WO2014086267A1

WO2014086267A1 - Automatic walking device and automatic working system

Info

Publication number: WO2014086267A1
Application number: PCT/CN2013/088396
Authority: WO
Inventors: 王家达
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2012-12-05
Filing date: 2013-12-03
Publication date: 2014-06-12
Also published as: CN103853570A

Abstract

An automatic walking device, comprising: a storage module used for storing a system program;a first port used for communicating with the storage module;and a control module electrically connecting the storage module and the first port;the control module detects the connection state of the first port, and transmits a pairing program in an update source matching the system program through the first port and saves same in the storage module when detecting that the first port is connected to the update source. The automatic walking device has the function of automatically updating the system program, thereby solving the problem that the update programs of the automatic walking device are complicated.

Description

Automatic walking equipment and automatic working system

The present invention relates to an automatic walking apparatus and an automatic working system including the automatic traveling apparatus.

Background technique

With the development of science and technology, the level of automation of automatic walking equipment has been increasing. The improvement in the automation level of automatic walking equipment is not only due to the improvement of the manufacturing process of its hardware, but also to the optimization of the software for controlling the automatic walking equipment. The optimization of the automatic walking equipment software is usually characterized by the specialization and intelligence of the developed automatic walking equipment program. Programs performed by automated walking equipment often need to be updated to achieve an ever-increasing level of automation in automated walking equipment. Therefore, the frequent appeal in the process of using the automatic walking device is how to solve the problem of the cumbersome automatic walking device updating program and realize the automatic updating of the automatic walking device program.

Therefore, on the basis of intensive research on the prior art, the inventors have provided an automatic walking device and an automatic working system to solve the problem of updating the cumbersome automatic walking device.

Invention content

The purpose of the present invention is to provide an automatic walking device that can automatically update a program. To achieve the above, the present invention provides an automatic walking device comprising: a storage module for storing a system program; a first port, for storing a module communication; a control module, electrically connecting the storage module and the first port; the control module detects a connection state of the first port, and when detecting that the first port is connected with the update source, the source is updated through the first port The pairing program that matches the system program is transferred and saved to the storage module.

Further, the first port is a US B, an infrared, a Bluetooth or a WIFI interface.

Further, the automatic walking device is provided with a battery pack, and the first port can also transmit electrical energy and transmit the electrical energy to the battery pack.

Further, the control module uses a pairing program to perform a replacement upgrade, optimization, or parameter update for the system program. The pairing program is an upgrade program of the system program, a configuration program of the system program, or a parameter replacement program of the system program.

Further, the automatic walking device is an automatic lawn mower, and the control module uses a pairing program to update a cutting subroutine that controls the mowing method in the system program or controls the walking mode. Path subroutine.

Another object of the present invention is to provide an automatic working system that can automatically update an automatic walking device program.

To achieve the above, the present invention provides an automated working system comprising:

The automatic walking equipment has:

a storage module for storing a system program;

a first port for communicating with the storage module;

a control module, electrically connecting the storage module and the first port;

a docking station for docking of the automatic walking equipment;

The docking station is provided with a second port for mating with the first port, the docking station provides a pairing procedure for updating the system program to the automatic walking device; the automatic walking device automatically searches for docking station docking, the first The first port and the second port can be coupled to each other to form a path. When the control module detects that the first port and the second port are in a connected state, the control module controls the docking station and the automatic walking device to pass the pairing procedure through the path. Transfer and save to the storage module.

In an improved manner, the autonomous walking device is provided with a battery pack, and the first end and the second connection simultaneously transmit a pairing program and electric energy, and the docking station charges the battery pack through the passage, and the docking station has the pairing The third port of the program, the brother Chu has a wireless or wired network interface.

In the case of a stop, the docking station has a docking station memory that stores the pairing program.

Further, the docking station has a third port for obtaining a pairing program, and the brother is used for plugging in with an external memory.

Compared with the prior art, the present invention has at least the following beneficial effects:

The automatic walking device has an automatic program update function, which solves the problem of the cumbersome updating procedure of the automatic walking device.

DRAWINGS

Figure 1 is a diagram of a white working system of the present invention.

Figure 2 is a schematic illustration of the white working system of the present invention.

Figure 3 is a block diagram of the white working system of the present invention.

Figure 4 is a diagram of a first embodiment of the present invention.

Figure 5 is a diagram of a second embodiment of the present invention. 1 00 automatic walking equipment 3 control module 6 third port

1 storage module 4 docking station

2 first port 5 second port

detailed description

Automatic walking equipment 1 00 Widely used in various home and industrial applications such as mowing and dust removal. Referring to FIG. 1 to FIG. 4, the automatic walking device 100 includes a storage module 1 for storing a system program, a first port 2 for communicating with the storage module 1, an electrical connection storage module 1 and a first port 2 control. Module 3. The control module 3 detects the connection status of the first port 2. When the control module 3 detects that the first port 2 is connected to the update source, the first port 2 is controlled to transmit and save the pairing program matching the system program to the storage module 1, which solves the cumbersome process of the automatic walking device 100 update program. problem. The specific structure of the automatic walking device 100 is described below.

The automatic walking device 100 can be an automatic walking device for various homes and industries, and an automatic lawn mower is provided in the embodiment of the present invention. The system program update of the automatic mower relies on the cooperation between the storage module 1, the first port 2, and the control module 3. When other industrial automatic walking devices have the above structure, the program can also be updated, so the automatic lawn mower and other industries There is no substantial difference in the components required for system program update with the automatic walking device. It is reasonable to believe that the technical solution of the automatic lawn mower provided by the present invention is equally applicable to other industrial automatic walking devices.

The storage module 1 is used to store the system program used by the automatic walking device 1 00. These system programs include various programs that control the operation of the autonomous walking device 100, such as a cutting subroutine for controlling mowing or a path subroutine for controlling the walking mode. Memory module 1 is ROM (Read Only Memory) or F l ash memory (Flash). Specifically, it can be EAROM (Electrically Rewritable, Read Memory), EP OM (Erasable Programmable Read Only Memory), EEPRO M (Electrically Erasable Programmable Read Only Memory) or SD (S e cure D i gital) , safety data) One or several of the cards. The storage module 1 has a program storage function. The specific shape and storage capacity of the storage module 1 should not be regarded as a limitation on the storage module 1.

The control module 3 is electrically connected to the storage module 1, and controls the automatic walking device 100 to operate by calling and executing a system program stored in the storage module 1. The control module 3 is a single chip microcomputer or an integrated circuit with a card. In the embodiment provided by the present invention, the control module 3 realizes cutting height, cutting speed, forward and reverse cutting, etc. by calling a cutting subroutine for mowing. Work in the same way. The control module 3 realizes walking by calling a path subroutine for walking,

Ο

Different walking actions such as steering and avoiding obstacles. Control Module 3 can also implement program upgrades, optimizations, parameter inputs or outputs, etc. by calling a system program for updating the program.

Spear- σ 2 is a physical or virtual connection between the control module 3 and the storage module 1 for use as a connection end for external communication. The first port 2 has at least a communication function, and can also have a charging function and other functions for transmitting the pairing program and power. The first end 2 can be a type of interface or a combination of interfaces that combine multiple types of interfaces. The specific physical type of the first port 2 can be U S B, infrared, Bluetooth, W I F I or a network interface, etc., and can also be a wireless interface. At present, the U S B interface can be recharged. It is well known that other connections can be used for charging or not. The charging of the wireless interface is to generate a magnetic field change through a wireless signal to generate electrical energy input to the automatic walking device 100. The automatic walking device has a battery pack, and the electric energy is input into the battery pack for storage.

Stop 4 Normally used for automatic walking equipment 1 0 0 Dock and replenish energy. An embodiment of the present invention also provides a pairing procedure for updating a system program. The stop 4 has a first port 5 . The stop 1 0 0 also has a third port 6 for the pairing procedure. The docking station 4 also has a power transmission device for charging the battery pack of the automatic walking device 100. When the energy of the automatic walking device 1 00 is lower than a certain value, the automatic walking device 1 0 0 starts to return to the stop station 4 according to the setting of the system program. The automatic walking device 1 0 0 completes the mating of the first port 2 and the second port 5 after entering the docking station 4.

The pairing program is an upgrade program for the system program in the storage module 1, a configuration program for the system program, or a replacement program for the parameters of the system program. The upgrade procedure is a complete operating procedure for the automatic walking device 100. The configuration program simplifies a portion of the system program that is executed based on the typical scenario in which the Autonomous Walking Device operates. The pairing program can also be a program that changes only one or some of the scattered parameters in the program of the automatic walking device 1 0 0 . Control Module 3 uses the Pairing Program to upgrade, optimize, or update the system programs in Storage Module 1. For the present invention, the automatic walking device 100 is an automatic lawn mower, and the control module 3 uses a matching program to update the cutting subroutine for controlling the mowing method or the path subroutine for controlling the walking mode in the system program.

The second port 5 is similar in design to the first port 2. The second port 5 has at least a communication function, and can also have a charging function as well as other functions. The second port 5 can be a type of interface, and can also be a combination of interfaces that combine multiple types of interfaces. Second port 5 The physical type can be US B, infrared, Bluetooth, WIF I interface, or it can be a wireless interface. The first port 2 and the second port 5 are capable of mating with each other to form a path, and the control module 3 controls the docking station 4 and the autonomous traveling device 100 to update the pairing program into the storage module 1 through the path. The path can be a US B cable, or a composite path with power transmission and communication, such as a communication cable and a common power transmission cable.

When the first port 2 and the second port 5 are turned on, the control module 3 detects that the connection state of the first port 2 is conductive. When the control module 3 detects that the first port 2 and the second port 5 are in the connected state, the control module 3 controls the docking station 4 and the automatic walking device 100 to transmit and save the matching program to the storage module 1 through the path.

In order to further utilize the time of the automatic walking device 100 00, when the automatic walking device 100 automatically enters and docks with the docking station 4, the first port 2 and the second port 5 are turned on. The first port 2 and the second port 5 are electrically connected in such a manner that the first port 2 and the second port 5 are inserted into each other or are in a mutual sensing area. At this time, the update system program utilizes the idle stop time or charging time of the automatic walking device 100, which improves the time utilization efficiency of the automatic walking device 100.

The third port 6 is used for the docking station 4 to obtain the pairing procedure. The third port 6 has a wireless or wired network interface. The docking station 4 has a docking station memory that stores the pairing program. When the manufacturer of the autonomous walking device 100, the vendor, and the provider of the autonomous walking device 100 program issue a pairing program, the third port 6 receives the pairing program via the wireless or wired network and stores it in the docking station memory for the autonomous walking device 1 00 Update system program to use. Of course, the docking station 4 can also not set the docking station memory. When the first port 2 and the second port 5 are turned on, the pairing program is instantaneously communicated to the storage module 1 of the automatic walking device 100. The third port 6 can also be only a plug or socket that is plugged into an external memory. The manufacturer, vendor or automated walking device program provider of the automated walking device stores the pairing program in an external memory for the user. The user connects the external memory to the docking station 4 via the third port 6.

In a preferred embodiment of the invention, the second port 5 is arranged to be updated when the docking device is parked at the docking station 4 by the automatic walking device 100 or when the docking station 4 is charging. Referring to FIG. 5, in an alternative embodiment, the second port 5 can also be an interface of an external memory, and the U S B cable can be connected between the first port 2 and the second port 5. Program update is performed when the first port 2 and the second port 5 are connected to the US B cable.

Claims

Slave book

An automatic walking device comprising:

a storage module for storing a system program;

a first port for communicating with the storage module;

a control module electrically connecting the storage module and the first end port;

The control module detects the connection status of the first port, and when detecting that the first port is connected to the update source, transmits and saves the pairing program matching the system program in the update source to the storage through the first port. In the module.

2. The automatic walking device according to claim 1, wherein: the first port is a U S B, infrared, Bluetooth or WI F I interface.

3. The automatic walking device according to claim 1, wherein: the automatic walking device is provided with a battery pack, and the first port can also transmit electrical energy and transmit the electrical energy to the battery pack.

4. The automatic walking device according to claim 1, wherein: the control module uses a pairing program to upgrade, optimize, or update a system program, where the pairing program is an upgrade program of the system program, and a configuration of the system program. A program replacement procedure for a program or system program.

5. The automatic walking device according to claim 1, wherein: the automatic traveling device is an automatic lawn mower, and the control module uses a pairing program to update a cutting subroutine for controlling a mowing method or controlling walking in a system program. The path subroutine of the way.

6. An automated working system, including:

Automatic walking equipment, with:

a storage module for storing a system program;

a first port for communicating with the storage module;

a docking station for docking of the automatic walking equipment;

The utility model is characterized in that: the docking station is provided with a second port for mating with the first port, the docking station provides a pairing program for updating the system program to the automatic walking device; the automatic walking device automatically searches for the docking station and the docking station The first port and the second port can be coupled to each other to form a path. When the control module detects that the first port and the second port are in a connected state, the control module controls the docking station and the automatic walking device to pass the Path will be transmitted by the pairing program And save it to the storage module.

The automatic working system according to claim 6, wherein: the automatic walking device is provided with a battery pack, and the first port and the second port are connected to simultaneously transmit a pairing program and electric energy, and the docking station passes the The path charges the battery pack.

8. The automatic working system according to claim 6, wherein: said docking station has a third port for obtaining a pairing program, and said third port has a wireless or % network interface

9. The automatic working system according to claim 8, wherein: said docking station is provided with a docking station memory for storing a pairing program.

An automatic working system according to claim 6, wherein: said docking station has a third port for obtaining a pairing program, and said third port is for interfacing with an external memory.