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1. CN109074086 - AUTOMATIC WORKING SYSTEM, SELF-MOVING APPARATUS AND CONTROL METHOD THEREOF

Office
China
Application Number 201880001846.3
Application Date 13.02.2018
Publication Number 109074086
Publication Date 21.12.2018
Publication Kind A
IPC
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
G05D 1/0223
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
0223involving speed control of the vehicle
G05D 2201/0201
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0201Agriculture or harvesting machine
A01D 34/008
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
34Mowers
006Control or measuring arrangements
008for automated or remotely controlled operation
G05D 2201/0208
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0208Lawn mower
G05D 1/0088
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
0088characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
Applicants POSITEC POWER TOOLS SUZHOU CO LTD
苏州宝时得电动工具有限公司
Inventors DALFRA DAVIDE
达维德·多尔夫
Title
(EN) AUTOMATIC WORKING SYSTEM, SELF-MOVING APPARATUS AND CONTROL METHOD THEREOF
(ZH) 自动工作系统,自移动设备及其控制方法
Abstract
(EN) Disclosed is a self-moving apparatus (1) moving and working within a working area, the self-moving apparatus comprising: a housing (3); a movement module (5) mounted on the housing (3) and driven by adriving motor to drive the movement of the self-moving apparatus (1); a control module for controlling the movement and working of the self-moving apparatus (1); and a detection unit electrically connected to the control module and used for detecting the motion and/or a state parameter of the self-moving apparatus (1), wherein when the detection unit detects that the motion and/or the state parameter of the self-moving apparatus (1) meets a pre-set condition, the control module alternately reduces and increases the acceleration of the self-moving apparatus (1), so as to keep the movement velocity of the self-moving apparatus (1) within a pre-set range. The beneficial effects are: when the self-moving apparatus (1) moves downward along a slope, alternately reducing and increasing the acceleration of the self-moving apparatus (1) enables the movement velocity of the self-moving apparatus (1) to stay within the pre-set range, thus avoiding a series of issues, such as same being unsafe, caused due to the excessive movement speed of the self-moving apparatus (1).
(ZH) 一种自移动设备(1),在工作区域内移动并工作,包括:壳体(3);移动模块(5),安装于壳体(3),由驱动马达驱动以带动自移动设备(1)移动;控制模块,控制自移动设备(1)的移动和工作;检测单元,与控制模块电连接,检测自移动设备(1)的运动和/或状态参数;当检测单元检测到自移动设备(1)的运动和/或状态参数满足预设条件时,控制模块交替的减小和增大自移动设备(1)移动的加速度,以使自移动设备(1)的移动速度保持在预设范围内。有益效果是:当自移动设备(1)沿斜坡向下移动时,通过交替的减小和增大自移动设备(1)移动的加速度,使自移动设备(1)的移动速度保持在预设范围内,避免自移动设备(1)的移动速度过快导致的不安全等一系列问题。