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CN111602097A - 自移动设备及其控制方法 - Google Patents

自移动设备及其控制方法 Download PDF

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Publication number
CN111602097A
CN111602097A CN201980008687.4A CN201980008687A CN111602097A CN 111602097 A CN111602097 A CN 111602097A CN 201980008687 A CN201980008687 A CN 201980008687A CN 111602097 A CN111602097 A CN 111602097A
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CN
China
Prior art keywords
self
control method
battery pack
charging station
moving equipment
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Application number
CN201980008687.4A
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English (en)
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CN111602097B (zh
Inventor
高振东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Publication of CN111602097A publication Critical patent/CN111602097A/zh
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Harvester Elements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种自移动设备及其控制方法，其中，自移动设备包括提供能量的电池包，并根据检测到的引导信号自动返回充电站充电，自移动设备在无边界线的工作区域内移动，控制方法包括如下步骤：监测电池包的工作参数；若电池包工作参数满足第一预设范围，且检测到引导信号，则控制自移动设备回归充电站。有益效果是提高自移动设备回归充电站的成功率。

Description

PCT国内申请，说明书已公开。

Claims (60)

  1. PCT国内申请，权利要求书已公开。
CN201980008687.4A 2018-01-24 2019-01-24 自移动设备及其控制方法 Active CN111602097B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN2018100679824 2018-01-24
CN201810067982.4A CN110063142B (zh) 2018-01-24 2018-01-24 割草机的回归方法和装置
PCT/CN2019/073033 WO2019144916A1 (zh) 2018-01-24 2019-01-24 自移动设备及其控制方法

Publications (2)

Publication Number Publication Date
CN111602097A true CN111602097A (zh) 2020-08-28
CN111602097B CN111602097B (zh) 2023-09-12

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CN201810067982.4A Active CN110063142B (zh) 2018-01-24 2018-01-24 割草机的回归方法和装置
CN201980008687.4A Active CN111602097B (zh) 2018-01-24 2019-01-24 自移动设备及其控制方法

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CN201810067982.4A Active CN110063142B (zh) 2018-01-24 2018-01-24 割草机的回归方法和装置

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CN (2) CN110063142B (zh)
WO (1) WO2019144916A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024221640A1 (zh) * 2023-04-28 2024-10-31 浙江白马科技有限公司 控制方法、自主作业设备、停靠站以及自主作业系统

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* Cited by examiner, † Cited by third party
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WO2019167199A1 (ja) * 2018-02-28 2019-09-06 本田技研工業株式会社 制御装置、移動体及びプログラム
CN114430988A (zh) * 2020-11-04 2022-05-06 南京德朔实业有限公司 智能割草机
CN114683874B (zh) * 2020-12-25 2024-08-16 苏州宝时得电动工具有限公司 自动工作系统、充电站及充电控制方法
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
CA3181601A1 (en) 2021-11-10 2023-05-10 Techtronic Cordless Gp Robotic lawn mowers
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
AU2023204696A1 (en) 2022-07-19 2024-02-08 Techtronic Cordless Gp Display for controlling robotic tool
AU2023206123A1 (en) 2022-07-29 2024-02-15 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool

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CN103294056A (zh) * 2012-03-02 2013-09-11 苏州宝时得电动工具有限公司 自动行走设备及其控制方法
CN103645733A (zh) * 2013-12-02 2014-03-19 江苏建威电子科技有限公司 自寻充电机器人及其自寻充电系统和方法
US20160070268A1 (en) * 2014-09-10 2016-03-10 Joseph Y. Ko Automatic homing and charging method for self-moving cleaning apparatus
CN105467983A (zh) * 2014-08-22 2016-04-06 扬州维邦园林机械有限公司 自动行走设备导引系统和方法

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Publication number Priority date Publication date Assignee Title
GB201005259D0 (en) * 2010-03-29 2010-05-12 F Robotics Acquisitions Ltd Improvements relating to lawnmowers
CN102680897B (zh) * 2011-03-15 2014-10-29 联芯科技有限公司 电池电量管理方法和装置
CN103260127A (zh) * 2012-02-20 2013-08-21 联想(北京)有限公司 为电子设备提供服务的方法、对象定位方法及电子设备
CN103283404B (zh) * 2012-03-02 2016-10-05 苏州宝时得电动工具有限公司 自动行走设备及其控制方法
CN103565344B (zh) * 2012-08-08 2017-04-19 科沃斯机器人股份有限公司 自移动机器人及其行走方法
CN102960125A (zh) * 2012-12-07 2013-03-13 金阳 用于割草机器人的太阳能智能导航供电站
CN103891464B (zh) * 2012-12-28 2016-08-17 苏州宝时得电动工具有限公司 自动割草系统
CN104029207B (zh) * 2013-03-08 2017-05-10 科沃斯机器人股份有限公司 自移动机器人激光引导行走作业系统及其控制方法
CN104798540A (zh) * 2014-01-24 2015-07-29 苏州宝时得电动工具有限公司 电池供电割草机
CN106712135A (zh) * 2015-08-11 2017-05-24 苏州宝时得电动工具有限公司 自移动设备的智能节电系统及方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103294056A (zh) * 2012-03-02 2013-09-11 苏州宝时得电动工具有限公司 自动行走设备及其控制方法
CN103645733A (zh) * 2013-12-02 2014-03-19 江苏建威电子科技有限公司 自寻充电机器人及其自寻充电系统和方法
CN105467983A (zh) * 2014-08-22 2016-04-06 扬州维邦园林机械有限公司 自动行走设备导引系统和方法
US20160070268A1 (en) * 2014-09-10 2016-03-10 Joseph Y. Ko Automatic homing and charging method for self-moving cleaning apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024221640A1 (zh) * 2023-04-28 2024-10-31 浙江白马科技有限公司 控制方法、自主作业设备、停靠站以及自主作业系统

Also Published As

Publication number Publication date
WO2019144916A1 (zh) 2019-08-01
CN110063142B (zh) 2022-02-11
CN111602097B (zh) 2023-09-12
CN110063142A (zh) 2019-07-30

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