Self-walking equipment system

Abstract

The invention discloses a self-walking equipment system. The self-walking equipment system comprises a signal generating device, a wire for setting the work region of self-walking equipment, and the self-walking equipment. A closed-loop conducting loop is formed by the wire and the signal generating device. The self-walking equipment comprises a driving unit, a control unit and at least one magnetic field signal detecting unit, all of which are arranged on a body of the self-walking equipment. The magnetic field detecting units output detection signals according to the sizes and directions of detected magnetic fields, and the control unit receives the detection signals and controls the self-walking equipment to move in the work region according to the detection signals. The signal generating device comprises a pseudo-random pulse signal generator adapting to the length of the wire and outputting signal pulses, and a constant current unit. Compared with the prior art, the constant current unit is additionally arranged, and therefore the magnitude of signal current in the wire is stabilized; the pseudo-random pulse signal generator is additionally arranged, and therefore magnetic field signals inside and outside the wire are easier to detect, and the self-walking equipment system is low in cost, simple and practical.

Description

Technical field [0001] The invention relates to the field of automatic control, and more specifically, it relates to a self-propelled equipment system. Background technique [0002] Self-propelled equipment such as sweeping robots and lawn mower robots are very common in life. When each self-propelled equipment is working, it is necessary to delimit the working range of the self-propelled equipment. At present, there are many ways to set the working range of self-propelled equipment on the market, such as Infrared, video recognition, magnetic strips, etc., these methods have some shortcomings in their applications: infrared is easily interfered by sunlight and is not suitable for long-term outdoor use, and video recognition is not suitable for long-term outdoor use. Magnetic strips are costly and use The scope is limited and it is not easy to promote. For each of the above methods, they all have one thing in common, that is, they cannot effectively identify the inside and outside...

AI Technical Summary

Problems solved by technology

[0002] Self-propelled devices such as sweeping robots and lawn-mowing robots are very common in daily life. When each self-propelled device is working, it is necessary to delineate the working range for the self-propelled device. There are many ways to set the working range of the self-propelled device on the market, such as Infrared, video recognition, magnetic strips, etc., these methods have some shortcomings in application: infrared is susceptible to sunlight interference, and is not suitable for long-term outdoor use, video recognition is not suitable for long-term outdoor use, and the cost of magnetic strips is high. The range is limited and it is not easy to promote. For the above-mentioned methods, they all have one thing in common, that is, they cannot effectively identify the inside and outside of the working range, and cannot reliably ensure that the self-propelled equipment works normally when it is within its own working range, and it is outside the working range. Make then shut down, at the problems referred to above, the solution of prior art is by setting a closed-loop wire in the scope of work of delimitation, pass a constant current on the wire, know by Ampere's law, will produce in the inside and outside of closed-loop wire The direction of the magnetic field signal is opposite, and the strength decreases with the distance from the wire. The self-propelled device calculates its own position by detecting the above magnetic field signal. In the above method, the core problem is to ensure the constant current in the closed-loop wire. The characteristic makes the detection less likely to be misleading and reduces the complexity of the system, and the third is to ensure that the current of the closed-loop wire is constant to ensure that the magnetic field in the closed-loop wire is constant, which is not optimized in the prior art

Images