Walking robot control method and system

Abstract

The invention provides a walking robot control method and system, and the method comprises the steps: S1, counting a corner temporary counting value and a corner counting value in each first period; wherein the rotation angle count value is used for representing the sum of the number of rotation angles passed by the robot in the line patrol state in each first period, and the same rotation angle is counted once; wherein the corner temporary counting value is used for representing the sum of the number of corners which the robot starts from an initial point, enters a line patrol state and passes when walking along a line patrol path in each second period; and S2, determining a working starting point according to the size relationship between the corner temporary count value and the corner count value, and driving the robot to leave the line patrol path at the working starting point to enter a working area, so that the robot is changed from the line patrol state to the working state. Thetraversal of the walking robot in the working interval is improved, and the working efficiency is improved.

Description

technical field [0001] The invention relates to the field of intelligent control, in particular to a control method and a control system for a walking robot. Background technique [0002] With the continuous advancement of science and technology, various automatic working equipment has begun to slowly enter people's lives, such as: automatic vacuuming robots, automatic lawn mowing robots, etc. This kind of automatic working equipment has a walking device, a working device and an automatic control device, so that the automatic working equipment can walk and perform work automatically within a certain range without people's operation. When the energy storage device of the automatic working equipment has insufficient energy, its Ability to automatically return to the charging station unit to recharge and continue working. [0003] In the prior art, random mowing is a main way for the low cost of the mowing robot. That is, the robot moves forward within a delineated range such...

AI Technical Summary

Problems solved by technology

[0005] like figure 1 In the situation shown, sub-area A and sub-area B are connected by a narrow passage C, charging station P is set on the boundary line of area sub-area A, and the mowing robot works in sub-area A after starting from charging station P, for a random path The lawn mowing robot has a very small probability of entering sub-area B through narrow passage C, which will cause sub-area A to be fully traversed after a certain period of time; while sub-area B is rarely processed; and for larger area The work area and the robot return to charge, there will also be problems of insufficient work area traversal and repeated work

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