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Path control method and device

A path control and path technology, applied in the field of robotics, can solve the problem that the walking path of self-moving robots cannot be applied, and achieve the effect of ensuring coverage.

Inactive Publication Date: 2018-01-05
POSITEC POWER TOOLS (SUZHOU) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that the walking path of the existing self-moving robot cannot be applied to various types of robots while ensuring the coverage of the working area, thereby providing a path control method and device

Method used

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  • Path control method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] This embodiment provides a path control method, which is applied to a self-moving robot. The method includes: controlling the self-mobile robot to reciprocate along straight-line paths parallel to each other in a preset working area until it covers the preset working area. During the turning process, the mobile robot at least partially satisfies that the walking path after turning is parallel to the walking path before turning. That is, during the walking process of the self-mobile robot in this embodiment, all or part of the walking paths are parallel to each other, and the parallel spaced walking paths refer to the walking paths before and after each turn.

[0037] In the self-mobile robot of this embodiment, since the walking paths before and after the turn are spaced in parallel, the self-mobile robot can adopt a large turning radius when turning, so that various types of self-mobile robots can realize turning and walking. For large-scale self-mobile robots , especi...

Embodiment 2

[0084] The present embodiment provides a path control device, which includes: a control unit, used to control the self-mobile robot to reciprocate along straight-line paths parallel at intervals in a preset working area until it covers the preset working area, wherein the self-mobile robot At least part of the turning process satisfies that the travel path after the turn is parallel to the travel path before the turn. That is, during the walking process of the self-mobile robot in this embodiment, all or part of the walking paths are parallel to each other, and the parallel spaced walking paths refer to the walking paths before and after each turn.

[0085] In the self-mobile robot of this embodiment, since the walking paths before and after the turn are spaced in parallel, the self-mobile robot can adopt a large turning radius when turning, so that various types of self-mobile robots can realize turning and walking. For large-scale self-mobile robots , especially the crawler-...

Embodiment approach

[0104] As another optional implementation manner, the control unit includes:

[0105] The third control module is used to execute step S21, controlling the self-mobile robot to walk along the first direction of the preset working area;

[0106] The sixth turning module is used to execute step S22. When the self-mobile robot reaches the boundary in the first direction of the preset working area, control the self-mobile robot to turn 180° in the second direction to reach a distance parallel to the walking path interval before turning. Walking path, so that the self-mobile robot continues to walk along the first direction of the preset working area, wherein the distance between the walking path after turning and the walking path before turning is less than or equal to the working head coverage width of the self-mobile robot, the first The second direction is a direction perpendicular to the first direction, and the first direction includes two opposite directions on the same stra...

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Abstract

The invention relates to the field of mowing robots, and specifically discloses a path control method and device. The path control method comprises the steps of controlling a self-moving robot to walkin a reciprocating manner along straight paths with parallel intervals in a preset working area until covering the preset working area, wherein at least part of turning of the self-moving robot in the turning process satisfies a condition that the walking path after turning and the walking path before turning are parallel in interval. According to the invention, the self-moving robot can adopt alarge turning radius when making a turn under the condition of ensuring the coverage rate of mowing, thereby enabling various types of self-moving robots to achieve turning and walking.

Description

technical field [0001] The invention relates to the field of robots, in particular to a path control method and device. Background technique [0002] With the development of society and the advancement of technology, the machines and equipment used by people are also becoming more intelligent. Some intelligent robotic devices have gradually entered people's lives, such as self-moving robots such as sweeping robots and lawn mowing robots. Taking intelligent lawn mowing robots as an example, some companies have developed intelligent lawn mowing robots that can automatically move on the user's lawn. Mowing, charging, without user intervention. Since this automatic mowing system does not need to invest in energy management after the initial setup, it frees users from boring and time-consuming housework such as cleaning and lawn maintenance, so it is very popular. [0003] For these self-mobile robots, the main research and development difficulties lie in how to realize the rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0219
Inventor 刘芳世
Owner POSITEC POWER TOOLS (SUZHOU) CO LTD
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