WO2018103178A1 - Dispositif mobile automatique, système de travail automatique et procédé de commande correspondant - Google Patents

Dispositif mobile automatique, système de travail automatique et procédé de commande correspondant Download PDF

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Publication number
WO2018103178A1
WO2018103178A1 PCT/CN2017/070182 CN2017070182W WO2018103178A1 WO 2018103178 A1 WO2018103178 A1 WO 2018103178A1 CN 2017070182 W CN2017070182 W CN 2017070182W WO 2018103178 A1 WO2018103178 A1 WO 2018103178A1
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WO
WIPO (PCT)
Prior art keywords
signal
gain
gain signal
working system
automatic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/070182
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English (en)
Chinese (zh)
Inventor
多尔夫达维德
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
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201611262890.9A external-priority patent/CN108227692A/zh
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Priority to EP17700031.2A priority Critical patent/EP3553470B1/fr
Publication of WO2018103178A1 publication Critical patent/WO2018103178A1/fr
Priority to US16/432,433 priority patent/US11106215B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires

Definitions

  • the automatic working device 10' is bound to have a motor that drives the automatic working equipment to travel or/and a motor that drives the automatic working equipment to perform working parts such as mowing or dust removal, and the operation of the motor generates an electromagnetic field.
  • the electromagnetic field is also sensed by the signal detecting device 110' to generate a voltage or current signal. Therefore, the detection signal received by the processor actually contains the interference signal brought by the motor.
  • the processor uses the detected signal that has been interfered to judge and control, it will often judge the internal and external errors and issue control commands that are unrealistic.
  • the at least one detecting device detects an electromagnetic field to generate at least one detection signal; the adjustment module amplifies the at least one detection signal to form at least one gain signal;
  • the at least one detecting device detects an electromagnetic field to generate at least one detection signal; the at least one fixed gain amplifier amplifies the at least one detection signal to form at least one gain signal;
  • the gear of the amplification module of the adjustment module is one of 2 to 6 gears, and the amplification factor of the adjustment module is 1/2 to 16 times of the gain signal.
  • the analog to digital converter is a differential analog to digital converter.
  • the automatic mobile device includes at least one detecting device, at least one fixed gain amplifier, Comparison module, adjustment module;
  • the comparison module compares at least one extreme point of the gain signal with a preset condition, the preset condition including the extreme point being lower than an upper threshold and the extreme point being above a lower threshold;
  • the programmable gain amplifier has a magnification of 1/2 to 16 times the gain signal.
  • the zoom position of the programmable gain amplifier is 5 steps.
  • the programmable gain amplifier is then electrically coupled to an analog to digital converter to convert the gain signal into a digital signal.
  • the at least one detecting device detects an electromagnetic field to generate at least one detection signal
  • the upper threshold and the lower threshold are fixed values.
  • the adjustment module 140 reduces the amplification factor of the gain signal SG1, and if the adjusted gain signal SG1 still exceeds the upper limit The threshold value VU1, the adjustment module 140 continues to reduce the amplification factor of the gain signal SG1 until the peak Peak-Pos of the gain signal SG1 is lower than the upper limit threshold VU1 and higher than the lower limit threshold VL1.
  • the adjustment module 1401 is a programmable gain amplifier (PGA), and the PGA is disposed inside the processor 130.
  • the PGA automatically adjusts the amplification factor of the gain signal SG1 according to the feedback of the comparison module, so that the adjusted gain signal SG1 meets the preset condition. .
  • the gear position of the PGA may be one of 2 to 6 gears, and the amplification factor is 1/2 to 16 times the gain signal SG1.
  • the PGA gear is selected to be 5 files, and the magnification is 1/2 to 8 times of the gain signal, specifically 1/2 times, 1 time, 2 times, 4 times, 8 times.
  • the first detection The device 1101 and the second detecting device 1102 respectively detect the boundary signal to generate the first detection signal ST1' and the second detection signal ST2', and the processing flow of the first detection signal ST1' and the second detection signal ST2' is similar, therefore,
  • the processing flow of any one of the first detection signal ST1' and the second detection signal ST2' is the same as the processing flow of the detection signal ST1 described above by using one detection device 110, and the structural composition principle is similar, and details are not described herein again.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de commande d'un système de travail automatique, un système de travail automatique mettant en œuvre le procédé de commande et un dispositif mobile automatique. L'invention permet une capacité de réglage de signal flexible et un procédé efficace permettant d'identifier un signal efficace, comprenant une forte protection contre le brouillage de moteur, le brouillage adjacent et le brouillage d'environnement. Le procédé de commande comprend : la génération par un dispositif générateur de signal (80) d'un signal de limite (SS) ; la circulation du signal de limite à travers une limite (50) et la génération d'un champ électromagnétique ; la détection par un dispositif de détection (110) sur un dispositif mobile automatique (10) du champ électromagnétique afin de générer des signaux de détection (ST1, ST1' et ST2'), l'amplification des signaux de détection (ST1, ST1' et ST2') afin de former un signal de gain (SG1) et la comparaison d'un point caractéristique du signal de gain (SG1) avec une condition prédéterminée selon laquelle le point caractéristique est supérieur à des seuils inférieurs (VL1 et VL1') et inférieur à des seuils supérieurs (VU1 et VU1') ; et en fonction des résultats de la comparaison, le réglage automatique du signal de gain (SG1) de telle sorte que le point caractéristique du signal de gain réglé (SG1) satisfasse la condition prédéterminée, ainsi que le traitement du signal de gain (SG1).
PCT/CN2017/070182 2016-12-09 2017-01-04 Dispositif mobile automatique, système de travail automatique et procédé de commande correspondant Ceased WO2018103178A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP17700031.2A EP3553470B1 (fr) 2016-12-09 2017-01-04 Dispositif mobile automatique, système de travail automatique et procédé de commande correspondant
US16/432,433 US11106215B2 (en) 2016-12-09 2019-06-05 Automatic moving device, automatic working system and control method thereof

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN201611131568 2016-12-09
CN201611131568.2 2016-12-09
CN201611194236 2016-12-21
CN201611194236.9 2016-12-21
CN201611262890.9A CN108227692A (zh) 2016-12-09 2016-12-30 自动移动设备、自动工作系统及其控制方法
CN201611262890.9 2016-12-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/432,433 Continuation US11106215B2 (en) 2016-12-09 2019-06-05 Automatic moving device, automatic working system and control method thereof

Publications (1)

Publication Number Publication Date
WO2018103178A1 true WO2018103178A1 (fr) 2018-06-14

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PCT/CN2017/070182 Ceased WO2018103178A1 (fr) 2016-12-09 2017-01-04 Dispositif mobile automatique, système de travail automatique et procédé de commande correspondant

Country Status (1)

Country Link
WO (1) WO2018103178A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
US12369509B2 (en) 2022-07-19 2025-07-29 Techtronic Cordless Gp Display for controlling robotic tool
US12425197B2 (en) 2022-07-29 2025-09-23 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
US12510892B2 (en) 2022-04-28 2025-12-30 Techtronic Cordless Gp Creation of a virtual boundary for a robotic garden tool
US12564130B2 (en) 2022-01-31 2026-03-03 Techtronic Cordless Gp Robotic garden tool

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101420209A (zh) * 2008-11-21 2009-04-29 北京时代民芯科技有限公司 一种高速大动态范围数字化自动增益控制电路
CN202126267U (zh) * 2011-06-15 2012-01-25 江汉大学 电子测量装置
CN102889850A (zh) * 2011-07-18 2013-01-23 上海热流环境科技有限公司 割草机器人边界识别方法
CN103543745A (zh) * 2012-07-16 2014-01-29 苏州宝时得电动工具有限公司 导引系统及其控制方法
US20160109241A1 (en) * 2014-10-21 2016-04-21 Honda Motor Co., Ltd. Control, apparatus for autonomously navigating utility vehicle
EP3056959A1 (fr) * 2015-02-10 2016-08-17 Honda Motor Co., Ltd. Appareil de commande de véhicule utilitaire à navigation autonome
CN106168484A (zh) * 2015-05-19 2016-11-30 苏州宝时得电动工具有限公司 边界线的脉冲信号识别系统、方法及智能割草系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101420209A (zh) * 2008-11-21 2009-04-29 北京时代民芯科技有限公司 一种高速大动态范围数字化自动增益控制电路
CN202126267U (zh) * 2011-06-15 2012-01-25 江汉大学 电子测量装置
CN102889850A (zh) * 2011-07-18 2013-01-23 上海热流环境科技有限公司 割草机器人边界识别方法
CN103543745A (zh) * 2012-07-16 2014-01-29 苏州宝时得电动工具有限公司 导引系统及其控制方法
US20160109241A1 (en) * 2014-10-21 2016-04-21 Honda Motor Co., Ltd. Control, apparatus for autonomously navigating utility vehicle
EP3056959A1 (fr) * 2015-02-10 2016-08-17 Honda Motor Co., Ltd. Appareil de commande de véhicule utilitaire à navigation autonome
CN106168484A (zh) * 2015-05-19 2016-11-30 苏州宝时得电动工具有限公司 边界线的脉冲信号识别系统、方法及智能割草系统

Non-Patent Citations (1)

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Title
See also references of EP3553470A4 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
US12564130B2 (en) 2022-01-31 2026-03-03 Techtronic Cordless Gp Robotic garden tool
US12510892B2 (en) 2022-04-28 2025-12-30 Techtronic Cordless Gp Creation of a virtual boundary for a robotic garden tool
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
US12369509B2 (en) 2022-07-19 2025-07-29 Techtronic Cordless Gp Display for controlling robotic tool
US12425197B2 (en) 2022-07-29 2025-09-23 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool

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