Automatic walking equipment and control method and device
A technology of automatic walking equipment and control method, which is applied in two-dimensional position/channel control and other directions, can solve problems such as lawn damage, and achieve the effect of improving work efficiency and solving serious damage to the lawn.
Pending Publication Date: 2021-03-09
POSITEC POWER TOOLS (SUZHOU) CO LTD
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Problems solved by technology
[0004] However, in the traditional technology, when the intelligent lawn mower walks along the selected or planned path when encountering the boundary line, the intelligent lawn mower will crush the lawn, causing serious damage to the lawn
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[0045] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0046] It should be noted that a boundary line is set in the working area of the automatic walking device, and a reference line is preset on the automatic walking device. Among them, the reference line is a straight line set on the automatic walking device according to the actual situation, which can be the central axis of the automatic walking device, or a straight line parallel to the central axis, or a straight line forming a preset angle with the central axis . It can be understood that when the reference line is not the central axis and forms an angle with the central axis, the reference li...
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The invention relates to automatic walking equipment and a control method and device, and the method comprises the steps: obtaining an angle interval to which an included angle between a reference line of the automatic walking equipment and a boundary line encountered by the automatic walking equipment belongs when the automatic walking equipment encounters the boundary line, and searching a corresponding walking parameter from a corresponding relation between the angle interval and the walking parameter according to the angle interval, wherein the walking parameters comprise the retreating distance and the turning amount, and therefore walking of the automatic walking equipment is controlled according to the retreating distance and the turning amount. As the different angle intervals correspond to the different retreating distances and turning amounts, the automatic walking equipment can get away from the boundary line along the different walking paths when meeting the boundary line,the situation that the automatic walking equipment gets away from the boundary line along the same walking path is avoided, and the working efficiency of the automatic walking equipment is improved.
Description
technical field [0001] The invention relates to the field of garden technology, in particular to an automatic walking device, a control method and a device. Background technique [0002] The intelligent lawn mower has the function of automatic walking, and can complete the work of trimming the lawn independently, without direct human control and operation, which greatly reduces manual operation. It is a tool suitable for lawn trimming and maintenance in home gardens, public green spaces and other places. [0003] Usually, when the smart lawn mower encounters a boundary line, the smart lawn mower will perform path selection or path planning to keep the smart lawn mower in the working area and its normal working state away from the boundary line. [0004] However, in the traditional technology, when the intelligent lawn mower walks along the selected or planned path, the intelligent lawn mower will crush the lawn, causing serious damage to the lawn. Contents of the invention...
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IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 焦石平
Owner POSITEC POWER TOOLS (SUZHOU) CO LTD