Automatically travelling device and control method therefor

Patent metadata

Field	Value
Publication number	US-10105838-B2
Application number	US-201615208899-A
Country	US
Kind code	B2
Filing date	Jul 13, 2016
Priority date	Mar 2, 2012
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

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.

First claim

What is claimed is:

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

Assignees

• Positec Power Tools Suzhou Co Ltd
• Positec Power Tools Suzhou Co Ltd

Inventors

• Mou Guoliang
• Tian Jiaofeng
• Sheng Xiaochu
• Wu Hongbing
• Song Dongjing

Classifications

• B60L58/16

  responding to battery ageing, e.g. to the number of charging cycles or the state of health [SoH] · CPC title

• B60L58/15

  Preventing overcharging · CPC title

• B60L53/305

  Communication interfaces · CPC title

• H02J7/63

  against overdischarge · CPC title

• Y10S901/49

  Protective device · CPC title