Working system and working machine

A working system comprising a self-propelled working machine, an area wire for partitioning a working area of the working machine, and a station provided in the working area and configured to charge the working machine by connecting the working machine to the station, wherein the working machine comprises a traveling unit, a traveling control unit configured to control the traveling unit, a detection unit configured to detect the station, and an information acquisition unit, the information acquisition unit acquires input information which is input by a user, and the input information includes information indicating a layout of the station and the area wire for the station and its peripheral region, and the traveling control unit sets a control parameter of the traveling unit based on the input information in response to detection of the station by the detection unit.

TECHNICAL FIELD

The present invention relates to a working system and a working machine.

BACKGROUND ART

PTL 1 describes the structure of an unmanned traveling working machine (for example, a lawn mower). According to PTL 1, the working machine automatically performs a work (for example, lawn mowing) within a working area. More specifically, the working area is partitioned by a wire (an area wire). The working machine travels within the working area by detecting an electromagnetic wave from an area wire. If the working machine falls outside the working area, the working machine travels to return to the working area.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

According to PTL 1, a battery is incorporated into the working machine. When the remaining amount of the battery becomes lower than a reference value, the working machine returns to a station (a charger) based on the electromagnetic wave of the area wire. When the working machine is connected to the station, charging of the battery is started. In this case, after the working machine returns near the station, the appropriate contact with the station may not be achieved if the entrance posture of the working machine to the station is not appropriate.

It is an object of the present invention to control the entrance posture of the working machine to the station.

Solution to Problem

According to the first aspect of the present invention, there is provided a working system comprising a self-propelled working machine, an area wire configured to partition a working area of the working machine, and a station provided in the working area and configured to charge the working machine by connecting the working machine to the station, wherein the working machine comprises a traveling unit, a traveling control unit configured to control the traveling unit, a detection unit configured to detect the station, and an information acquisition unit, the information acquisition unit acquires input information which is input by a user, and the input information includes information indicating a layout of the station and the area wire for the station and its peripheral region, and the traveling control unit sets a control parameter of the traveling unit based on the input information in response to detection of the station by the detection unit.

Advantageous Effects of Invention

According to the present invention, the entrance posture of the working machine to the station can be controlled.

DESCRIPTION OF EMBODIMENTS

An embodiment of the present invention will now be described with reference to the accompanying drawings. Note that the drawings are schematic views showing structures or arrangements according to the embodiment, and the dimensions of members shown in the drawings do not necessarily reflect the actuality. In addition, the same reference numerals denote the same members or same constituent elements in the drawings, and a repetitive description in this specification will be omitted.

(Arrangements of Working System, Working Machine, and Station)

FIG. 1is a schematic view showing the arrangement of a working system1according to an embodiment. The working system1includes a working machine2, a station3, and an area wire4. The working machine2is a self-propelled unmanned working robot and performs a work while running based on a predetermined operation sequence. The working machine2is a lawn mower for performing lawn mowing according to this embodiment. The working machine2may be a cleaning robot for performing cleaning as another embodiment. Note that an arrow inFIG. 1indicates the traveling direction of the working machine2.

The station3is a charger for charging the working machine2by connecting the working machine2to the station3. Although described in detail later, the station3generates an electromagnetic wave (for example, a magnetic field), and the working machine2can enter the station3by detecting the station3based on this electromagnetic wave. The area wire4is a wire for partitioning a working area41of the working machine2. InFIG. 1, part of the area wire4is illustrated, but the wire is arranged integrally in a ring shape. The area wire4is connected to the station3and generates an electromagnetic wave upon reception of the power from the station3. The working machine2detects the electromagnetic wave of the area wire4to perform a work (lawn mowing in this embodiment) within the working area41. If the working machine2falls outside the working area41, the working machine2travels so as to return to the working area41. The area wire4is generally installed under the ground in a yard, but may be exposed from the ground surface.

FIG. 2Ais a block diagram showing the system arrangement of the working machine2. The working machine2includes a traveling unit21, a working unit22, a detection unit23, control unit24, and an external communication interface25. The traveling unit21includes a left rear wheel211L and a right rear wheel211R, and motors212L and212R for driving the left and right rear wheels. The working unit22includes a blade221for performing lawn mowing and a motor222for driving the blade221. The blade221is arranged at the bottom portion of the machine body of the working machine2. The working machine2travels and performs lawn mowing by driving the blade221by the motor222.

The detection unit23includes electromagnetic wave detection units231, an obstacle sensor232, and a main body information sensor233. The electromagnetic wave detection units231detect the electromagnetic waves of the station3and the area wire4. In this case, the type (for example, the frequency) of the electromagnetic wave of the station3is different from that of the area wire4. The electromagnetic wave detection units231can detect these electromagnetic waves while discriminating them from each other. The obstacle sensor233is a sensor for bypassing an obstacle (for example, a stone) within the working area41. A main body information sensor234is a sensor for detecting the states of the working machine2itself such as the posture, vehicle speed, angular velocity, and the like of the working machine2. The main body information sensor234includes, for example, a G sensor, a vehicle speed sensor, an angular velocity sensor, and the like. Note that various exemplified sensors are merely examples. The detection unit23can further include other sensors.

The control unit24is an ECU (Electronic Control Unit) and includes a CPU (Central Processing Unit)241and a memory242. The functions of the control unit24are implemented by semiconductor integrated circuits such as a PLD (Programmable Logic Device) and an ASIC (Application Specific Integrated Circuit). However, the functions of the control unit24may be implemented by software as another embodiment. That is, the functions of the control unit24can be implemented by either hardware or software.

According to this embodiment, the CPU241can function as a traveling control unit2411, a working control unit2412, and an information acquisition unit2413. For example, the CPU241functions as the traveling control unit2411to control the traveling unit21. The CPU241functions as the working control unit2412to control the working unit22. The CPU241functions as the information acquisition unit2413to acquire necessary information from the memory242. For the descriptive convenience, the following description will be made using the control unit24as the control entity.

The external communication interface25is an interface for receiving input information from the user. The control unit24memorizes (stores) the input information received by the external communication interface25in the memory242. According to this embodiment, the input information can be input using a portable terminal (for example, a portable type input terminal such as a smartphone) by the user. Accordingly, the user can input the input information without directly accessing the working machine2(from a location remote from the working machine or from a remote place). As another embodiment, the working machine2may further include an input terminal for receiving this input information. In this case, the user can directly input the input information to this input terminal.

FIG. 2Bis a schematic view showing the structure of the working machine2. A left front wheel213L and a right front wheel213R as part of the traveling unit21are arranged at the front left side and the front right side of the working machine2. The front left wheel213L and the front right wheel213R are driven wheels (rotatable). That is, the body of the working machine2is supported by the four wheels, that is, the rear wheels211L and211R and the front wheels213L and213R. The rear wheels211L and211R are independently driven by motors212L and212R, respectively.

For example, when both the rear wheels211L and211R are set at a rotation speed corresponding to +0.1 m/s (in this case, + indicates the rotation in the forward direction), the working machine2travels straight at a speed of 0.1 m/s. In addition, when both the rear wheels211L and211R are set at a rotation speed corresponding to −0.05 m/s (in this case, − indicates the rotation in the backward direction), the working machine2travels backward at a speed of 0.05 m/s. For example, when the rear left wheel211L is set at a rotation speed corresponding to +0.1 m/s and the rear right wheel211R is set at a rotation speed corresponding to +0.05 m/s, the working machine2turns right. For example, when the rear left wheel211L is set at a rotation speed corresponding to +0.05 m/s and the rear right wheel211R is set at a rotation speed corresponding to −0.05 m/s, the working machine2rotates clockwise at the same position.

The working machine2further includes a battery25and a connector26for charging the battery25. The connector26is arranged in the front side of the working machine2. When charging the working machine2, the working machine2enters the station3from the front side. Note that when starting the work, the working machine2moves backward from the station3, turns to change the traveling direction, and moves forward, thereby starting the working machine2from the station3.

As shown inFIG. 2B, according to this embodiment, the electromagnetic wave detection units231are arranged on the front left side and the front right side, respectively, of the working machine2. That is, the working machine2includes a total of two electromagnetic wave detection units231. The electromagnetic wave detection unit231on the front left side is referred to as an “electromagnetic wave detection unit231L”, and the electromagnetic wave detection unit231on the front right side is referred to as an “electromagnetic wave detection unit231R” in order to discriminate them from each other. If these detection units need not be discriminated from each other, the detection units will be expressed as the “electromagnetic wave detection units231”. The control unit24can detect the position of the working machine2with respect to the area wire4based on the detection values of the electromagnetic wave detection units231L and231R.

For example, when the detection values of the electromagnetic waves of the area wire4by the electromagnetic wave detection units231L and231R are positive, the control unit24determines that the working machine2is traveling within the working area41. For example, when one of the detection values of the electromagnetic waves of the area wire4by the electromagnetic wave detection units231L and231R is positive and the other of the detection values is negative, the control unit24determines that the working machine2is traveling on the area wire4(the working machine2is positioned on the partition boundary of the working area41). In addition, for example, when the detection values of the electromagnetic waves of the area wire4by the electromagnetic wave detection units231L and231R are negative, the control unit24determines that the working machine2is traveling outside the working area41and changes to cause the working machine2to return to the working area41.

For example, when the detection values of the electromagnetic waves of the area wire4by the electromagnetic wave detection units231L and231R are positive and are different from each other, the control unit24can also determine the side where the area wire4is positioned with respect to the traveling direction of the working machine2traveling within the working area41. For example, if the detection value of the electromagnetic wave detection unit231L is larger than the detection value of the electromagnetic wave detection unit231R, the control unit24determines that the working machine2is traveling (in the clockwise direction (the CW direction) within the working area41) in a state in which the working machine2is close to the area wire4on the left side of the traveling direction. On the other hand, if the detection value of the electromagnetic wave detection unit231L is smaller than the detection value of the electromagnetic wave detection unit231R, the control unit24determines that the working machine2is traveling (in the counterclockwise direction (the CCW direction) within the working area41) in a state in which the working machine2is close to the area wire4on the right side of the traveling direction.

FIG. 3is a schematic view showing the structure of the station3. The station3includes a charging connector31, a station wire32, and a docking wire33. The connector31is arranged on the proximal portion side of the station3to which the area wire4is connected. When the working machine2enters into the station3, the connector26of the working machine2is connected to the connector31of the station3, thereby starting charging the battery25. Note that the connector26and the connector31are arranged to be insertable, and one of the connectors can be a female/male connector.

The station wire32and the docking wire33are incorporated in the station3and generate electromagnetic waves of different types (for example, different frequencies). Note that the electromagnetic waves of the station wire32and the docking wire33are different from the electromagnetic wave of the area wire4. As described above, the electromagnetic wave detection units231detect the electromagnetic waves while discriminating them from each other.

For example, if a distance from the working machine2to the station3is smaller than a predetermined value, the electromagnetic wave detection units231detect the electromagnetic wave of the station wire32(strictly, the detection value of the electromagnetic wave of the station wire32by the electromagnetic wave detection units231is larger than a reference value). Accordingly, the control unit24determines that the working machine2is traveling near the station3. In other words, the station wire32notifies the working machine2traveling near the station3of information indicating that the working machine2is traveling near the station3by the electromagnetic wave. As described above, since the working machine2includes the two electromagnetic wave detection units231L and231R, the control unit24can detect the position of the working machine2with respect to the station3.

For example, when the working machine2enters into the station3, the electromagnetic wave detection units231detect the electromagnetic wave of the docking wire33. Accordingly, the control unit24can determine whether the entrance angle of the working machine2with respect to the station3can be maintained so as to cause the connector26to come close to the connector31. In other words, the docking wire33guides by the electromagnetic wave the working machine2which is entering the station3so as to properly connect the connector26and the connector31. As described above, since the working machine2includes the two electromagnetic wave detection units231L and231R, the control unit24can determine the entrance angle of the working machine2with respect to the station3.

In the following description, a state in which the connector26and the connector31are connected to each other to allow charging of the battery25is referred to as “docking” in some cases.

Note that in this embodiment, although each electromagnetic wave detection unit231detects the electromagnetic waves of the area wire4, the station wire32, and the docking wire33while discriminating them from each other, individual dedicated sensors may be arranged for electromagnetic waves, respectively, as another embodiment.

FIG. 4is a flowchart showing a traveling control sequence for properly implementing docking. This traveling control is started in response to the fact that the remaining amount of the battery25is smaller than the reference value, the fact that the working time of the working machine2ends, or the like. Note that the reference value of the remaining amount can be set as a value by which the working machine2can return to the station3from any position of the working area41. In addition, the working time (for example, a start time, an execution time, and an end time) can be set in advance by causing the user to input the working time using a portable terminal.

As the outline of this traveling control, the control unit24first detects based on the electromagnetic wave of the station wire32that the working machine2is traveling near the station3. After that, the control unit24decides the entrance route to the station3based on the installation mode of the station3. The information indicating the installation mode of the station3is input as the input information by the user in advance before the start of the working of the working machine2(for example, when the working system1is installed) and is stored in the memory242. For this reason, the entrance posture of the working machine2to the station3can be appropriately controlled, thereby implementing proper docking. The installation mode of the station3includes the layout of the station3within the working area41. For example, the installation mode includes, for example, the position and orientation (entrance enable direction of the working machine2) of the station3within the working area41, the shape of the working area41near the station3, and the like.

In step S110(to be simply referred to as “S110” hereinafter; this also applies to other steps), the working machine2is traveling within the working area41so as to return the working machine2to the station3. S110may be executed in a state in which working (lawn mowing) is stopped or in a state in which working is being performed.

In S120, the control unit24determines whether the detection value (to be referred to as DST) of the electromagnetic wave of the station wire32by each electromagnetic wave detection unit231is larger than a reference value (to be referred to as DST_REF1). In general, the distance between the working machine2and the station3decreases, the intensity (the absolute value) of the electromagnetic wave of the station wire32increases. For this reason, if the detection value DSTis set larger than the reference value DST_REF1, it is said that the working machine2is located near the station3(the working machine2enters the range of the predetermined distance from the station3). If DST>DST_REF1is satisfied, the process advances to S130; otherwise, the process returns to S110(the working machine2continues to search for the station3).

In S130, the control unit24sets the control parameter of the traveling unit21based on the installation mode of the station3and the detection value of the electromagnetic wave of the area wire4. This control parameter includes parameters for deciding the traveling route (the entrance route to the station3) and the traveling speed of the working machine2accessorily. More specifically, this control parameter decides the magnitudes and rotation directions of the driving forces of the motors212L and212R for driving the rear wheels211L and211R. The details will be further described by exemplifying several cases later. By setting the control parameter of the traveling unit21, the control unit24decides the proper traveling route to cause the working machine2to come close to the station3. The traveling route or entrance route may be expressed as a locus.

The control unit24can determine the distance from the working machine2to the area wire4(whether the working machine2is near or far apart from the area wire4) according to the detection value of the electromagnetic wave of the area wire4. The control unit24causes the information acquisition unit2413to acquire the information indicating the installation mode of the station3prestored in the memory242, and sets the control parameter (decides the traveling route) together with the determination result. This control parameter may be set based on the installation mode of the station3such as a look-up table or may be set by calculation of predetermined arithmetic processing.

Note that the control parameter may be changed over time, for example, upon the elapse of a predetermined time. Accordingly, for example, traveling routes coping with various installation modes of the station3such as the left turn after the right turn can be implemented. In addition, the traveling speed can be determined based on the traveling route. For example, if a turning radius is small, the traveling speed may be determined so as to reduce the traveling speed.

In S130, as another embodiment, in order to set the control parameter, the detection value (DST) of the electromagnetic wave of the station wire32may further be used together with the detection value of the electromagnetic wave of the area wire4. As described above, since the working machine2includes the electromagnetic wave detection units231L and231R, the control unit24can determine the position of the working machine2with respect to the station3within the working area41. An appropriate control parameter can be set even by this method.

In S140, traveling is performed as in S110. This traveling is performed by the control parameter set in S130, and accordingly, the working machine2can further move near the station3.

In S150, the control unit24determines whether the detection value DSTof the electromagnetic wave of the station wire32by each electromagnetic wave detection unit231is set larger than a reference value (DST_REF2(>DST_REF1). If the detection value DSTis set larger than the reference value DST_REF2, it can be said that the working machine2is further moved near the station3or the preparation for the start of entrance of the working machine2to the station3is completed. If DST>DST_REF2is satisfied, the process advances to S160; otherwise, the process returns to S140(the working machine2continuously travels to further come close to the station3). Details will be described later by exemplifying several cases. In S150, since the working machine2further comes close to the station3using the control parameter set in S130, the working machine2can move to a position where the working machine2can easily enter into the station3.

In S160, the control unit24sets the control parameter of the traveling unit21based on the installation mode of the station3. In S150, the working machine2further comes close to the station3and has moved to the position where the working machine2can easily enter into the station3. The control unit24sets the control parameter of the traveling unit21so as to implement appropriate docking by causing the working machine2to start entering into the station3from that position. As in S130, the control parameter may be set by referring to a look-up table or by calculation of the predetermined arithmetic processing based on the installation mode of the station3.

In S170, traveling is performed as in S110and S140. This traveling is performed based on the control parameter set in S160. Accordingly, the working machine2enters into the station3and travels on the station3while being guided by the electromagnetic wave of the docking wire33.

Note that in S170, the control unit24may lose the electromagnetic wave of the docking wire33due to, for example, mixing of another electromagnetic noise. In this case, the control unit24interrupts entrance of the working machine2or searches for the electromagnetic wave of the docking wire33for a predetermined time while rotating the working machine2at the position where the electromagnetic wave of the docking wire33is lost. The rotation of the working machine2can be executed such that the rear left wheel211L is rotated at a speed corresponding to +0.05 m/s and the rear right wheel211R is rotated at a speed corresponding to −0.05 m/s. If the electromagnetic wave of the docking wire33is detected again, the control unit24restarts the entrance of the working machine2.

In S180, the control unit24determines whether docking is completed. If NO in S180, the process returns to S170; otherwise, this traveling control ends.

In summary, if the control unit24is traveling near the station3(that is, in response to establishment of DST>DST_REF1), the working machine2is further moved close to the station3in the route decided based on the installation mode of the station3. The working machine2is moved to a position where it can easily enter into the station3. After the working machine2comes close to the station3(that is, in response to establishment of DST>DST_REF1), the working machine2starts to enter into the station3in the route decided based on the installation mode of the station3. After that, the working machine2travels on the station3while being guided by the electromagnetic wave of the docking wire33, thereby implementing appropriate docking. The information indicating the installation mode of the station3can be prestored by the user, and the control unit24can control the entrance posture of the working machine2to the station3by referring to this information.

In this embodiment, the control parameter is set twice, that is, when DST>DST_REF1(S120) is satisfied and when DST>DST_REF2(S150) is satisfied. The number of times of the settings may be one or three or more. In addition, in this embodiment, the mode in which the control parameter is set based on the intensity (that is, the detection value DST) of the electromagnetic wave of the station wire32is exemplified. However, the present invention is not limited to this. For example, as another embodiment, the station wire32may output a plurality of electromagnetic waves having different types. In this case, the output distances of the plurality of electromagnetic waves are different from each other. The control unit24sets the control parameter in accordance with the detection of the distances by the electromagnetic wave detection units231.

Several examples of the installation modes of the station3and the entrance routes to the station3in these examples will be described with reference toFIGS. 5A to 5CandFIGS. 6A to 6C.

FIG. 5Ashows the standard installation layout (standard installation type) of the station3. That is, the station3is installed in a direction perpendicular to the extending direction of the area wire4. The working machine2enters into the station3in a direction almost perpendicular to the extending direction of the area wire4.

First, as a case Case1 (to be simply referred to as Case1 hereinafter; this also applied to other cases), assume that the traveling working machine2enters into the station3in the CW direction within the working area41at a position relatively apart from the area wire4. As described above, since the working machine2includes the two electromagnetic wave detection units231L and231R, the control unit24can determine that the working machine2is traveling in the CW direction.

In operation Act11(to be simply referred to as Act11; this also applies to other operations), the working machine2causes each electromagnetic wave detection unit321to detect the electromagnetic wave of the station wire32. Strictly, this indicates that DST>DST_REF1is satisfied (corresponding to S120inFIG. 4). Accordingly, the control unit24determines that the working machine2is traveling near the station3. In response to this, since the working machine2comes closer to the station3, the control unit24sets the control parameter of the traveling unit21(corresponding to S130inFIG. 4).

The control parameter is set based on the installation mode of the station3prestored in the memory242and the detection value (that is, the distance from the working machine2to the area wire4) of the electromagnetic value of the area wire4. By using this control parameter, the traveling route for making the working machine2come closer to the station3is decided. For example, the turning radius and the traveling speed for making the working machine2come closer to the station3, a timing for changing the turning angle during turning, and the like are decided. Although details will be described later, the control parameter is decided so as to relatively moderately turn the working machine2because the working machine2is traveling at a position relatively separated from the area wire4in Case1.

In Act12, the working machine2travels in accordance with the control parameter set in Act11and comes closer to the station3(corresponding to S140inFIG. 4). Since the working machine2is traveling at the position relatively separated from the area wire4in Case1, the working machine2can be moved to a position P1near the front side of the station3by causing the working machine2to relatively moderately turn. The position P1is the position near the front side of the station3, but can be any position where each electromagnetic wave detection unit231can appropriately detects the electromagnetic wave of the docking wire33by causing the working machine2to turn left in Act13.

In Act13, in response to the establishment of DST>DST_REF2(corresponding to S150inFIG. 4), the control unit24sets the control parameter of the traveling unit21in order to cause the working machine2to enter into the station3in an appropriate posture (corresponding to S160inFIG. 4). The control parameter is set based on the installation mode of the station3prestored in the memory242. In Case1, the working machine2turns such that the working machine2comes close to the station3(the connector26of the working machine2faces the connector31of the station3) (corresponding to S170inFIG. 4). After that, the working machine2enters into the station3and travels on the station3while being guided by the electromagnetic wave of the docking wire33, thereby completing docking (corresponding to S180inFIG. 4).

Next, as Case2, assume that the working machine2enters into the station3in the CW direction within the working area41at a position relatively near the area wire4. In Case1 described above, since the working machine2is traveling at the position relatively separated from the area wire4, the working machine2can be moved to the position P1near the front side of the station3by causing the working machine2to turn relatively moderately (see Act12). To the contrary, in Case2, since the working machine2is traveling at a position relatively near the area wire4, a relatively abrupt turn is required to move the working machine2to the position P1near the front side of the station3.

In Act21, the control unit24sets the control parameter of the traveling unit21because the working machine2comes closer to the station3after the detection of the electromagnetic wave of the station wire32(corresponding to S120to S130inFIG. 4). In Case2, the working machine2must turn to the front side of the station3. The control parameter for implementing this is set based on the installation mode of the station3prestored in the memory242and the detection value (that is, the distance from the working machine2to the area wire4) of the electromagnetic wave of the area wire4. More specifically, the traveling route of the working machine2is decided such that the working machine2makes a left turn in Act23after the working machine2travels upon a right turn in Act22. Accordingly, the working machine2can move to the position P1near the front side of the station3(corresponding to S140inFIG. 4). After the working machine2moves up to the position P1, the working machine2enters into the station3in the same procedure as in Act13of Case1, thereby completing docking (corresponding to S150to S180inFIG. 4).

In summary, after the detection (after the establishment of DST>DST_REF1) of the electromagnetic wave of the station wire32, the control unit24refers to the installation mode of the station3prestored in the memory242, thereby setting the control parameter of the traveling unit21and deciding the entrance route of the working machine2into the station3. Accordingly, the entrance posture of the working machine2when entering into the station3can be controlled. In this case, in any one of Case1 and Case2, the working machine2is moved to the position P1near the front side of the station3after the detection of the electromagnetic wave of the station wire32, then turns to face the front side of the station3, and enters into the station3. Therefore, appropriate docking can be implemented in each of Case1 and Case2.

FIG. 5Bshows a mode in which the working machine2traveling in the CCW direction enters the station3in the layout of the standard installation type (as inFIG. 5A). Case3 shows a case in which the working machine2traveling in the CCW direction within the working area41at a position relatively away from the area wire4enters the station3. Case4 shows a case in which the working machine2traveling in the CCW direction within the working area41at a position relatively near the area wire4enters into the station3.

As described above, since the working machine2includes the two electromagnetic wave detection units231L and231R, the control unit24can determine whether the working machine2is traveling in the CW or CCW direction. Case3 and Case4 can be assumed in the same manner as in Case1 and Case2 except that the working machine2is traveling in the direction opposite to that of Case1 and Case2. That is, in each of Case3 and Case4, upon detection of the electromagnetic wave of the station wire32, the working machine2moves to a position P2near the front side of the station3, then turns to face the front side of the station3, and enters into the station3. In each of Case3 and Case4, appropriate docking can be implemented.

FIG. 5Cshows the layout in which the station3is installed in a posture parallel to the extending direction of the area wire4(lateral installation type). In this case, the side which allows entrance of the working machine2is the right side. For this reason, when the working machine2is traveling in the CW direction, the side which allows entrance of the working machine2into the station3corresponds to the traveling direction of the working machine2, and working machine2can relatively easily enter into the station3. On the other hand, when the working machine2is traveling in the CCW direction, the side which allows entrance of the working machine2into the station3does not correspond to the traveling direction of the working machine2. For this reason, a relatively abrupt turn is required.

As Case5, assume that the working machine2traveling in the CW direction within the working area41enters into the station3. In this case, the control unit24can determine using the electromagnetic wave detection units231L and231R that the working machine2is traveling in the CW direction. Accordingly, in Act51, upon detection of the electromagnetic wave of the station wire32, the control unit24sets the control parameter for implementing the following traveling route based on the above detection and the prestored installation mode (that is, the station3is set as the lateral installation type) of the station3. As described above, in Case5 the side which allows entrance of the working machine2into the station3corresponds to the traveling direction of the working machine2. Therefore, upon detection of the electromagnetic wave of the station wire32, the control unit24can relatively easily move the working machine2to a position P3near the front side of the station3in Act52.

Next, as Case6, assume that the working machine2traveling in the CCW direction within the working area41enters into the station3. The control unit24can determine using the two electromagnetic wave detection units231L and231R that the working machine2is traveling in the CCW direction. In Act61, upon detection of the electromagnetic wave of the station wire32, the control unit24sets the control parameter which implements the following traveling route based on the above detection and the prestored installation mode of the station3. As described above, in Case6, the side which allows entrance of the working machine2into the station3does not correspond to the traveling direction of the working machine2. For this reason, upon detection of the electromagnetic wave of the station wire32, the control unit24makes the working machine2turn left so as to keep the distance to the station3, and moves the working machine2to a position P4lateral to the station3in Act62. This position P4is an allowable position where each electromagnetic wave detection unit231can appropriately detect the electromagnetic wave of the docking wire33by making the working machine2turn right in Act63. Alternatively, the position P4is a position on the right side of the allowable position inFIG. 5C.

In summary, after the detection (after the establishment of DST>DST_REF1) of the electromagnetic wave of the station wire32, the control unit24refers to the installation mode of the station3prestored in the memory242, thereby setting the control parameter of the traveling unit21and deciding the entrance route of the working machine2into the station3. Accordingly, the entrance posture of the working machine2when entering into the station3can be controlled. In Case5, upon detection of the electromagnetic wave of the station wire32, the working machine2moves to the position P3near the front side of the station3(corresponding to S120to S140inFIG. 4). After that, the working machine2turns to face the front side of the station3and enters into the station3(corresponding to S150to S180inFIG. 4). According to Case5, appropriate docking can be implemented.

On the other hand, in Case6, upon detection of the electromagnetic wave of the station wire32, the working machine2moves to the position P4lateral to the station3while maintaining the distance to the station3(corresponding to S120to S140inFIG. 4). After that, the working machine2turns right and enters into the station3(corresponding to S150to S180inFIG. 4). The position P4can be an allowable position where each electromagnetic wave detection unit231can appropriately detect the electromagnetic wave of the docking wire33by making the working machine2turn right as described above. Alternatively, the position P4can be a position on the right side of the allowable position. Therefore, even in Case6, the working machine2can appropriately enter into the station3and can perform appropriate docking.

FIG. 6Ashows a layout (convex portion installation type) in which the working area41has a portion partitioned in a convex shape (alcove shape) and the station3is installed in this portion. In this example, the case in which the traveling direction of the working machine2is the CW direction is the same as the case in which the traveling direction of the working machine2is the CCW direction except that the traveling directions of the working machine2are opposite to each other. For this reason, only the case in which the traveling direction is the CW direction will be considered.

As Case7, assume that the working machine2traveling in the CW direction at a position relatively apart from the area wire4enters into the station3. In Case7, an influence of the installation mode of the station3as the convex portion installation type is relatively small. That is, Case7 is the same as Case1 as the standard installation type described with reference toFIG. 5A. In Act71, upon detection of the electromagnetic wave of the station wire32, the control unit24sets the control parameter for implementing the following traveling route based on the prestored installation mode of the station3and the detection value of the electromagnetic wave of the area wire4. That is, in Act72, the working machine2relatively moderately turns left to move to a position P5near the front side of the station3. After that, the working machine2enters into the station3in the same procedure as in Act13of Case1, thus completing docking.

Note that the detection value of the electromagnetic wave of area wire4in Act71of Case7 is larger than that in Act11of Case1. For this reason, to set the control parameter in Act71, a look-up table different from that in Act11is referred to, and arithmetic processing different from that in Act11is performed.

Next, as Case8, assume that the working machine2traveling in the CW direction at a position relatively near the area wire4enters the station3. In Case8, since the installation mode of the station3is given as the convex portion installation type, the working machine2must turn left so as to enter the station3without falling outside the working area41, that is, so as to bypass the corner of the area wire4. For this reason, in Act81, upon detection of the electromagnetic wave of the station wire32, the control unit24sets the control parameter for implementing the following traveling route based on the prestored installation mode of the station3and the detection value of the electromagnetic wave of the area wire4. That is, in Act82, the working machine2travels straight along the extending direction of the area wire4, passes by the corner of the area wire4, and moves to a position P6. The position6is located on the right side of the position P5near the front side of the station3in this example. However, the position6can be any position where each electromagnetic wave detection unit231can appropriately detects the electromagnetic wave of the docking wire33by causing the working machine2to turn left in Act83to be performed next.

Even in the example of the convex portion installation type, after the detection (after the establishment of DST>DST_REF1) of the electromagnetic wave of the station wire32, the control unit24refers to the prestored installation mode of the station3. This makes it possible to control the entrance posture of the working machine2when it enters into the station3.

FIG. 6Bshows a layout (concave portion adjacent installation type) in which the working area41has a portion partitioned in a concave shape, and the station3is installed near this portion. In this example, since the installation mode of the station3is given as the concave portion adjacent installation type, the working machine2must bypass so as to enter the station3without falling outside the working area41, that is, avoid the concave shape of the working area41.

As Case9, assume that the working machine2traveling in the CCW direction within the working area41in which the concave shape is formed on the left side of the station3enters into the station3. In Act91, the working machine2is traveling in the CCW direction along the area wire4. After that, the working machine2reaches a position P7, and each electromagnetic wave detection unit231detects the electromagnetic wave of the station wire32. In response to this, the control unit24sets the control parameter for implementing the following traveling route based on the prestored installation mode (that is, the station3is of the concave portion adjacent installation type) of the station3. That is, in Act92, the working machine2turns left to bypass the concave shape of the working area41and passes by the concave shape. In Act93, the working machine2turns right to bypass the concave shape. After that, in Act94, the working machine2turns right and moves to a position P8near the front side of the station3. Subsequently, in Act95, the working machine2turns to face the front side of the station3and enters into the station3. Act94and Act95are performed in the same procedure as that of Act12and Act13in Case1 described above.

As described above, even in the example of the concave portion adjacent installation type, after the detection (after the establishment of DST>DST_REF1) of the electromagnetic wave of the station wire32, the control unit24refers to the prestored installation mode of the station3. This makes it possible to control the entrance posture of the working machine2when entering into the station3.

FIG. 6Cshows a layout (folded portion installation type) in which the area wire4is arranged to be folded, two different portions in the area wire4extend parallel, and the station3is installed on one of the two different portions (folded portion installation type). In this example, since the installation mode of the station3is given by the folded portion installation type, the electromagnetic wave of the station wire32may be detected while the working machine2is traveling on the opposite side of the station3with respect to the folded area wire4. In this case, the working machine2cannot return to the station3because the working machine2travels within the working area41.

In Case10, as shown in Act101, while the working machine2is traveling on the opposite side of the station3, the control unit24does not perform traveling control (seeFIG. 4) for causing the working machine2to enter into the station3even if the electromagnetic wave of the station wire32is detected. Whether the working machine2is traveling on the opposite side of the station3can be determined by, for example, comparing the electromagnetic wave of the area wire4with the electromagnetic wave of the station wire32using the two electromagnetic wave detection units231L and231R. For example, the control unit24determines the position of the working machine2with respect to the station3within the folded portion installation type working area41based on the detection values of these electromagnetic waves, thereby determining whether the working machine2is traveling on the opposite side of the station3. If the electromagnetic wave of the station wire32is detected while the working machine2is traveling on the opposite side of the station3, the control unit24decides to skip the above traveling control.

Note that while the working machine2is traveling in the CCW direction, the working machine2bypasses the folding end of the area wire4and travels toward the station3in Act102. After that, the working machine2enters into the station3and completes docking in the same procedure as in Case2, Case4, and the like.

According to the example of the folded portion installation type, after the detection (after the establishment of DST>DST_REF1) of the electromagnetic wave of the station wire32, the control unit24refers to the prestored installation mode of the station3. This makes it also possible to skip the traveling control for entering the working machine2into the station3.

Others

The installation modes of the station3can be classified into several types to facilitate setting of the control parameter of the traveling unit21(that is, the decision of the entrance route into the station3). According to this embodiment, the standard installation type (seeFIGS. 5A and 5B), the lateral installation type (seeFIG. 5C), the convex portion installation type (seeFIG. 6A), the concave portion adjacent installation type (seeFIG. 6B), and the folded portion installation type (seeFIG. 6C) have been exemplified. These types are some of various installation modes of the station3, and other types can further be added.

As the input information, the user can input information indicating the correspondence between the installation mode of the station3and one of the installation types and further input detailed sizes. For example, in the case of the convex portion installation type (seeFIG. 6A), the user can further input the sizes of the convex shape of the working area41. For example, in the case of the concave portion adjacent installation type (seeFIG. 6B), the user can input the sizes of the concave shape of the working area41, the distance from the concave shape to the station3, and the like. Accordingly, the control parameter of the traveling unit21can be appropriately set, and the appropriate entrance route into the station3can be decided.

In the above cases such as Case1, after the detection (after the establishment of DST>DST_REF1) of the electromagnetic wave of the station wire32by the electromagnetic wave detection units231, the control unit24may lose the electromagnetic wave of the station wire32due to mixing of another electromagnetic noise or the like. In this case, the control unit24may interrupt the traveling control for entering the working machine2into the station3and, for example, searches for the electromagnetic wave of the station wire32while rotating the working machine2for a predetermined time at the current position. The rotation of the working machine2can be executed such that, for example, the rear left wheel211L is rotated at a speed corresponding to +0.05 m/s and the rear right wheel211R is rotated at a speed corresponding to −0.05 m/s. If the electromagnetic wave of the station wire32is detected again, the control unit24restarts the above traveling control.

Summary of Embodiments

In the first mode, there is provided a working system (for example,1) comprising a self-propelled working machine (for example,2) and a station (for example,3) configured to charge the working machine by connecting the working machine to the station, wherein the working machine comprises a traveling unit (for example,21), a traveling control unit (for example,24,241,2411) configured to control the traveling unit, a detection unit (for example,23,231) configured to detect the station, and an information acquisition unit (for example,24,241,2413), the information acquisition unit acquires input information input by a user, the input information includes information indicating an installation mode of the station, and the traveling control unit sets a control parameter of the traveling unit based on the installation mode of the station in response to detection of the station by the detection unit.

According to the first mode, the working machine sets the control parameter, that is, decides the entrance route to the station based on the installation mode of the station input in advance. Therefore, the working machine can be connected to the station while the posture of entrance to the station can be appropriately controlled.

In the second mode, the installation mode of the station includes a layout of the station in a working area (for example,41) of the working machine.

According to the second mode, the working machine decides the entrance route based on the layout of the station in the working area. Note that an example of the layout is the position of the station in the working area, its posture (that is, the direction in which the working machine can enter), the shape of the working area, and the like.

In the third mode, the working machine comprises a lawn mower (for example,2).

According to the third mode, as an appropriate example, the working machine is applied to the lawn mower. Another application example is a cleaning robot for performing automatic cleaning within a predetermined area, or the like.

In the fourth mode, the station generates an electromagnetic wave (for example, a magnetic field), and the detection unit is configured to detect the electromagnetic wave from the station.

According to the fourth mode, the working machine can detect the station based on the electromagnetic wave from the station using the detection unit. With this arrangement, the working machine detects the station (detects that the working machine is traveling near the station), and the entrance route is decided in response to this detection.

In the fifth mode, the traveling control unit further sets a control parameter of the traveling unit based on a detection value (intensity) of the electromagnetic wave by the detection unit.

According to the fifth mode, the working machine can decide the entrance route based on the detection value of the electromagnetic wave. In general, the intensity of the electromagnetic wave is made small (weak) when the distance from the station increases. For this reason, the working machine can decided the entrance route based on the detection value of the electromagnetic wave, that is, the distance to the station.

In the sixth mode, the station generates a plurality of types (for example frequencies) of electromagnetic waves, and the traveling control unit sets a control parameter of the traveling unit in response to detection of one of the plurality of types of electromagnetic waves by the detection unit.

According to the sixth mode, the working machine can decide the entrance route based on the type of electromagnetic wave.

In the seventh mode, the working system further comprises an area wire (for example,4) configured to partition the working area (for example,41) of the working machine, the area wire generates an electromagnetic wave, the detection unit is further configured to detect the electromagnetic wave from the area wire, and the traveling control unit further sets the control parameter of the traveling unit based on an intensity of the electromagnetic wave from the area wire which is detected by the detection unit.

According to the seventh mode, the working machine can decide the entrance route to the station based on the intensity of the electromagnetic wave of the area wire, that is, the distance from the area wire.

In the eighth mode, the control parameter is a parameter for deciding a traveling route (locus) of the working machine to the station.

According to the eighth mode, the working machine decides the traveling route to the station using the control parameter. Note that the traveling speed of the working machine is also decided additionally. For example, when the working machine turns toward the station, a specific turning radius and a specific turning speed (more specifically, for example, if the turning radius is small, the traveling speed is low) are decided.

In the ninth mode, the traveling unit includes wheels (for example,211L,211R) and motors (for example,212L,212R) configured to drive the wheels, and the control parameter includes magnitudes of driving forces of the motors and rotation directions of the wheels.

According to the ninth mode, the traveling unit includes the wheels and the motors. For example, the turning radius and the traveling speed are decided in accordance with the driving forces (rotation speeds of the wheels) of the motors and the rotation directions of the wheels. For example, if the left wheel (for example,211L) is rotated corresponding to +0.1 m/s and the right wheel (for example,211R) is rotated at a rotation speed corresponding to +0.05 m/s, the working machine turns right.

In the 10th mode, the input information is input using a portable terminal of the user.

According to the 10th mode, the portable terminal is a portable type terminal such as a smartphone. Using this terminal, the user can input the input information without directly accessing the working machine (that is, from the location remote from the working machine). Note that the user can set the working time such as a working start time and a working end time other than information indicating the installation mode of the station.

In the 11th mode, there is provided a chargeable self-propelled working machine (for example,2) by being connected to a station (for example,3), comprising a storage unit (for example,242) for storing information indicating an installation mode of the station, a traveling unit (for example,21) for traveling the working machine, and a control unit (for example,2411) for controlling the traveling unit, wherein the installation mode of the station is set in the storage unit by a user in advance, and the control unit controls an entrance posture of the working machine into the station based on the installation mode of the station.

According to the 11th mode, the installation mode of the station is set in the storage unit of the working machine in advance, and the working machine appropriately controls the entrance posture of the working machine into the station based on this installation mode. Therefore, appropriate connection of the working machine to the station can be implemented.

In the 12th mode, the working machine further comprises a communication unit (for example,25) for receiving the information indicating the installation mode of the station from a portable terminal of the user.

According to the 12th mode, the user can input information indicating the installation mode of the station without directly accessing the working machine.

The present invention is not limited to the above-described embodiments, and various changes and modifications can be made within the spirit and scope of the present invention. Therefore, to apprise the public of the scope of the present invention, the following claims are made.