An automatic working system and its control method

Abstract

The present invention discloses an automatic working system and a control method thereof. The automatic working system includes a self-moving device, a charging station for the self-moving device to dock and charge, and a rechargeable active signal beacon. The self-moving device and the active signal beacon are respectively provided with adaptable docking charging structures. When the active signal beacon has a charging requirement, the self-moving device charges the active signal beacon via the charging structure. The automatic working system of the present invention can conveniently charge the active signal beacon by using a simple charging structure by setting an adaptable charging structure on the active signal beacon for the self-moving device, so that when the active signal beacon needs to be charged, the self-moving device can charge the active signal beacon.

Description

Technical Field

[0001] The present invention relates to an automatic working system and a control method thereof, and particularly to an automatic working system and a control method thereof with a simple structure and convenient charging. Background Art

[0002] With the development of science and technology, intelligent self - moving devices are well - known to people. Since self - moving devices can automatically execute preset related tasks according to preset programs without manual operation and intervention, they are widely used in industrial applications and household products. Industrial applications include robots that perform various functions, and household product applications include lawn mowers, vacuum cleaners, etc. These self - moving devices greatly save people's time and bring great convenience to industrial production and household life.

[0003] Taking a lawn mowing robot as an example, in some application scenarios, the robot needs to add active signals such as beacons, lighting, base stations, etc. powered by rechargeable batteries in the working environment. When the battery energy of these active signals is low, the robot can automatically charge them. For the lawn mowing robot to perform path - planned mowing, precise positioning is necessary. Active base station positioning such as Zigbee and UWB is an important positioning method. These active base stations use rechargeable batteries as power sources, and when the battery energy of these active signals is low, the lawn mowing robot can automatically charge them.

[0004] However, currently, the charging method is rather troublesome. For example, manually removing the battery for charging or using a solar panel for charging. Both require manually removing the battery for charging regularly or irregularly or cleaning the surface dirt of the solar panel, and it is impossible to achieve maintenance - free use. Summary of the Invention

[0005] To achieve the effects of a simple structure and convenient charging, the present invention provides an automatic working system.

[0006] The above - mentioned automatic working system includes a self - moving device, a charging station for the self - moving device to dock and charge, and a rechargeable active signal beacon. It is characterized in that: the self - moving device and the active signal beacon respectively have adaptable docking charging structures. Among them, when the active signal beacon has a charging requirement, the self - moving device charges the active signal beacon via the charging structure.

[0007] As an optional technical solution, when the active signal beacon has a charging requirement, the self - moving device moves to the position of the active signal beacon, docks with the active signal beacon through the charging structure and then charges the active signal beacon, and the position of the active signal beacon remains unchanged before and after charging.

[0008] As an optional technical solution, the active signal beacon is communicatively connected to the self-mobile device, and when the active signal beacon determines that there is a charging requirement, the active signal beacon sends a charging signal to the self-mobile device.

[0009] As an optional technical solution, the active signal beacon is non-communicatively connected to the self-mobile device, and the automatic working system charges the active signal beacon timely or regularly according to the power loss situation of the active signal beacon.

[0010] As an optional technical solution, the charging structure is a plug, a pin or a wireless charging structure.

[0011] As an optional technical solution, the active signal beacon is a beacon, a lighting beacon or a base station.

[0012] As an optional technical solution, the self-mobile device and the charging station also have a compatible second charging structure, and the charging station charges the self-mobile device via the second charging structure. The second charging structure includes a second male charging structure provided on the self-mobile device and a second female charging structure provided on the charging station.

[0013] As an optional technical solution, the charging structure includes a first male charging structure provided on the self-mobile device and a first female charging structure provided on the active signal beacon. The first male charging structure and the second male charging structure can be the same structure, and the structure of the first female charging structure is the same as the structure of the second female charging structure.

[0014] As an optional technical solution, after the automatic working system determines that the active signal beacon has a charging requirement, it first judges whether the power of the self-mobile device can still return to the charging station after charging the active signal beacon. If not, the self-mobile device returns to the charging station for charging first.

[0015] As an optional technical solution, when charging the active signal beacon, it is judged in real time whether the power of the self-mobile device is sufficient to return to the charging station. If so, the charging state is maintained. If not, the self-mobile device returns to the charging station for charging first.

[0016] As an optional technical solution, the self-mobile device is a lawn mowing robot.

[0017] The present invention also provides a control method for an automatic working system. The automatic working system includes a self-mobile device, a charging station for the self-mobile device to dock and charge, and a rechargeable active signal beacon. The control method includes:

[0018] Step S1: determining whether the active signal beacon has a charging requirement, if so, proceeding to step S2, if not, the automatic working system maintains the current state;

[0019] Step S2: Determine whether the power of the self-mobile device is sufficient, if yes, proceed to step S3, if not, proceed to step S4;

[0020] Step S3: the self-mobile device moves to the active signal beacon, docks with the active signal beacon, and then charges the active signal beacon;

[0021] Step S4: the self-mobile device returns to the charging station for charging.

[0022] As an optional technical solution, in step S3, the position of the active signal marker remains unchanged before and after charging.

[0023] As an optional technical solution, the active signal beacon is connected to the self-moving device in a non-communicative manner. In the step S1, the automatic working system charges the active signal beacon in a timely or regular manner according to the power loss of the active signal beacon.

[0024] As an optional technical solution, the active signal beacon may be communicatively connected to the self-mobile device. In the step S1 , when it is determined that the active signal beacon has a charging demand, the active signal beacon sends a charging signal to the self-mobile device.

[0025] As an optional technical solution, in step S2, if the self-mobile device still has enough power to return to the charging station after charging the active signal beacon, it is determined that the power of the self-mobile device is sufficient.

[0026] As an optional technical solution, when the automatic working system is in a non-charging station charging state, it is determined in real time whether the power of the self-moving device is sufficient to return to the charging station. If so, the current state is maintained; if not, the self-moving device returns to the charging station for charging.

[0027] Compared with the prior art, the beneficial effect of the present invention is that: the automatic working system of the present invention provides a charging structure that is compatible with the self-moving device on the active signal beacon. When the active signal beacon needs to be charged, the self-moving device can charge the active signal beacon. The automatic working system can conveniently charge the active signal beacon using a simple charging structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the automatic working system;

[0029] Figure 2 yesFigure 1 Schematic diagram of a self - moving device;

[0030] Figure 3 It is a flowchart of a control method for an automatic working system.

[0031] Some specific embodiments of the present invention will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same or similar components or parts are marked with the same reference numerals in the drawings. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. For example, for the convenience of illustration, certain dimensions of structures or parts are appropriately exaggerated relative to other structures or parts. Therefore, the drawings are only used to illustrate the basic structure of the subject matter of the present application. Specific embodiments

[0032] The present invention will be described in detail hereinafter in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, method, or functional transformation made by those of ordinary skill in the art based on these embodiments is included within the protection scope of the present invention.

[0033] Figure 1 It is a schematic diagram of an automatic working system, Figure 2 is Figure 1 Schematic diagram of a self - moving device in [name], please refer to Figure 1 、 Figure 2 . The automatic working system 100 includes a self - moving device 110, a charging station 120 for the self - moving device 110 to dock and charge, and a rechargeable active signal beacon 130. The self - moving device 110 is, for example, a lawn mowing robot, and the active signal beacon 130 is, for example, a beacon, a lighting beacon, or a base station.

[0034] The self - moving device 110 includes a first male charging structure 111, a left driving wheel 112, a right driving wheel 113, a caster wheel 114, a controller 115, a signal sensor 116, and a battery 117. The left driving wheel 112 and the right driving wheel 113 are respectively driven by two motors such as a gearbox and a brushless motor with a Hall sensor. By controlling the speed and direction of the left driving wheel 112 and the right driving wheel 113, driving actions such as forward, backward, turning, and circular arc can be achieved. At least one caster wheel 114 plays a role in supporting and balancing during the movement of the self - moving device 110. The controller 115 has a data storage function, including, for example, EEPROM, Flash, or SD card, etc. The signal sensor 116 is used to receive the signal emitted by the active signal beacon 130.

[0035] The self - moving device 110 utilizes at least three active signal markers 130 with rechargeable batteries (such as UWB, Zigbee, etc.) arranged inside or at the edge of the working area, as well as internal sensors such as gyroscopes and acceleration sensors that may be required, to perform precise pose, i.e., position and heading calculations, and to carry out efficient operations with path planning. For convenience, the active signal markers 130 are generally powered by rechargeable batteries (of course, if one of the active signal markers 130 is placed in a charging station, it can directly use the power of the charging station without a battery), because the active signal markers 130 consume low energy, and a fully - charged battery can provide power to the active signal markers 130 for a relatively long time. However, when the battery energy of the active signal marker 130 is lower than a given threshold, it still needs to be charged.

[0036] For convenient charging, the self - moving device 110 and the active signal marker 130 respectively have adaptable docking charging structures. In this embodiment, the above - mentioned charging structure is a mating structure of a plug pin + a socket. In other embodiments, the charging structure can also be a mating structure of a plug piece + a socket. Or, due to the small battery capacity and fewer charging times of the active signal marker 130, the charging structure can also adopt a wireless charging structure. Here, the charging structure is not limited, as long as it can meet the charging requirements of the automatic working system 100.

[0037] Specifically, the above - mentioned charging structure includes a first male charging structure 111 (such as a charging socket) provided on the self - moving device 110 and a first female charging structure 131 (such as a charging plug pin) provided on the active signal marker 130. The self - moving device 110 and the charging station 120 also have adaptable second charging structures. The charging station 120 charges the self - moving device 110 via the aforementioned second charging structures. The second charging structures include a second male charging structure provided on the self - moving device 110 and a second female charging structure 121 (such as a charging plug pin) provided on the charging station 120. In this embodiment, for simplicity of structure, the first male charging structure 111 and the second male charging structure can be the same structure, and the structure of the first female charging structure 131 is the same as the structure of the second female charging structure 121. Of course, in other embodiments, the charging structure and the second charging structure can also be two different sets of structures.

[0038] That is, in this embodiment, the charging station 120 charges the mobile device 110 through the cooperation of the second female charging structure 121 and the first male charging structure 111. The mobile device 110 also charges the active beacon 130 through the cooperation of the first male charging structure 111 and the first female charging structure 131. Specifically, when the active beacon 130 requires charging, the mobile device 110 charges the active beacon 130 via the charging structure. For example, when the active beacon 130 requires charging, the mobile device 110 moves to the active beacon 130 and docks with the active beacon 130 via the charging structure. The active beacon 130 remains in its original position before and after charging. This simplifies the structure, requiring only the corresponding charging structure to be provided on the active beacon 130. When charging is required, the mobile device 110 simply moves to the active beacon 130 and docks, allowing charging to proceed. This makes charging more convenient.

[0039] Generally speaking, there are more than one active beacon 130. For example, if there are three active beacons 130, the three active beacons 130 can be charged sequentially. Of course, the charging order of the three active beacons 130 also needs to consider the following factors to save power usage of the mobile device 110, such as the length of the mobile device 110's travel path and whether it needs to return to the charging station 120 for charging when a certain active beacon 130 is charging.

[0040] In this embodiment, the active beacon 130 is communicatively connected to the self-mobile device 110. When the active beacon 130 determines that charging is required, the active beacon 130 transmits a charging signal to the self-mobile device 110. In other embodiments, the active beacon 130 may be non-communicatively connected to the self-mobile device 110. In this case, the automatic operating system 100 charges the active beacon 130 in a timely or scheduled manner based on the power consumption of the active beacon 130. In other words, the automatic operating system 100 may also determine whether the active beacon 130 needs to be charged based on the power consumption of the active beacon 130.

[0041] It should be noted that after determining that the active signal beacon 130 has a charging requirement, preferably, it is necessary to determine whether the power of the self-mobile device 110 can return to the charging station 120 after charging the active signal beacon 130. If not, the self-mobile device 110 first returns to the charging station 120 for charging. Moreover, in the state of charging the active signal beacon 130 or in other non-charging states of the self-mobile device 110, it is necessary to continuously determine whether the power of the self-mobile device 110 is sufficient to return to the charging station 120. If so, the current status of the automatic working system 100 is maintained (for example, the charging status of the active signal beacon 130 or other statuses, such as the working status, etc.). If not, the self-mobile device 110 first returns to the charging station 120 for charging.

[0042] In this way, it is possible to avoid the situation where the self-mobile device 110 stops in the area other than the charging station 120 due to insufficient power to return to the charging station 120 after charging the active signal beacon 130.

[0043] Figure 3 It is a flowchart of the control method of the automatic working system. Please refer to it together. Figures 1 to 3 .

[0044] The control method 200 includes the following steps:

[0045] Step S1: Determine whether the active signal beacon has a charging requirement. If so, go to step S2. If not, the automatic working system maintains the current state;

[0046] Step S2: Determine whether the power of the self-mobile device is sufficient. If so, go to step S3. If not, go to step S4;

[0047] Step S3: The self-mobile device moves to the position of the active signal beacon, docks with the active signal beacon, and then charges the active signal beacon;

[0048] Step S4: The self-mobile device returns to the charging station for charging.

[0049] In step S3, before and after charging, the position of the active signal beacon remains unchanged.

[0050] In step S2, if the self-mobile device still has enough power to return to the charging station after charging the active signal beacon, it is determined that the power of the self-mobile device is sufficient.

[0051] The active signal beacon is communicably connected to the self-mobile device. In step S1, when it is determined that the active signal beacon has a charging requirement, the active signal beacon sends a charging signal to the self-mobile device.

[0052] The active signal beacon is non - communicatively connected to the self - moving device. In step S1, the automatic working system charges the active signal beacon timely or regularly according to the power loss condition of the active signal beacon.

[0053] When the automatic working system is in a non - charging - station charging state, it continuously judges whether the power of the self - moving device is sufficient to return to the charging station. If so, it maintains the current state. If not, the self - moving device returns to the charging station for charging.

[0054] In summary, the automatic working system of the present invention sets a charging structure adapted to the self - moving device on the active signal beacon. When the active signal beacon needs to be charged, the self - moving device can charge the active signal beacon, and the automatic working system can conveniently charge the active signal beacon by using a simple charging structure.

[0055] It should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments understandable to those skilled in the art.

[0056] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not used to limit the protection scope of the present invention. Any equivalent embodiments or changes made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic working system comprising a self-propelled device, a charging station for docking and charging the self-propelled device, and a rechargeable active signal beacon, characterized in that: The active signal marker is a beacon, an illumination marker or a base station; the self-moving device is a lawn mowing robot; The self-moving device and the active signal beacon are respectively provided with compatible dockable charging structures, wherein when the active signal beacon has a charging demand, the self-moving device charges the active signal beacon via the charging structures; When the active signal marker needs to be charged, the self-moving device moves to the active signal marker and charges the active signal marker after docking with the active signal marker through the charging structure, and the position of the active signal marker remains unchanged before and after charging; In which, the self-moving device and the charging station also have a corresponding second charging structure, and the charging station charges the self-moving device via the second charging structure, and the second charging structure includes a second male charging structure arranged on the self-moving device and a second female charging structure arranged on the charging station; the charging structure includes a first male charging structure arranged on the self-moving device and a first female charging structure arranged on the active signal beacon, the first male charging structure and the second male charging structure can be the same structure, and the structure of the first female charging structure is the same as that of the second female charging structure.

2. The automatic working system according to claim 1, characterized in that: The active signal beacon is communicatively connected to the self-mobile device. When the active signal beacon determines that there is a need for charging, the active signal beacon sends a charging signal to the self-mobile device.

3. The automatic working system according to claim 1, characterized in that: The active signal beacon is connected to the self-moving device in a non-communicative manner, and the automatic working system charges the active signal beacon in a timely or regular manner according to the power loss of the active signal beacon.

4. The automatic working system according to claim 1, characterized in that: The charging structure is a plug-in, a pin or a wireless charging structure.

5. The automatic working system according to claim 1, characterized in that: When the automatic working system determines that the active signal beacon needs to be charged, it first determines whether the power of the self-moving device can be returned to the charging station after charging the active signal beacon. If not, the self-moving device returns to the charging station for charging first.

6. The automatic working system according to claim 5, characterized in that: When the active beacon is being charged, it is determined in real time whether the power of the self-moving device is sufficient to return to the charging station. If so, the charging state is maintained; if not, the self-moving device first returns to the charging station for charging.

7. A control method for an automatic working system, the automatic working system comprising a self-moving device, a charging station for docking and charging the self-moving device, and a rechargeable active signal beacon, characterized in that: The active signal beacon is a beacon, an illuminated beacon, or a base station; the self-moving device is a lawn mowing robot; the self-moving device and the charging station further have a compatible second charging structure, and the charging station charges the self-moving device via the second charging structure, the second charging structure comprising a second male charging structure provided on the self-moving device and a second female charging structure provided on the charging station; the charging structure comprises a first male charging structure provided on the self-moving device and a first female charging structure provided on the active signal beacon, the first male charging structure and the second male charging structure may be the same structure, and the structure of the first female charging structure is the same as that of the second female charging structure; The control method includes: Step S1: determining whether the active signal beacon has a charging requirement, if so, proceeding to step S2, if not, the automatic working system maintains the current state; Step S2: Determine whether the power of the self-mobile device is sufficient, if yes, proceed to step S3, if not, proceed to step S4; Step S3: the self-moving device moves to the active signal beacon, docks with the active signal beacon, and then charges the active signal beacon; before and after charging, the position of the active signal beacon remains unchanged; Step S4: the self-mobile device returns to the charging station for charging.

8. The control method according to claim 7, wherein: The active signal beacon is connected to the self-moving device in a non-communicative manner. In the step S1 , the automatic working system charges the active signal beacon timely or regularly according to the power consumption of the active signal beacon.

9. The control method according to claim 7, wherein: The active signal beacon is communicatively connected to the self-mobile device. In step S1 , when it is determined that the active signal beacon has a charging demand, the active signal beacon sends a charging signal to the self-mobile device.

10. The control method according to claim 7, wherein: In step S2 , if the self-mobile device still has enough power to return to the charging station after charging the active beacon, it is determined that the power of the self-mobile device is sufficient.

11. The control method according to claim 7, wherein: When the automatic working system is in a non-charging station charging state, it is determined in real time whether the power of the self-moving device is sufficient to return to the charging station. If so, the current state is maintained; if not, the self-moving device returns to the charging station for charging.

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