Method for returning self-walking device to base station and self-walking device

Abstract

The invention discloses a method for returning a self-walking device to a base station and the self-walking device. The method comprises the following steps of recording reference position parametersof the self-walking equipment in advance; when the self-walking equipment needs to return to the base station, comparing the reference position parameters with the current position and / or current direction of the self-walking equipment, and calculating to obtain a first running direction; controlling the self-walking equipment to determine an actual running direction according to the first runningdirection; and after walking to a boundary line according to the actual running direction, returning to the base station along the boundary line in a shorter path. Through recording of the referenceposition parameters, the shorter return path can be calculated when the self-walking equipment needs to return to the base station, so that the problem that the self-walking equipment needs to wind the boundary line for a circle to reach the base station due to inappropriate route direction selection in the prior art is solved.

Description

technical field [0001] The invention relates to the field of self-propelled equipment, in particular to a method for the self-propelled equipment to return to a base station and the self-propelled equipment. Background technique [0002] Intelligent self-propelled equipment has been widely popularized, and the operation of intelligent self-propelled equipment depends on electric energy. In order to ensure the stable operation of the self-propelled equipment, when the power of the self-propelled equipment is lower than a certain preset value, it will automatically return to the preset charging station. After returning to the charging station, the self-propelled device docks with the charging equipment installed in the charging station to automatically charge. [0003] At present, in the existing technology, the following three methods are generally used to control the self-propelled equipment so that it can automatically return to the preset charging station. [0004] In th...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that when calculating the actual position of the self-propelled device, there will be a large deviation compared with the actual position of the self-propelled device, for example, figure 2 As shown, the possible calculated position of the self-propelled device appears at figure 2 D position or B position in

This method is easily affected by the positioning accuracy. When the positioning deviates, the robot may make a circle around the field.

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