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.
1. 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, the station including a station wire,
wherein the working machine comprises a traveling unit, a detector configured to detect the station based on the station wire, and a memory,
at least one processor circuit with the memory comprising instructions, that when executed by the processor circuit, causes the at least one processor circuit to at least:
acquire input information, which is stored in the memory, indicating an installation mode of the station, which includes a position and an orientation of the station within the working area and/or a shape of the working area near the station, and
control the traveling unit, including setting a control parameter of the traveling unit based on the input information when the detector detects, based on the station wire, that the working machine comes within a predetermined distance from the station, the control parameter being for deciding a traveling route to cause the working machine to access the station.
2. The working system according to claim 1 , wherein the working machine comprises a lawn mower.
3. The working system according to claim 1 , wherein
the station generates an electromagnetic wave, and
the detector is configured to detect the electromagnetic wave from the station.
4. The working system according to claim 3 , wherein the control of the traveling unit includes setting the control parameter of the traveling unit based on a detection value of the electromagnetic wave by the detector.
5. The working system according to claim 3 , wherein
the station generates a plurality of types of electromagnetic waves, and
the control of the traveling unit includes setting the control parameter of the traveling unit in response to detection of one of the plurality of types of electromagnetic waves by the detector.
6. The working system according to claim 1 ,
wherein the area wire generates an electromagnetic wave,
the detector is further configured to detect the electromagnetic wave from the area wire, and
the control of the traveling unit includes setting the control parameter of the traveling unit based on an intensity of the electromagnetic wave from the area wire which is detected by the detector.
7. The working system according to claim 1 , wherein the control parameter is a parameter for deciding a traveling route of the working machine to the station.
8. The working system according to claim 7 , wherein
the traveling unit includes wheels and motors configured to drive the wheels, and
the control parameter includes magnitudes of driving forces of the motors and rotation directions of the wheels.
9. The working system according to claim 1 , wherein the input information is input using a portable terminal of the user.
10. A chargeable self-propelled working machine charged by being connected to a station, configured to work in a working area, the station including a station wire,
the working machine comprising:
a memory configured to store information indicating an installation mode which includes a position and an orientation of the station within the working area and/or a shape of the working area near the station;
a detector configured to detect the station based on the station wire;
a traveling unit configured to travel the working machine; and
at least one processor circuit including the memory comprising instructions, that when executed by the processor circuit, causes the at least one processor circuit to at least:
when the detector detects, based on the station wire, that the working machine comes within a predetermined distance from the station, decide a proper traveling route to cause the working machine to access the station, based on the information which is set in the memory.
11. The working machine according to claim 10 , further comprising a communication interface to input the information indicating the installation mode of the station from a portable terminal of the user.