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Walking robot, steering control method and system thereof and walking robot working system

A walking robot and steering control technology, applied in the control/adjustment system, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of low probability of mowing robots, misjudgment, manual removal, etc.

Pending Publication Date: 2020-08-07
SUZHOU CLEVA PRECISION MACHINERY & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the case of only electronic boundaries without global positioning, especially when the boundary signal is only used as the switch signal of the inside and outside of the boundary in order to ensure the robustness and simplicity of the system during implementation, it is easy to cause misjudgment or need to ensure that there are no obstacles outside the boundary. There are certain range requirements, and obstacles and boundaries of contact detection require different processing methods
[0005] On the other hand, due to the random traversal method and the complexity and diversity of the lawn, especially the lawn with narrow passages, the probability of the mowing robot randomly entering the narrow passage is small, resulting in some parts of the lawn that have not been mowed for a long time. manual removal required

Method used

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  • Walking robot, steering control method and system thereof and walking robot working system
  • Walking robot, steering control method and system thereof and walking robot working system
  • Walking robot, steering control method and system thereof and walking robot working system

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no. 1 approach

[0093] like figure 2 , a preferred first embodiment of the present invention, any position where the robot advances straight along the first travel path T12 and works within the work area is denoted as C1. The robot advances from C1 towards BL to reach position C2. The C2 position is the position of the robot lawn mower when any boundary sensor reaches the boundary line. Of course, it can also be considered that the C2 position is the position of the robot lawn mower when any boundary sensor and the boundary line reach a preset relative position relationship. The relative positional relationship includes that any borderline sensor reaches the borderline and has a preset distance from the borderline. An acute angle α is formed between the first travel path T12 of the robot mower from C1 to C2 and BL, and in this embodiment, α=45 degrees.

[0094] The robotic lawnmower drives towards the boundary line BL along the first traveling path T12. During this period, the robot lawnmo...

no. 8 approach

[0121] like Figure 10 , the preferred eighth embodiment of the present invention, when the robotic mower determines that it has entered a narrow passage, the robotic lawnmower switches from the normal working mode to the narrow passage mode. Regarding how the robot lawn mower judges whether to enter a narrow passage, for example, the number of times it can pass through the boundary within a certain time or distance, according to the changing characteristics of the boundary line signal, etc.

[0122] Working mode, the first path of travel is at an angle to the second path of travel, such as figure 2 and Figure 4 to Figure 9 In the illustrated embodiment, in this working mode, the preset curved path preferably includes a section of arc path. In the narrow passage mode, the first travel path is parallel to the second travel path. In the narrow passage mode, the preset curved path preferably includes two arc paths. That is, the robotic lawnmower moves along a sloped path of ...

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Abstract

The invention provides a walking robot, which is used for walking and working in a working range limited by a boundary, and comprises a body, a walking module, a boundary detection module, an energy module and a control module, wherein the walking module is mounted on the body, drives the walking robot to walk and steer, and comprises a wheel set and a driving motor for driving the wheel set to walk; the boundary detection module is arranged on the body and is used for detecting the position relationship between the walking robot and the boundary; the energy module is installed on the body andprovides energy for the walking robot; the control module is electrically connected with the walking module and the boundary detection module; and the walking robot is driven to the boundary along the first advancing path and steered to advance along the second advancing path after reaching the preset relative position relation, and when the walking robot reaches the preset relative position relation, the control module controls the walking module to retreat and steer along the preset curve path, so that the walking robot advances along the second advancing path after steering is completed. The invention further relates to a walking robot working system and a steering control method of the walking robot.

Description

technical field [0001] The invention relates to the field of intelligent control, in particular to a walking robot and its steering control method, control system and working system of the 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] Take the automatic working equipment as an example of a mowing robot. During the working process, the ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0219G05D1/02
Inventor 朱绍明高娟袁立超任雪宗畅
Owner SUZHOU CLEVA PRECISION MACHINERY & TECH