Autonomous Work Machine Docking Control for Charging Station Alignment
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Solution Overview
Problem
Existing autonomous working machines face challenges in accurately controlling their entrance posture when returning to a charging station, leading to potential issues with proper contact and efficient charging.
Innovation Solution
The implementation of a system that uses electromagnetic wave detection units and a control unit to determine the position and orientation of the working machine relative to the charging station, setting appropriate control parameters for the traveling unit to ensure proper alignment and docking, based on pre-stored installation modes of the station.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the working machine returns to the station based on electromagnetic wave detection, then the working machine can locate the station, but the entrance posture control is insufficient leading to improper contact
Solution Approach 1:
The control unit continuously monitors the position and orientation of the working machine relative to the station using electromagnetic wave detection, and dynamically adjusts the traveling unit's control parameters to achieve proper alignment. This closed-loop feedback system ensures both accurate location detection and precise entrance posture control.
Solution Approach 2:
The system performs preliminary position detection and orientation adjustment before the working machine reaches the station. The control unit calculates the required entrance posture in advance and guides the traveling unit to adopt the correct orientation, ensuring proper contact is achieved before docking occurs.
2Device complexity
If the working machine uses simple electromagnetic wave detection for station location, then the system complexity is reduced, but the entrance posture control capability is compromised
Solution Approach 1:
The electromagnetic wave detection system serves multiple functions: it detects the station's location, determines the working machine's position relative to the station, and provides orientation information for entrance posture control. This multi-functional approach maintains system simplicity while achieving reliable docking through comprehensive information from a single detection mechanism.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution allows for precise control of the working machine's entrance posture, ensuring effective and efficient docking with the charging station, even in various installation configurations, thereby improving charging reliability and efficiency.
Implementation Method 1
the working machine travels within the working area by detecting an electromagnetic wave from an area wire
Implementation Method 2
after the working machine returns near the station
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
A working system comprising a self-propelled working machine and a station configured to charge the working machine by connecting the working machine to the station, wherein the working machine comprises a traveling unit, a traveling control unit configured to control the traveling unit, a detection unit configured to detect the station, and an information acquisition unit, the information acquisition unit acquires input information which is input by a user, and the input information includes information indicating an installation mode of the station, and the traveling control unit sets a control parameter of the traveling unit based on the installation mode of the station in response to detection of the station by the detection unit.