Automatically travelling device and control method therefor

• US 10,105,838 B2
• Filed: 07/13/2016
• Issued: 10/23/2018
• Est. Priority Date: 03/02/2012
• Status: Active Grant

• Current Assignee: Positec Power Tools Company Limited (Positec Group Limited)
• Original Assignee: Positec Power Tools Company Limited (Positec Group Limited)
• Inventors: Mou, Guoliang, Tian, Jiaofeng, Sheng, Xiaochu, Wu, Hongbing, Song, Dongjing
• Primary Examiner(s): Mancho, Ronnie M
• Application Number:
  US15/208,899
• Publication Number:
  US 20160318178A1
• Time in Patent Office: 832 Days
• Field of Search: 700425, 700253
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 69/02 electric
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/545 Temperature
• CPC Class Codes: B60L 2240/547 Voltage
• CPC Class Codes: B60L 2240/549 Current
• CPC Class Codes: B60L 2240/80 Time limits
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 3/0046 relating to electric energy storage systems, e.g. batteries or capacitors
• CPC Class Codes: B60L 50/40 using propulsion power supplied by capacitors
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• CPC Class Codes: B60L 53/305 : Communication interfaces
• CPC Class Codes: B60L 58/13 : Maintaining the SoC within a determined range
• CPC Class Codes: B60L 58/14 : Preventing excessive discharging
• CPC Class Codes: B60L 58/15 : Preventing overcharging
• CPC Class Codes: B60L 58/16 : responding to battery ageing, e.g. to the number of charging cycles or the state of health [SoH]
• CPC Class Codes: B60L 58/21 : having the same nominal voltage
• CPC Class Codes: G05D 1/0225 : involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: H02J 7/00306 : Overdischarge protection
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/12 : Electric charging stations
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/49 : Protective device

Abstract

An automatic moving device and a control method therefor. The automatic moving device comprises a battery pack providing power. The automatic moving device can work within a working area and automatically return to a charging station for charging. The control method comprises monitoring the power level of the battery pack; if the power level of the battery pack is less than or equal to a preset power level, initiating an action of returning the automatic moving device to the charging station; and after a preset time period, stopping the travel. By setting a preset time period simultaneously with initiating a return action, and executing a return action within the preset time period, the control method prevents damage to the battery pack from over-discharging caused by the automatic moving device continually returning, thus achieving the effects of protecting the battery pack and extending the life thereof.

Claims

1. A method for controlling an automatic moving device, the automatic moving device comprising a power module configured to provide power and wherein the automatic moving device is adapted to operate in a work area and automatically return to a docking station, the method comprising:

controlling the automatic moving device with a control module to start moving;

detecting an energy level of the power module with a power-detecting unit;

calculating a rate of change of the energy level of the power module with the control module; and

controlling the automatic moving device with the control module to stop moving when an absolute value of the rate of change of the energy level reaches or exceeds a preset threshold value.

2. The method according to claim 1, further comprising setting the preset threshold value.

3. The method according to claim 2, wherein setting the preset threshold value comprises:

setting the preset threshold value according to at least one of the following parameters;

a type of battery pack;

a load level;

or

a discharging temperature.

4. The method according to claim 1, wherein the rate of change of the energy level is first derivatives, second derivatives or higher derivatives of the energy level with respect to time.

5. The method according to claim 1, wherein the energy level of the power module is indicated by at least one of a voltage of the power module or a discharging current of the power module.

6. The method according to claim 1, wherein the power module comprises a battery pack having at least one cell, and wherein the energy level of the power module is at least one of:

an energy level of the whole battery pack;

or

an energy level of at least one cell.

7. The method according to claim 1, further comprising:

controlling the automatic moving device with the control module to start moving when the energy level of the power module is less than a preset energy level.

8. The method according to claim 1, further comprising:

moving the automatic moving device toward the docking station when the absolute value of the rate of change of the energy level for the power module is less than the preset threshold value.

9. The method according to claim 8, further comprising controlling the automatic moving device with the control module to stop moving when the automatic moving device returns to the docking station.

10. The method according to claim 8, wherein moving the automatic moving device toward the docking station comprises:

searching for a guidance signal related to a position of the docking station; and

moving the automatic moving device toward the docking station according to the guidance signal.

11. The method according to claim 10, wherein the guidance signal is an electrical signal on a guide line and the guide line is connected to the docking station and wherein moving the automatic moving device toward the docking station further comprises:

searching for the electrical signal; and

moving the automatic moving device to the guide line and moving the automatic moving device toward the docking station along the guide line according to the electrical signal.

12. The method according to claim 1, wherein the automatic moving device is configured to perform a dust absorption task or a mowing task.

13. An automatic moving device, comprising:

a driving module configured to move the automatic moving device;

a power module configured to supply energy for the automatic moving device;

a power-detecting unit configured to detect an energy level of the power module; and

a control module configured to obtain a current energy level of the power module by the power-detecting unit and to control an operating status of the driving module,

wherein the control module is configured to control the driving module to move the automatic moving device to return to the docking station,

wherein the control module is configured to calculate a rate of change of the energy level of the power module based on the current energy level of the power module, and

wherein the control module is configured to control the automatic moving device to stop moving when the absolute value of the rate of change of the energy level reaches or exceeds a preset threshold value.

14. The automatic moving device according to claim 13, wherein the control module is configured to set the preset threshold value.

15. The automatic moving device according to claim 14, further comprising:

a type-identification unit configured to identify a type of the power module; and

wherein the control module is configured to set the preset threshold value according to the signal transferred by the type-identification unit.

16. The automatic moving device according to claim 14, further comprising:

a load-detecting unit configured to detect a load level of the power module; and

wherein the control module is configured to set the preset threshold value according to a signal transferred by the load-detecting unit.

17. The automatic moving device according to claim 14, wherein:

the power-detecting unit is configured to detect a discharging temperature of the power module; and

the control module is configured to set the preset threshold value based on a signal transferred by the power-detecting unit.

18. The automatic moving device according to claim 13, wherein the rate of change of the energy level is first derivatives, second derivatives or higher derivatives of the energy level with respect to time.

19. The automatic moving device according to claim 13, wherein the energy level of the power module is indicated by at least one of a voltage of the power module or a discharging current of the power module.

20. The automatic moving device according to claim 13, wherein the power module comprises a battery pack having at least one cell, and wherein the energy level of the power module is at least one of:

an energy level of the whole battery pack;

or

an energy level of at least one cell.

21. The automatic moving device according to claim 13, wherein the control module is configured to control the driving module to return the automatic moving device to the docking station when the control module determines that the current energy level of the power module is less than the preset energy level.

22. The automatic moving device according to claim 13, wherein the control module is configured to control the driving module to move the automatic moving device toward the docking station when the control module determines that the absolute value of the rate of change of the energy level for the power module is less than a preset threshold value.

23. The automatic moving device according to claim 22, wherein the control module is configured to control the driving module to stop moving when the control module determines that the automatic moving device has returned to the docking station.

24. The automatic moving device according to claim 22, further comprising:

a guidance-signal-sensing unit, the guidance-signal-sensing unit configured to sense a guidance signal related to a position of the docking station; and

wherein the control module is configured to control the driving module according to the guidance signal to drive the automatic moving device to move toward the docking station.

25. The automatic moving device according to claim 24, wherein:

the guidance signal is the electrical signal on the guide line;

the guide line is connected to the docking station;

the guidance-signal-sensing signal-sensing unit is configured to sense the electrical signal; and

the control module is configured to control the driving module to travel to the guide line and drive the automatic moving device to move toward the docking station along the guide line according to the sensed electrical signal.

26. The automatic moving device according to claim 13, further comprising a working module configured to perform a mowing task or a dust absorption task.