant etc. are used to carry out the service part of dust suction task.Energy-storage module 13 is generally chargeable battery, for the automatic mower operation provides electric power, perhaps connects external power source and charges; Preferably, energy-storage module 13 has charging or discharge prevention unit, can protect the charge or discharge of energy-storage module 13.User interface 16 is arranged at is convenient to the position that the user can see and operate on the shell 17, the automatic top of working equipment for example, user interface 16 generally includes display and input button, the user is by importing button to automatic working equipment input instruction, time, work program of automatic working equipment or the like for example are set, user interface 16 also can be can Long-distance Control telepilot.
Please in the lump referring to Fig. 3, detection module 15 is used to detect the information relevant with mower 1, and provides detection information to main control module 14, for the walking and the work of working equipment provide parameter automatically.Main control module 14 comprises processing unit 141, storage unit 142 and control module 143, processing unit 141 receives the information of detection module 15 or user interface 16 inputs, after treatment, deposit storage unit 142 in, perhaps from storage unit 142, read corresponding program, walk and work by control module 143 control walking module 11 and operational module 12.
See also Fig. 4, automatically working equipment 1 in the perform region, the perform region be boundary line 3 by artificial setting around the closed interval that forms, boundary line 3 can avoid automatic working equipment 1 to leave the perform region; The boundary line can be wall, railing etc.; Also can be lead or other signal generation apparatus of energising, for example electromagnetic signal or light signal.Be provided with bus stop 5 in the perform region, bus stop 5 is arranged on the boundary line 3, and working equipment 1 is stopped at bus stop 5 when quitting work automatically, enters dormant state; In the time of need starting working, from bus stop 5, enter duty once more.Bus stop 5 can provide charge function usually, for energy-storage module 13 charges.When the electric weight of energy-storage module 13 was not enough, working equipment 1 returned bus stop 5 and charges automatically.Bus stop 5 can provide guiding and butt joint to returning of automatic working equipment 1, and butt joint can realize wireless guiding by modes such as infrared ray or ultrasound waves, also can pass through boundary line 3 channeling conducts and butt joint.
See also Fig. 5-Fig. 7, automatically working equipment 1 walking work in the perform region, automatically working equipment 1 comprises at least one border sensor 151,152, border sensor 151,152 is arranged at the both sides of the axis X of automatic working equipment 1, is used to detect the position relation of automatic working equipment 1 and boundary line 3.Border sensor 1 can be range sensor, infrared ray sensor, ultrasonic sensor, crash sensor, Magnetic Sensor etc.
The dotted line that passes automatic working equipment 1 is the run trace of automatic working equipment 1, automatically working equipment 1 in the perform region along straight line moving, distance between border sensor 151,152 detections and the boundary line 3, if the border sensor 151 in axis X left side at first detects distance with boundary line 3 less than preset value, working equipment 1 is to the right hand steering of the axis X at border sensor 152 places automatically; If the border sensor 152 on X right side, axis at first detects distance with boundary line 3 less than preset value, 1 left side to the axis X at border sensor 151 places of working equipment turns to automatically.
Border sensor 151,152 also can detect the corner dimension between axis X and the boundary line 3, when in the border sensor 151,152 any one detect and boundary line 3 between distance during less than preset value, automatically the axis X and the boundary line 3 of working equipment 1 have an intersection point, axis X and boundary line 3 form an acute angle angle theta through the tangent line of this intersection point, automatically working equipment 1 continues walking forward, and to the directional steering that reduces this acute angle angle.When the border sensor 151,152 of X both sides, the axis of automatic working equipment 1 detect simultaneously and boundary line 3 between distance less than preset value, automatically the axis X of working equipment 1 passes through between the tangent lines of their intersection points vertical mutually with boundary line 3, at this moment, working equipment turns at random automatically.
Automatically the preset value of the minor increment between working equipment 1 and the boundary line 3 is set to and satisfies following condition: in the steering procedure of automatic working equipment 1; can keep walking; thereby halt or fall back when having avoided automatic working equipment 1 to turn to; saved the time; avoided frequent startup and shutdown also to save electric power; reduce the charging times of automatic working equipment, thereby improved the work efficiency of automatic working equipment greatly.Aforesaid routing form also can improve the wheel efficiency of automatic working equipment 1 in the perform region, particularly can walk out the narrow range in the perform region efficiently.Aforesaid routing form, make automatic working equipment 1 when the identical perform region of processing area, no matter how are the shape of perform region, the obstacle in the perform region or work complexity, the time that automatic working equipment 1 is finished the work is similar, for the present invention, this is important.Certainly, can satisfy automatic working equipment 1 when the identical perform region of processing area, the time of finishing the work is that the path planning mode of similar this condition is not unique, the automatic route that can once pass by by the GPS position the record of working equipment for example, when working equipment is walked automatically, the route of as far as possible avoiding repeated rows to pass by, thus improved the wheel efficiency of automatic working equipment in the perform region, for the identical perform region of area, the time of finishing the work is similar.Also have other path planning mode, do not give unnecessary details one by one at this.
See also Fig. 8, the control method of automatic working equipment 1 provided by the invention may further comprise the steps:
Step S0: system start-up.The user when using automatic working equipment 1, by user interface 16 start-up systems, carries out the initialization of system first, and initialization comprises every self-examination of automatic working equipment 1, for example dump energy of energy-storage module 142 or the like.During system start-up, working equipment 1 preferably is on the bus stop 5 automatically, if the dump energy deficiency of energy-storage module 142 is charged by 5 pairs of energy-storage modules 142 of bus stop.
Step S1: the area information of obtaining the perform region.Automatically working equipment 1 is from bus stop 5, and 3 take a round around the perform region row along the boundary line, get back to bus stop 5 once more; Automatically the detection module 15 of working equipment 1 comprises the GPS module, and in the process of walking, the GPS module is measured the coordinate of each measurement point on the course automatically, and goes out the area of the perform region that each measurement point centers on by the coordinate Calculation that measures.For the perform region of shape comparison rule, the automatic coordinate on each summit that working equipment 1 also can be by the independent measurement perform region, and then calculate the area of perform region.
At this moment, the area information of perform region is obtained automatically by detection module 15, and certainly, area information also can perhaps be imported by the automatic working equipment 1 and the connecting interface of computer or other equipment by user interface 16 by manually importing.
Step S2: judge that area information is obtained and whether finish.When automatically working equipment 1 was got back to bus stop 5 once more, main control module 14 was judged as area information and obtains and finish, and controlled automatic working equipment 1 and stopped along the boundary line 3 walking.When artificial input area information, main control module 14 detects whether input validation signal of user interface 16, when detecting user interface 16 input validation signals, is judged as area information and obtains and finish.When judging that area information obtains when finishing, can carry out next step operation; If the judgement area information is also obtained do not finish, then continue to obtain the area information of perform region.
Step S3: processing area information.After the area information of the perform region that processing unit 141 reception detection modules 15 or user interface 16 provide, area information is handled, the main control module 14 that converts automatic working equipment 1 to can the recognition data form.
Step S4: formulate the working time plan according to default Scheduling Algorithm.Storage unit 142 stored preset work time plans, the preset work time plan is corresponding with the working area interval.For example, 600 square metres to 699 square metres perform region, corresponding working time plan is work 10 hours, 700 square metres to 799 square metres perform region, corresponding working time plan is work 15 hours.When the area of perform region is 720 square metres, processing unit 141 is compared area information with each area interval in the storage unit 142, the area of perform region is greater than 700 square metres and less than 800 square metres, then processing unit 141 reads the interval 700 square metres of work programs to 800 square metres of correspondences of working area, and the working time plan of formulating this task is work 15 hours.The preset work time that provides in present embodiment in the works, and is easy in order to narrate, and only listed two area intervals for example, and the area interval of each perform region is 100 square metres; In fact, the number in area interval can be more, and the area interval also can be other values beyond 100 square metres.For example the working area scope of working equipment 1 is 0 square metre to 1500 square metres automatically, when each area interval is 100 square metres, can be divided into 15 area intervals; Automatically the working area scope of working equipment 1 is 0 square metre to 2000 square metres, when each area interval is 100 square metres, can be divided into 20 area intervals; Automatically the working area scope of working equipment 1 is 0 square metre to 1500 square metres, when each area interval is 50 square metres, can be divided into 30 area intervals; Automatically the working area scope of working equipment 1 is 0 square metre to 2000 square metres, when each area interval is 50 square metres, can be divided into 40 area intervals.
In addition, default Scheduling Algorithm also can be that to be stored in the storage unit 142 be the preset function of variable with the area information, processing unit 141 is with the described preset function of area information substitution that receives, calculate the required time of finishing the work according to described preset function, from described storage unit 142, read the working time plan of described correspondence as a result, formulate the working time plan of task for this reason.
Further, the working time plans to carry out respectively in a plurality of unit interval, comprises the sub-working time plan that a plurality of cycles are identical, the length in each cycle unit interval can be set as required, for example each cycle unit interval is 8 hours, 12 hours, 24 hours or the like; In each cycle unit interval, the duty duration of working equipment 1 can be identical automatically, also can be different.In the present embodiment, when working equipment 15 hours working time of 1 execution work plans automatically, work in its first day finishes to enter dormant state after 7 hours, finish to enter dormant state after 5 hours work in second day, work in the 3rd day 3 hours, finish the work, in each cycle unit interval, the duration of duty successively decreases.
Further, the working time plan comprises first working time plan and servicing time plan, when working equipment 1 is worked in the perform region for the first time automatically, is brand-new work, and workload is bigger, so consuming time longer; After finishing first task, spend less time maintenance work effect every day.The servicing time plan begins to carry out after first task is finished, and comprises the working time plan in a plurality of cycles unit interval.In the present embodiment, after working equipment 1 is finished first working time plan automatically, carry out the servicing time plan, worked every day 2 hours.
Preset work time plan or formula are according to the automatic path planning mode of working equipment 1, through experiment or set up that model draws.Choose comparatively loose data when formulating the preset work time plan, for example under this path planning mode, in perform region of the same area, finish the work required maximum time, thereby guarantee in all cases, can both finish overwhelming majority work.
Step S5: execution work period planning.Automatically working equipment 1 is planned to enter duty at preset time according to the working time after obtaining the working time plan, and at the preset time state of deactivating, enters dormant state.
See also Fig. 9, the control method of the automatic working equipment 1 that second embodiment of the invention provides may further comprise the steps:
Step S10: system start-up.The start-up course of system is identical with first embodiment in the second embodiment of the invention, is not repeated in this description at this.
Step S11: judge whether to enter the self study pattern.Automatically working equipment 1 is after startup, judge whether to enter the self study pattern, for example the processing unit 141 of working equipment 1 detects when existing the working time to plan automatically, judges that automatic working equipment 1 need not to enter the self study pattern, carries out this working time plan; Automatically the processing unit 141 of working equipment 1 detects when not existing the working time to plan, and enters the self study pattern.Automatically whether working equipment 1 also can change and judge whether to enter the self study pattern by detecting himself geographic location, when the geographic position at automatic working equipment 1 place does not change, automatically working equipment 1 does not enter the self study pattern, when the geographic position at working equipment 1 place changes automatically, enter the self study pattern.Automatically working equipment 1 also can judge whether to enter the self study pattern by the time interval of detecting between its this on time and on time last time, when time interval during greater than predetermined value, automatically working equipment 1 enters the self study pattern, when time interval during less than predetermined value, working equipment 1 does not enter the self study pattern automatically.
In addition, working equipment 1 can also judge whether to enter the self study pattern according to the information that the user imports by user interface 16 automatically, and when the user selected to enter the self study pattern by user interface 16, working equipment 1 entered the self study pattern automatically; When the user selected not enter the self study pattern by user interface 16, working equipment 1 did not enter the self study pattern automatically.
Step S12: enter the self study pattern.Automatically working equipment 1 enters the self study pattern, and under the self study pattern, working equipment 1 does not carry out the setting of working time plan automatically, from bus stop 5, according to default path planning mode, walking work in the perform region.Detection module 15 detects the job information of automatic working equipment 1, and job information can comprise one or more in working time that automatic working equipment 1 moves, walking mileage, operating load, walking path or the like under the self study pattern.
Step S13: judge whether to withdraw from the self study pattern.Detection module 15 comprises current detecting unit, the load current of testing module 12, processing unit 141 compares the preset value of the storage in detected load current and the storage unit 142, if in a period of time, the load current of operational module 12 is all the time less than preset value, processing unit 141 judgment task modules 12 do not have load in long-time, control automatic working equipment 1 and withdraw from the self study pattern.
Automatically working equipment 1 also can judge whether withdraw from the self study pattern by out of Memory.When for example working equipment 1 is automatic mower automatically, detection module 15 comprises the feeler of the bottom that is arranged on automatic mower, feeler detects the contact information of the bottom of grass and automatic mower, if in a period of time, feeler does not detect activation signal all the time, processing unit 141 thinks that work finishes, and the control automatic mower withdraws from the self study pattern.When automatic working equipment is automatic cleaner, detection module 15 can detect the recruitment of dust in the dust collect plant, in a period of time, if sensor does not detect the increase of dust all the time, processing unit 141 thinks that the work of automatic cleaner finishes, and the control automatic cleaner withdraws from the self study pattern.In addition, working equipment 1 can also pass through camera automatically, and infrared sensor or the like judges whether withdraw from the self study pattern, does not enumerate one by one at this.
Automatically judge whether withdraw from the self study pattern by automatic working equipment 1 as mentioned above, certainly, it also can be controlled by user interface 16 by the user, when the user judges that automatic working equipment 1 need withdraw from the self study pattern, press corresponding button on the user interface 16, working equipment 1 withdraws from the self study pattern automatically.
Step S14: record satisfies the job information when pre-conditioned.Automatically working equipment 1 satisfies when pre-conditioned, notes the job information of detection module 15 detected automatic working equipments 1, for example working time of moving under the self study pattern of working equipment 1, walking mileage, operating load, walking path or the like automatically.
Record satisfies the job information when pre-conditioned, can or withdraw from before withdrawing from the self study pattern after the self study pattern or carrying out in the self study pattern withdrawing from, so the order of step S13 and step S14 can be exchange or carry out simultaneously, but record always satisfy pre-conditioned this time point the time job information.
Step S15: handle the job information under the self study pattern.141 pairs of job informations of processing unit are handled, and the main control module 14 that converts automatic working equipment 1 to can the recognition data form.
Step S16: according to default algorithmization working time plan.Storage unit 142 stored preset work time plans, preset work time plan are corresponding with the job information of automatic working equipment 1 under the self study pattern.For example, working equipment 1 is under the self study pattern automatically, and the time that the work in the zone of finishing the work is used, corresponding working time plan was safeguarded for working every day in 2 hours in 10 hours-15 hours intervals; Finish the work time of using in 16 hours-20 hours intervals under the self study pattern, and corresponding working time plan was safeguarded for working every day in 3 hours.Working time under the self study pattern of noting is 12 hours, processing unit 141 is compared the working time with each time interval in the storage unit 142, the size of working time is greater than 10 hours and less than 15 hours, then processing unit 141 reads corresponding work program of interval 10 hours to 15 hours of working time, formulates the working time plan of this task and safeguards in 2 hours for working every day.
Certainly, the preset work time plan also can be corresponding with automatic working equipment 1 other job information under the self study pattern, the walking mileage that for example under the self study pattern, moves, processing unit 141 mileage of will walking is compared with each mileage interval in the storage unit 142, chooses corresponding work program as the working time plan of working equipment 1 automatically.
Certainly, the preset work time plan also can be with the job information of automatic working equipment 1 under the self study pattern in one or more corresponding, automatic one or more in the working time of working equipment 1 under the self study pattern, walking mileage, operating load, walking path or the like for example.
In addition, default algorithm also can be to be the formula of variable with the job information of automatic working equipment 1 under the self study pattern, processing unit 141 calculates the required time of finishing the work with the default formula of job information substitution that receives, and formulates the working time plan of task for this reason.
Step S17: execution work period planning.Automatically working equipment 1 is planned to enter duty at preset time according to the working time after obtaining the working time plan, and at the preset time state of deactivating, enters dormant state.
See also Figure 10, the control method of the automatic working equipment 1 that third embodiment of the invention provides may further comprise the steps:
Step S20: system start-up.The start-up course of system is identical with first embodiment in the third embodiment of the invention, is not repeated in this description at this.
Step S21: formulate the working time plan.Automatically working equipment 1 is formulated the working time plan after startup.The working time plan can be the method that adopts the first embodiment of the invention and second embodiment to provide, and formulates voluntarily by automatic working equipment 1.Automatically the plan of the working time of working equipment 1 also can be by user interface 16 by manually importing, perhaps import by the automatic working equipment 1 and the connecting interface of computer or other equipment.
Step S22: execution work.Automatically working equipment 1 is planned to enter duty at preset time according to the working time after obtaining the working time plan, and at the preset time state of deactivating, enters dormant state.
Step S23: obtain external information.Automatically the external information of working equipment 1 comprises the date, time, geographic coordinate, environmental information of himself position etc.In when work, the detection external information that detection module 15 is real-time; Detect external information and also can regularly carry out, for example working equipment 1 is carried out one-time detection at every turn when dormant state enters duty automatically; Perhaps automatically working equipment 1 at set intervals the cycle carry out one-time detection, for example every a week or one month, carry out one-time detection.
Step S24: judge whether external information is obtained and finish.When working equipment 1 obtains external information automatically, normally obtain with certain combination, when the GPS module is obtained from geographic coordinate, the time and date of the equipment of doing 1 self position of starting building, all obtain when finishing, judge that external information is obtained to finish when three data.During environmental sensor testing environment information, all obtain when finishing, be judged as external information and obtain and finish when the temperature and humidity data.
Step S25: handle external information.After the external information that processing unit 141 reception detection modules 15 provide, external information is handled, the main control module 14 that converts automatic working equipment 1 to can the recognition data form.
Step S26: according to default algorithm modification period planning.Storage unit 142 stored are the default plan for adjustment of benchmark with the working time plan.
It is different that different automatic working equipments is set up the foundation of working time plan plan for adjustment.
When automatic working equipment 1 was automatic mower, the plan for adjustment of storage unit 142 stored was set based on the growth rhythm of grass in 1 year in each area, the whole world, and these rules can be learnt by the meteorological statistics data.For example, the grass of CHINESE REGION, the speed of growth is in summer the soonest, next is spring, autumn, winter, grass growth was the slowest, then as shown in Table 1 at the plan for adjustment of storage unit 142 stored:
Table one
| February-April | May-July | August-October | November-January next year |
| 100％ | 150％ | 90％ | 50％ |
Plan for adjustment in the table one is on the basis of the working time of automatic mower 1 plan, and the time of working in each unit interval be multiply by default coefficient, thereby increases or the minimizing working time.In Table 1, default coefficient is the form of number percent, and certainly, default coefficient also can be other form, for example decimal or function.
Time, date and geographic coordinate information that the GPS module that processing unit 141 receives detection module 15 provides, judge at first which zone automatic mower is in, for example the coordinate that is obtained from the position at motor mower place when the GPS module is east longitude 120 degree, north latitude 20 degree, date is when being June 1, processing unit 141 compares the global map data of geographic coordinate information and storage unit 142 stored, draws automatic mower and is in regional; Compare between each date field as shown in Table 1 of storage again with in the storage unit 142, the plan for adjustment of knowing automatic mower multiply by 150% on the basis of working time plan.For example automatic mower need be mowed 10 hours in the works the working time, and when automatic mower detected aforesaid external information, the mowing time of adjusting automatic mower was 15 hours.
In the default plan for adjustment that present embodiment provides, easy in order to narrate, be the interval with 3 months, this interval can be set according to needs, for example one month even shorter, the interval time that crosses over was short more, can be more accurate to the adjustment of the work of automatic mower.
Further, the automatic mower time plan for adjustment that can also begin to mow by change.Different regions in the different time in 1 year, the sunrise asynchronism(-nization), grass is can be relatively moist before sunrise, this is disadvantageous to mowing work.In default plan for adjustment, can add beginning the adjustment of the time of mowing.As the described plan for adjustment of table one: February-during April, do not change the start time of mowing; The May-during July, will mow 1 hour in advance start time because summer at sunrise between early; The August-during October, do not change the start time of mowing; When November-January next year, the start time of will mowing postpones 2 hours, because later at sunrise.Thereby avoided under the very moist situation of grass, mowing.
The plan for adjustment of storage unit 142 stored also can be set based on the growth rhythm under careless different temperatures and the different humidity situation, and these rules can be learnt by the meteorological statistics data equally easily.For example, greater than 20 degrees centigrade, humidity is the fastest greater than 30% o'clock speed of growth in temperature for grass, and then automatic mower can increase the mowing time accordingly by plan for adjustment; Grass is lower than 10 degrees centigrade in temperature, and it is the slowest that humidity is lower than 10% o'clock speed of growth, and then automatic mower can reduce the mowing time accordingly by plan for adjustment; Temperature humidity is between above-mentioned two intervals the time, and automatic mower is not adjusted the working time plan.
When working equipment 1 is automatic cleaner automatically, the plan for adjustment of storage unit 142 stored then can be set based on weather and the corresponding relation that forms between the airborne dust, for example by the detected external information of GPS module, processing unit 141 is judged the geographic position at automatic cleaner place, be easy to form airborne dust weather in the current time, then increase the dust suction time accordingly; The dust suction time when the current time is difficult for forming airborne dust weather, is reduced accordingly in geographic position when the automatic cleaner place.When obtaining external information by the environmental sensor detection, processing unit 141 is judged the position at automatic cleaner places, and whether the temperature and humidity situation is beneficial to the formation airborne dust, if temperature is higher, humidity is bigger, then is difficult for forming airborne dust, can reduce the dust suction time accordingly; If temperature is higher, humidity is lower, then is easy to form form, and can increase the dust suction time accordingly.The mode and the foregoing automatic mower of automatic cleaner adjustment working time plan are similar, are not repeated in this description at this.
Step S27: carry out amended working time plan.Automatically working equipment 1 was planned to enter duty at preset time according to the amended working time, and at the preset time state of deactivating, entered dormant state.
In the present embodiment, working equipment 1 obtains external information automatically by detection module automatically, and in addition, working equipment 1 also can be adjusted parameter by the manual input working time plan of user by user interface 16 automatically.
Automatically on the user interface 16 of working equipment 1 the adjustment button is set, for example increase and reduce work duration button, when the user selects to increase work duration button, processing unit 141 receives the input information that user interface 16 provides, it is handled, read corresponding adjustment parameter from storage unit 142; When for example the user selected once to increase work duration button, the plan for adjustment of correspondence was for the working time of increase by 10%, and when user's Continuous Selection twice, corresponding plan for adjustment is the working time of increase by 20%; When the user selected once to reduce work duration button, the plan for adjustment of correspondence was for the working time of minimizing 10%, and when user's Continuous Selection twice, corresponding plan for adjustment is the working time of minimizing 20%.Equally, the user also can regulate the time that automatic working equipment 1 is started working easily by user interface 16.
Certainly, the control method of the automatic working equipment that third embodiment of the invention provides, can be applied on the automatic working equipment that the working time plan need manually be set, also can be applied on the automatic working equipment that need not manually to be provided with the working time plan, particularly the control method of the automatic working equipment that provides with first embodiment of the invention and second embodiment of the invention is used in combination.
Automatic working equipment provided by the invention and control method thereof, when first task, need not to carry out complicated setting, just can start working, in the process of using, more can change the working time plan automatically according to external conditions such as weathers, feasible use is convenient more, brings good experience to the user.
What it may occur to persons skilled in the art that is; the present invention can also have other implementation; but as long as its technical spirit that adopts is identical with the present invention or close, variation that perhaps any easy full of beard of making based on the present invention reaches and replacement are all within protection scope of the present invention.
Claims (20)
1. the control method of an automatic working equipment, described automatic working equipment is walking work automatically in the perform region of setting, and has duty and dormant state, it is characterized in that described control method comprises the steps:
Start described automatic working equipment operation;
Enter mode of learning, described automatic working equipment walking and work;
Write down described automatic working equipment and satisfy job information when pre-conditioned;
Formulate the working time plan based on described job information according to default Scheduling Algorithm;
Described automatic working equipment enters duty and the state of deactivating according to described working time plan, enters dormant state.
2. the control method of automatic working equipment according to claim 1 is characterized in that: described pre-conditioned for described automatic working equipment at the Preset Time internal burden less than preset value.
3. the control method of automatic working equipment according to claim 1, it is characterized in that: the job information under the described recording learning pattern is the duration of recording learning pattern.
4. the control method of automatic working equipment according to claim 3, it is characterized in that: described default Scheduling Algorithm is:
Judge the Preset Time interval at described duration place;
Read the interval plan of corresponding working time of described Preset Time.
5. the control method of automatic working equipment according to claim 1, it is characterized in that: the job information under the described recording learning pattern is the walking mileage under the recording learning pattern.
6. the control method of automatic working equipment according to claim 5, it is characterized in that: described default Scheduling Algorithm is:
Judge the default mileage interval at described walking mileage place;
Read the interval plan of corresponding working time of described default mileage.
7. the control method of automatic working equipment according to claim 1 is characterized in that: described working time plan comprises the sub-working time plan that a plurality of cycles are identical.
8. the control method of automatic working equipment according to claim 7, it is characterized in that: the described cycle is 24 hours.
9. the control method of automatic working equipment according to claim 7 is characterized in that: described a plurality of sub-working times plans are identical.
10. the control method of automatic working equipment according to claim 7, it is characterized in that: described a plurality of sub-working times, the duration of duty successively decreased in the works.
11. the control method of automatic working equipment according to claim 7 is characterized in that: described a plurality of sub-working times are the start time difference of duty in the works.
12. the control method of automatic working equipment according to claim 1 is characterized in that: described control method is further comprising the steps of: obtain external information; Adjust described working time plan based on described external information according to default adjustment algorithm.
13. the control method of automatic working equipment according to claim 12 is characterized in that: described external information is the adjustment signal of user's input.
14. the control method of automatic working equipment according to claim 12 is characterized in that: latitude, longitude, the date and time information of described external information self position that to be described automatic working equipment obtain by the GPS location.
15. the control method of automatic working equipment according to claim 14 is characterized in that: described default adjustment algorithm is:
Judge the default latitude, longitude interval at described latitude, longitude place;
Judge between the default date field at described date place;
Adjust described working time plan according to corresponding plan for adjustment between described default latitude, longitude interval and described default date field.
16. the control method of automatic working equipment according to claim 12 is characterized in that: described external information is the temperature and humidity information of described automatic working equipment by described automatic working equipment self position of sensor acquisition.
17. the control method of automatic working equipment according to claim 16 is characterized in that: described default adjustment algorithm is:
Judge the preset temperature interval at described temperature place;
Judge between the default humidity province at described humidity place;
Adjust described working time plan according to corresponding plan for adjustment between described preset temperature interval and described humidity province.
18. the control method of automatic working equipment according to claim 12 is characterized in that: adjusting described working time plan is the duration of adjusting described duty.
19. the control method of automatic working equipment according to claim 18 is characterized in that: adjusting described working time plan is the duration of described duty to be multiply by coefficient with the duration of described duty replace.
20. the control method of automatic working equipment according to claim 12 is characterized in that: adjusting described working time plan is the start time of adjusting described duty.
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| CN2012100183658A CN103217977A (en) | 2012-01-20 | 2012-01-20 | Control method of automatic working equipment |
| PCT/CN2013/070649 WO2013107374A1 (en) | 2012-01-20 | 2013-01-18 | Automatic work apparatus and control method therefor |
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| CN2012100183658A CN103217977A (en) | 2012-01-20 | 2012-01-20 | Control method of automatic working equipment |
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