Automatic walking equipment and system and regression control method and device

A technology of automatic walking equipment and regression control, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the problems of large error, low docking accuracy, and unstable equipment.

Pending Publication Date: 2021-12-24
KINGCLEAN ELECTRIC GREEN TECH SUZHOU +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this scheme improves the efficiency of regressive charging to a certain extent, it can only roughly adjust the moving direction of the intelligent self-propelled device, and the error of walking along the boundary line is relatively large. line, resulting in low docking accuracy during regression charging, especially for side-to-side regression charging

Method used

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  • Automatic walking equipment and system and regression control method and device
  • Automatic walking equipment and system and regression control method and device
  • Automatic walking equipment and system and regression control method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0078] In one embodiment, the present application provides a self-propelled device. The self-propelled device may be a lawn mower, a sweeping robot, a snowplow, and other intelligent devices with self-propelled kinetic energy.

[0079] The self-propelled device provided by the embodiment of the present application includes a working mode and a returning mode. When it is in the working mode, the automatic running device 50 performs work tasks in the boundary line 60, such as mowing or snow removal or mopping the floor; when it is in the return mode, the automatic running device 50 moves to the stop 70 along the boundary line , and dock with the docking station 70 to realize the return function (refer to figure 1 ). Wherein, the boundary line 60 is used to define the working area of ​​the automatic walking device 50, and there is a boundary line signal on the boundary line 60, and the boundary line signal may be a magnetic field signal.

[0080] Such as figure 2 with 3 As s...

Embodiment 2

[0115] In another embodiment, the present application provides an automatic working system, such as figure 1 As shown, it includes a boundary line 60, a docking station 70, and the self-propelled device 50 as described in the first embodiment.

[0116] The boundary line 60 is used to define the working area of ​​the automatic walking device 50 , and the boundary line 60 has a signal of the boundary line 60 . The docking station 70 is arranged on the boundary line 60, and is used for providing pulse current to the boundary line 60 to form a signal of the boundary line 60, and the signal of the boundary line 60 is a magnetic field signal. The docking station 70 also includes a charging module, which is used for docking with the returned automatic running device 50 , and then charging the automatic running device 50 .

[0117] For the specific structure of the automatic walking device 50, please refer to the relevant content in the first embodiment, and details will not be repea...

Embodiment 3

[0120] In another embodiment, the present application provides a regression control method for an automatic walking device 50, the automatic walking device 50 includes a walking module 20, a boundary signal detection module 30 and a control module 40, and the execution subject of the method is the control module 40 For the specific structure of the self-propelled device 50, please refer to the relevant content in the first embodiment, and details will not be repeated here.

[0121] Such as Figure 9 As shown, the regression control method provided in this embodiment includes the following steps:

[0122] Step S20 , controlling the walking module 20 to drive the automatic walking device 50 to move along the boundary line 60 . Firstly, the automatic walking device 50 is controlled to enter the return mode, that is, the walking module 20 is controlled to drive the automatic walking device 50 to move to the boundary line 60 and move back along the boundary line 60 .

[0123] Ste...

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Abstract

The invention relates to the technical field of automatic control, and particularly discloses automatic walking equipment, an automatic walking system, a regression control method, a regression control device and electronic equipment. The equipment comprises a machine body, a walking module, a boundary signal detection module and a control module. The walking module is mounted on the machine body and used for driving the automatic walking equipment to move under the action of driving force; the boundary signal detection module is mounted on the fuselage and used for detecting boundary line signals; the control module is connected with the walking module and the boundary signal detection module and used for adjusting the walking speed of the walking module according to the boundary signal detection result of the boundary signal detection module in the regression mode. By adjusting the walking speed of the walking module in real time, the regression track of the automatic walking equipment can be accurately adjusted, the walking error of the automatic walking equipment along the boundary line is reduced, and the walking stability of the automatic walking equipment can be improved, so that the butt joint port can be quickly and accurately found when the automatic walking equipment arrives at the stop station, and the butt joint precision and the butt joint speed are improved.

Description

technical field [0001] The present application relates to the technical field of automation control, in particular to an automatic walking equipment, system, regression control method and device. Background technique [0002] With the continuous development of science and technology, intelligent self-propelled devices such as sweeping robots and lawn mowers are becoming well known. These intelligent self-propelled devices greatly save people's time and bring convenience to people's work and life. The function of automatic return to find the charging device of the intelligent self-propelled equipment has become a standard function. The function of automatic return to find the charging device improves the working efficiency of the intelligent self-propelled equipment. However, it takes too long to find the charging device or the charging device cannot be found, and the success rate of docking with the charging device after finding the charging device is not high. These are th...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0225G05D1/0223G05D1/0259
Inventor 倪祖根
Owner KINGCLEAN ELECTRIC GREEN TECH SUZHOU
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