Control method for regression path of self-moving device
A control method and self-moving technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve machine shutdown, intelligent lawn mower stuck, unable to automatically disengage And other issues
Active Publication Date: 2019-05-31
NINGBO DAYE GARDEN EQUIP
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AI Technical Summary
Problems solved by technology
Improper paths and actions will cause the smart lawn mower to be stuck by the charging base station and cannot be disengaged automatically, which will eventually cause the machine to stop and require manual troubleshooting
Method used
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Embodiment 1
[0037] figure 1 is a schematic diagram of the return path from the mobile device 100 according to an embodiment of the present invention. In the self-mobile device 100 provided in this embodiment, its working area 500 is defined by the boundary line 300 connected with the homecoming base station 200, and the boundary line 300 is connected with the homecoming base station 200 to form a loop. Move and work within the defined working area 500. The control method of the return path includes:
[0038] S1: Detect whether the mobile device 100 needs to return to the home base station 200. The self-mobile device 100 autonomously walks along a random path in a specific working area 500 , and mows the lawn in the working area 500 where it walks.
[0039] In step S1, the detection of whether the self-mobile device 100 needs to return to the homecoming base station 200 is performed in real time. It can be detected periodically whether the self-mobile device 100 needs to return to the h...
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The invention discloses a control method for a regression path of a self-moving device. A working region of a self-moving device is defined by a boundary line which is connected with a regression basestation to form a loop. The method comprises the steps of: detecting whether the self-moving device is needed to return the regression base station or not; if yes, controlling the self-moving deviceto find the boundary line by the control module; after the self-moving device finds the boundary line, controlling the self-moving device to reversely walk for a preset distance along the boundary line by the control module; after the self-moving device reversely walks for a preset distance, controlling the self-moving device to turn round and runs in the regression direction of the boundary lineby the control module until the self-moving device reaches the regression base station. The control method for the regression path of the self-moving device can effectively avoid the possibility of the self-moving device being blocked on the regression base station.
Description
technical field [0001] The invention relates to the field of mechanical control, in particular to a method for controlling a return path from a mobile device. Background technique [0002] With the rapid development of big data, cloud computing and artificial intelligence, self-mobile devices have gradually entered various fields of human life and are increasingly playing an increasingly important role. Generally, the self-mobile device needs to return to the base station when the work is completed or needs to be charged, so as to facilitate management. A traditional solution is to lay a boundary line in the work area, and travel along the boundary line when returning from the mobile device. [0003] The self-mobile device platform integrates technologies such as motion control, multi-sensor fusion, and path planning. In order to realize the intended function of the self-mobile device, it is necessary to plan the full-area coverage of the path of the self-mobile device so ...
Claims
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0225G05D1/0265
Inventor 杨俊华叶坚泽朱典悝叶晓波
Owner NINGBO DAYE GARDEN EQUIP