Automatic walking device and regression control method thereof

Abstract

The present application relates to the field of automation control technology, and specifically discloses an automatic walking device and a regression control method thereof. The regression control method includes controlling a walking module to drive the automatic walking device to find a boundary line; when it is determined that the automatic walking device has found the boundary line, analyzing the received first amplified signal, second amplified signal, third amplified signal, and fourth amplified signal; according to the analysis results, adjusting the walking speed of the first walking unit and / or the second walking unit to make the automatic walking device regress on the line. According to the composite judgment result of the analysis results of several amplified signals, the speed of the walking unit is adjusted, so that the regression posture of the automatic walking device can be adjusted more quickly and accurately, the problem of riding line deviation can be solved, and the docking accuracy and efficiency of the automatic walking device and the charging stand can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to an automatic walking device and a regression control method thereof. Background Art

[0002] With the continuous development of science and technology, intelligent walking devices such as sweeping robots and lawn mowers are becoming well-known to people. These intelligent walking devices greatly save people's time and bring convenience to people's work and life. Taking the lawn mower robot as an example, the general working principle is: the charging device sends a pulse current to the boundary cable that encloses the working area to generate a magnetic field boundary signal. The lawn mower robot continuously detects the magnetic field signal in the working space and analyzes the boundary information through the signal characteristic value, and then determines the position of the lawn mower robot, so that the lawn mower robot works in the working area when it enters the working mode, and returns to the charging seat along the boundary line in the regression mode. However, during the regression process, the lawn mower robot often deviates from the boundary line, which leads to errors when docking the charging seat, and the docking accuracy between the lawn mower robot and the charging seat is poor. Summary of the invention

[0003] Based on this, it is necessary to provide an automatic walking device and a regression control method thereof to address the problem that the automatic walking device deviates from the boundary line during its regression process, resulting in poor docking accuracy with the charging base.

[0004] An automatic walking device, comprising:

[0005] body;

[0006] A walking module, comprising a first walking unit and a second walking unit symmetrically distributed on both sides of the fuselage;

[0007] a first boundary detection module, installed on the fuselage, comprising a first signal receiving unit and a first amplifying unit, wherein the first signal receiving unit is used to detect the electromagnetic field to obtain a first detection signal, and the first amplifying unit is used to amplify the first detection signal by a first amplification factor to obtain and output a first amplified signal;

[0008] a second boundary detection module, installed on the fuselage, comprising a second signal receiving unit and a second amplifying unit, wherein the second signal receiving unit is used to detect the electromagnetic field to obtain a second detection signal, and the second amplifying unit is used to cyclically amplify the second detection signal by a second amplification factor and a first amplification factor in sequence to obtain and output a second amplified signal corresponding to the second amplification factor and a fourth amplified signal corresponding to the first amplification factor, wherein the second amplification factor is greater than the first amplification factor;

[0009] a third boundary detection module, installed on the fuselage, comprising a third signal receiving unit and a third amplifying unit, wherein the third signal receiving unit is used to detect the electromagnetic field to obtain a third detection signal, and the third amplifying unit is used to amplify the third detection signal by a first amplification factor to obtain a third amplified signal, and the first signal receiving unit and the third signal receiving unit are symmetrically distributed on both sides of the second signal receiving unit;

[0010] The processing module is respectively connected to the first boundary detection module, the second boundary detection module, the third boundary detection module and the walking module, and is used to: control the walking module to drive the automatic walking device to find the boundary line; when it is determined that the automatic walking device has found the boundary line, analyze the received first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal; and, according to the analysis result, adjust the walking speed of the first walking unit and / or the second walking unit to make the automatic walking device regress on the line.

[0011] In one embodiment, the fuselage has a central axis, the second signal receiving unit is arranged on the central axis, the first signal receiving unit and the third signal receiving unit are symmetrically arranged about the central axis, and the first signal receiving unit, the third signal receiving unit and the second signal receiving unit are located on a vertical line of the central axis.

[0012] In one embodiment, the first walking unit is disposed close to the first signal receiving unit, and the second walking unit is disposed close to the third signal receiving unit.

[0013] In one embodiment, the first boundary detection module, the second boundary detection module, the third boundary detection module and the processing module are integrated on the same circuit board.

[0014] A regression control method for an automatic walking device, the automatic walking device comprising a walking module, a first boundary detection module, a second boundary detection module, a third boundary detection module and a processing module, the walking module comprising a first walking unit and a second walking unit symmetrically distributed on both sides of a fuselage, the first boundary detection module comprising a first signal receiving unit and a first amplifying unit, the second boundary detection module comprising a second signal receiving unit and a second amplifying unit, the third boundary detection module comprising a third signal receiving unit and a third amplifying unit, the first signal receiving unit and the third signal receiving unit being symmetrically distributed on both sides of the second signal receiving unit; the first signal receiving unit is used to detect an electromagnetic field, and obtain a first detection signal. The first amplifying unit is used to amplify the first detection signal by a first amplification factor to obtain and output the first amplified signal; the second signal receiving unit is used to detect the electromagnetic field to obtain the second detection signal, the second amplifying unit is used to cyclically amplify the second detection signal by a second amplification factor and a first amplification factor in sequence to obtain and output the second amplified signal corresponding to the second amplification factor and the fourth amplified signal corresponding to the first amplification factor, the second amplification factor being greater than the first amplification factor; the third signal receiving unit is used to detect the electromagnetic field to obtain the third detection signal, the third amplifying unit is used to amplify the third detection signal by a first amplification factor to obtain the third amplified signal; the regression control method comprises:

[0015] Control the walking module to drive the automatic walking device to find a boundary line;

[0016] When it is determined that the autonomous walking device has found the boundary line, analyzing the received first amplified signal, the second amplified signal, the third amplified signal, and the fourth amplified signal;

[0017] According to the analysis result, the walking speed of the first walking unit and / or the second walking unit is adjusted to enable the automatic walking device to return to the line on the riding line.

[0018] In one embodiment, after determining that the autonomous walking device has found a boundary line, the step of parsing the received first amplified signal, the second amplified signal, the third amplified signal, and the fourth amplified signal includes:

[0019] When it is determined that the waveform directions of the boundary signals parsed from the first amplified signal and the third amplified signal are opposite, and the current orientation of the autonomous driving device is the homeward direction, it is determined that the boundary line is found.

[0020] In one embodiment, the regression control method further comprises: determining whether the current orientation of the automatic walking device is the regression direction. Preferably, the step of determining whether the current orientation of the automatic walking device is the regression direction comprises:

[0021] Determining whether the first signal receiving unit and the boundary line are in a first relative position relationship according to the boundary signal parsed from the first amplified signal, and determining whether the third signal receiving unit and the boundary line are in a second relative position relationship according to the boundary signal parsed from the third amplified signal;

[0022] When the first signal receiving unit and the boundary line have a first relative position relationship, and the third signal receiving unit and the boundary line have a second relative position relationship, it is determined that the current orientation of the autonomous walking device is a homeward direction.

[0023] In one embodiment, the step of adjusting the walking speed of the first walking unit and / or the second walking unit according to the analysis result so as to make the automatic walking device regress on the line includes:

[0024] The adjustment range of the speed of the first walking unit and / or the second walking unit is determined according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal.

[0025] In one embodiment, the step of determining the adjustment range of the speed of the first walking unit and / or the second walking unit according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal includes:

[0026] When a boundary signal is parsed from the fourth amplified signal, the speed of the first walking unit and / or the second walking unit is adjusted with a first adjustment amplitude;

[0027] When no boundary signal can be parsed from the fourth amplified signal, and a boundary signal is parsed from the second amplified signal and the signal overflows, the speed of the first walking unit and / or the second walking unit is adjusted with a second adjustment amplitude, and the second adjustment amplitude is smaller than the first adjustment amplitude;

[0028] When no boundary signal is parsed from the fourth amplified signal, and a boundary signal is parsed from the second amplified signal and the signal does not overflow or the boundary signal cannot be parsed, the current walking speeds of the first walking unit and the second walking unit are maintained.

[0029] In one embodiment, the first walking unit is arranged close to the first signal receiving unit, and the second walking unit is arranged close to the third signal receiving unit;

[0030] In the step of adjusting the speed of the first walking unit and / or the second walking unit with a first adjustment amplitude, and in the step of adjusting the speed of the first walking unit and / or the second walking unit with a second adjustment amplitude,

[0031] When the direction of the boundary signal waveform parsed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform parsed from the first amplified signal, when the walking speed of the first walking unit and / or the second walking unit is adjusted by the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit is adjusted to be greater than the walking speed of the second walking unit;

[0032] When the direction of the boundary signal waveform parsed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform parsed from the third amplified signal, when the walking speed of the first walking unit and / or the second walking unit is adjusted with the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit is adjusted to be less than the walking speed of the second walking unit.

[0033] The above-mentioned automatic walking device includes a first boundary detection module, a second boundary detection module and a third boundary detection module. The first boundary detection module is used to detect the electromagnetic field to obtain a first detection signal, and amplify the first detection signal by a first magnification factor to obtain a first amplified signal. The third boundary detection module is used to detect the electromagnetic field to obtain a third detection signal, and amplify the third detection signal by a first magnification factor to obtain a third amplified signal. The second boundary detection module is used to detect the electromagnetic field to obtain a second detection signal, and cyclically amplify the second detection signal by a second amplification factor and a first amplification factor in sequence to obtain a second amplified signal and a fourth amplified signal. When the automatic walking device enters the regression mode, the above-mentioned first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal are analyzed, and the walking speed of the first walking unit and / or the second walking unit distributed on both sides of the fuselage is adjusted according to the analysis result, so as to adjust the regression posture of the automatic walking device so that it can return on the line. Through three boundary detection modules, the amplified signals corresponding to different positions of the fuselage and the amplified signals with different amplification factors at the middle position are obtained. According to the composite judgment result of the analysis results of several amplified signals, the speed of the walking unit is adjusted. This can more quickly and accurately adjust the regression posture of the automatic walking device, solve the problem of riding line deviation, and effectively improve the docking accuracy and efficiency of the automatic walking device and the charging base. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of an application scenario in which an automatic walking device is in working mode;

[0035] Figure 2 This is a schematic diagram of an application scenario in which an automatic walking device is in a regression mode;

[0036] Figure 3 A schematic diagram of the structure of the automatic walking device provided in Example 1;

[0037] Figure 4 A schematic diagram of the structure of the automatic walking device provided in Example 1;

[0038] Figure 5 A flowchart of a regression control method for an automatic walking device provided in Example 2;

[0039] Figure 6 A partial flow chart of the regression control method for the automatic walking device provided in Example 2;

[0040] Description of reference numerals:

[0041] 10. Fuselage; 101. Central axis; 201. First walking unit; 202. Second walking unit; 30. First boundary detection module; 301. First signal receiving unit; 302. First amplifying unit; 40. Second boundary detection module; 401. Second signal receiving unit; 402. Second amplifying unit; 50. Third boundary detection module; 501. Third signal receiving unit; 502. Third amplifying unit; 60. Processing module; 70. Automatic walking device; 80. Boundary line; 90. Stop. DETAILED DESCRIPTION

[0042] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0044] It can be understood that the terms "first", "second", etc. used in the present application can be used in this article to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0045] It should be noted that when an element is referred to as being "mounted on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. In addition, the "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if there is a transmission of electrical signals or data between the connected objects. The terms "vertical", "horizontal", "left", "right", "up", "down", "front", "back", "circumferential" and similar expressions used herein are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0047] Embodiment 1

[0048] An embodiment of the present application provides an automatic walking device, which may be a lawn mower robot, a sweeping robot, a snow sweeper, or other intelligent device with an automatic walking function.

[0049] The automatic walking device provided in this embodiment has a working mode and a return mode. Figure 1 As shown, when it is in working mode, the autonomous vehicle 70 moves within the working range defined by the boundary line 80 and performs working tasks, such as mowing the lawn, sweeping snow, or mopping the floor; Figure 2 As shown, when in the return mode, the automatic walking device 70 moves along the boundary line 80 to the docking station 90 and docks with the docking station 90 to realize the return function. The boundary line 80 is used to define the working range of the automatic walking device 70, and the docking station 90 is set on the boundary line 80 to send a pulse current to the boundary line 80, thereby generating a boundary signal through the boundary line 80, and the boundary signal is a magnetic field signal.

[0050] like Figure 3 and 4 As shown, the automatic walking device 70 provided in this embodiment includes a body 10 , a walking module, a first boundary detection module 30 , a second boundary detection module 40 , a third boundary detection module 50 and a processing module 60 .

[0051] Among them, the walking module is installed on the fuselage 10 and arranged at the bottom of the fuselage 10. It is used to support the fuselage 10 and to drive the automatic walking device 70 to move under the action of a driving force. In actual applications, the driving force can be provided by a driving motor.

[0052] In this embodiment, the walking module includes a first walking unit 201 and a second walking unit 202 symmetrically distributed on both sides of the fuselage 10. The number of the first walking unit 201 and the second walking unit 202 is not unique, and can be one or more. In this embodiment, it is preferred that the first walking unit 201 and the second walking unit 202 are both set to one, which reduces costs and simplifies the control process of the processing module 60 while meeting the walking function.

[0053] The first walking unit 201 and the second walking unit 202 may use walking rollers.

[0054] The first boundary detection module 30, the second boundary detection module 40 and the third boundary detection module 50 are all installed on the fuselage 10, and the first boundary detection module 30, the second boundary detection module 40 and the third boundary detection module 50 can be directly connected or indirectly connected to the fuselage 10. When the automatic walking device 70 is in the working mode, the walking module drives the automatic walking device 70 to move, and the first boundary detection module 30, the second boundary detection module 40 and the third boundary detection module 50 move together, and detect boundary signals in real time.

[0055] Specifically, the first boundary detection module 30 includes a first signal receiving unit 301 and a first amplifying unit 302. The first signal receiving unit 301 is used to detect electromagnetic field signals in the environment to obtain a first detection signal, and the electromagnetic field signals in the environment may include boundary signals emitted by the boundary line 80 and other electromagnetic field signals in the environment. The first amplifying unit 302 is used to amplify the first detection signal by a first amplification factor to obtain and output a first amplified signal. The first signal receiving unit 301 may be a magnetic induction coil, and the first amplifying unit 302 may be a signal amplifier.

[0056] The second boundary detection module 40 includes a second signal receiving unit 401 and a second amplifying unit 402. The second signal receiving unit 401 is used to detect the electromagnetic field in the environment to obtain a second detection signal; the second amplifying unit 402 is used to cyclically amplify the second detection signal by a second amplification factor and a first amplification factor in sequence to obtain and output a second amplified signal corresponding to the second amplification factor and a fourth amplified signal corresponding to the first amplification factor.

[0057] The second amplifying unit 402 cyclically amplifies the second detection signal by the second amplification factor and the first amplification factor in a preset period, and the preset period can be set to 30ms, 40ms, or 50ms, etc., which is not specifically limited here. In this embodiment, the second signal receiving unit 401 can be a magnetic induction coil, and the second signal amplifying unit can be a signal amplifier.

[0058] The second magnification is greater than the first magnification. The first magnification and the second magnification can be set according to actual needs. For example, the second magnification can be set to about 10 times the first magnification to ensure that within ten meters, when the second boundary detection module 40 is at the second magnification, the signal can be detected to avoid the second magnification being too large and causing the amplified boundary signal to be a headless signal, resulting in the inability to detect the signal or the need to further process the detected signal.

[0059] The third boundary detection module 50 includes a third signal receiving unit 501 and a third amplifying unit 502. The third signal receiving unit 501 is used to detect the electromagnetic field signal in the environment to obtain a third detection signal; the third amplifying unit 502 is used to amplify the third detection signal by a first amplification factor to obtain and output a third amplified signal. The third signal receiving unit 501 may be a magnetic induction coil, and the third amplifying unit 502 may be a signal amplifier.

[0060] The first signal receiving unit 301 and the third signal receiving unit 501 are symmetrically distributed on both sides of the second signal receiving unit 401. That is, the first signal receiving unit 301, the second signal receiving unit 401 and the third signal receiving unit 501 are arranged at different positions of the fuselage 10 to obtain the amplified signals detected at different positions of the fuselage 10.

[0061] The processing module 60 is respectively connected to the first boundary detection module 30, the second boundary detection module 40, the third boundary detection module 50 and the walking module, and is used to control the walking module to drive the automatic walking device 70 to find the boundary line 80; when it is determined that the automatic walking device 70 has found the boundary line 80, the received first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal are analyzed; and according to the analysis result, the walking speed of the first walking unit 201 and / or the second walking unit 202 is adjusted to make the automatic walking device 70 regress on the line. Among them, the process of analyzing the amplified signal can be to analyze the boundary signal that meets the above signal characteristic values ​​according to the signal characteristic values ​​such as edge (including rising edge and falling edge), signal strength, amplitude ratio (including signal peak and trough amplitude ratio), frequency and period.

[0062] The amplified signals corresponding to different positions of the fuselage 10 and the amplified signals of different amplification factors at the middle position are obtained through the three boundary detection modules. According to the composite judgment result of the analysis results of the several amplified signals, it is determined whether the automatic walking device 70 deviates from the boundary line 80 during the regression, and the speed of the walking unit is adjusted in time to quickly and accurately adjust the regression posture of the automatic walking device 70 so that it can return to the line, solve the problem of line deviation, and effectively improve the docking accuracy and docking efficiency of the automatic walking device 70 and the docking station 90. In actual applications, the relationship between the walking speed of the first walking unit 201 and the walking speed of the second walking unit 202 is related to the walking direction of the automatic walking device 70. By adjusting the walking speed of the first walking unit 201 and / or the second walking unit 202 to adjust the relationship between the walking speeds of the two, the purpose of correcting the regression posture of the automatic walking device 70 can be achieved.

[0063] In one embodiment, the body 10 has a central axis 101, the second signal receiving unit 401 is arranged on the central axis 101, the first signal receiving unit 301 and the third signal receiving unit 501 are symmetrically arranged about the central axis 101, and the first signal receiving unit 301, the second signal receiving unit 401 and the third signal receiving unit 501 are located on a straight line perpendicular to the central axis 101, but in actual application, some errors cannot be ruled out, such as a deviation of 1-2 cm from the straight line.

[0064] When the automatic walking device 70 walks on the line or deviates from the boundary line 80, the second amplified signal and the fourth amplified signal obtained by amplifying the second detection signal received by the second signal receiving unit 401 on the central axis 101, and the first amplified signal and the third amplified signal obtained by amplifying the detection signal received by the signal receiving units on both sides of the central axis 101, will present different analysis results accordingly. Therefore, the second signal receiving unit 401 is set on the central axis 101, and the first signal receiving unit 301 and the third signal receiving unit 501 are symmetrically set on a straight line perpendicular to the central axis 101, which helps the processing module 60 to judge the relative position relationship between the automatic walking device 70 and the boundary line 80 according to different analysis results, and then implement accurate control. For the specific analysis process, please refer to the corresponding description in the regression control method of the automatic walking device 70 provided in Example 2.

[0065] In one embodiment, the first walking unit 201 is arranged close to the first signal receiving unit 301, and the second walking unit 202 is arranged close to the third signal receiving unit 501. That is, the second signal receiving unit 401 is arranged on the central axis 101, the first walking unit 201 and the first signal receiving unit 301 can be uniformly arranged on one side of the central axis 101, and the second walking unit 202 and the third signal receiving unit 501 can be arranged on the other side of the central axis 101.

[0066] In one embodiment, the first boundary detection module 30, the second boundary detection module 40 and the third boundary detection module 50 all include corresponding filtering units for filtering out signals of preset frequencies in each detection signal. In practical applications, the filtering unit can filter out signals of each detection signal that are higher than the upper limit frequency value and signals that are lower than the lower limit frequency value. The filtering unit can pre-process the detection signal to filter out high-frequency signals and low-frequency signals, which helps to reduce the amount of internal calculations in subsequent signal processing. Among them, the filtering unit can use a hardware filtering circuit.

[0067] In one embodiment, the first boundary detection module 30, the second boundary detection module 40, the third boundary detection module 50 and the processing module 60 are integrated on the same circuit board for easy installation and removal. The processing module 60 may include only one main processor, which is respectively connected to the first boundary detection module 30, the second boundary detection module 40 and the third boundary detection module 50; the processing module 60 may also include a sub-processor and a main processor, the first boundary detection module 30, the second boundary detection module 40 and the third boundary detection module 50 are respectively connected to the sub-processor, and the sub-processor is connected to the main processor.

[0068] Embodiment 2

[0069] The embodiment of the present application provides a regression control method for an automatic walking device, wherein the automatic walking device includes a walking module, a first boundary detection module 30, a second boundary detection module 40, and a third boundary detection module 50. The walking module includes a first walking unit 201 and a second walking unit 202 symmetrically distributed on both sides of the fuselage 10, the first boundary detection module 30 includes a first signal receiving unit 301 and a first amplifying unit 302, the second boundary detection module 40 includes a second signal receiving unit 401 and a second amplifying unit 402, the third boundary detection module 50 includes a third signal receiving unit 501 and a third amplifying unit 502, the first signal receiving unit 301 and the third signal receiving unit 501 are symmetrically distributed on both sides of the second signal receiving unit 401; the first signal receiving unit 301 is used to detect an electromagnetic field to obtain a first detection signal, and the first amplifying unit 30 2 is used to amplify the first detection signal by a first amplification factor to obtain and output the first amplified signal; the second signal receiving unit 401 is used to detect the electromagnetic field to obtain the second detection signal, and the second amplifying unit 402 is used to cyclically amplify the second detection signal by the second amplification factor and the first amplification factor in sequence to obtain and output the second amplified signal corresponding to the second amplification factor and the fourth amplified signal corresponding to the first amplification factor, wherein the second amplification factor is greater than the first amplification factor; the third signal receiving unit 501 is used to detect the electromagnetic field to obtain the third detection signal, and the third amplifying unit 502 is used to amplify the third detection signal by the first amplification factor to obtain the third amplified signal.

[0070] For the specific structure of the above automatic walking device 70, please refer to the relevant description in Example 1, which will not be repeated here.

[0071] The regression control method provided in this embodiment is applied to the regression process of the automatic walking device 70 in the regression mode, such as Figure 5 As shown, the method includes:

[0072] Step S30 , controlling the walking module to drive the automatic walking device 70 to find the boundary line 80 .

[0073] First, the automatic walking device 70 is controlled to enter the regression mode, that is, the walking module is controlled to drive the automatic walking device 70 to search for the boundary line 80 in a random direction.

[0074] Step S32: After determining that the autonomous driving device 70 has found the boundary line 80, the received first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal are analyzed.

[0075] In this embodiment, it can be determined whether the automatic walking device 70 has found the boundary line 80 based on the analysis results of the first amplified signal and the third amplified signal. When it is determined that the boundary line 80 is found, the first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal are analyzed. Among them, the process of analyzing the amplified signal can be to analyze the boundary signal that meets the above signal characteristic values ​​based on signal characteristic values ​​such as edge (including rising edge and falling edge), signal strength, amplitude ratio (including signal peak, trough amplitude ratio), frequency and period.

[0076] Step S34: According to the analysis result, the walking speed of the first walking unit 201 and / or the second walking unit 202 is adjusted to make the automatic walking device 70 return on the line.

[0077] The amplified signals corresponding to different positions of the fuselage 10 and the amplified signals of different amplification factors at the middle position are obtained through the three boundary detection modules. According to the composite judgment result of the analysis results of the several amplified signals, it is determined whether the automatic walking device 70 deviates from the boundary line 80 during the regression, and the speed of the walking unit is adjusted in time to quickly and accurately adjust the regression posture of the automatic walking device 70 so that it can return to the line, solve the problem of line deviation, and effectively improve the docking accuracy and docking efficiency of the automatic walking device 70 and the docking station 90. In actual applications, the relationship between the walking speed of the first walking unit 201 and the walking speed of the second walking unit 202 is related to the walking direction of the automatic walking device 70. By adjusting the walking speed of the first walking unit 201 and / or the second walking unit 202 to adjust the relationship between the walking speeds of the two, the purpose of correcting the regression posture of the automatic walking device 70 can be achieved.

[0078] In one embodiment, in step S32, when it is determined that the waveform directions of the boundary signals parsed from the first amplified signal and the third amplified signal are opposite, and the current orientation of the automatic walking device 70 is the regression direction, it is determined that the boundary line 80 is found.

[0079] Specifically, the first signal receiving unit 301 and the third signal receiving unit 501 are distributed on both sides of the second signal receiving unit 401, and the second signal receiving unit 401 can be arranged near the central axis 101 of the fuselage 10 or arranged on the central axis 101. The first signal receiving unit 301 and the third signal receiving unit 501 are distributed on both sides of the central axis 101. When the automatic walking device 70 finds the boundary line 80, the central axis 101 where the second signal receiving unit 401 is located is close to the boundary line 80, or is aligned with the boundary line 80. At this time, one of the first signal receiving unit 301 and the third signal receiving unit 501 on both sides is located inside the boundary line 80, and the other is located outside the boundary line 80, that is, the waveform directions of the boundary signals parsed from the first amplified signal and the third amplified signal should be opposite. Therefore, it can be determined whether the automatic walking device 70 walks to the boundary line 80 based on whether the waveform directions of the boundary signals parsed from the first amplified signal and the third amplified signal are opposite. In addition, in order to prevent the automatic walking device 70 from walking in the direction opposite to the return direction, the current direction of the automatic walking device 70 is judged at the same time. When the current direction is the return direction, and the waveform directions of the boundary signals parsed from the first amplified signal and the third amplified signal are opposite, it is determined that the boundary line 80 has been found. By compositely judging the waveform direction of the boundary signal and the current direction, it is possible to more accurately judge whether the automatic walking device 70 has found the boundary line 80.

[0080] In one embodiment, the regression control method provided in this embodiment further includes a step of determining whether the current direction of the automatic walking device 70 is a regression direction.

[0081] Preferably, refer to Figure 6 The step of determining whether the current orientation of the autonomous walking device 70 is the return orientation includes:

[0082] Step S321: determine whether the first signal receiving unit 301 and the boundary line 80 are in a first relative position relationship based on the boundary signal parsed from the first amplified signal, and determine whether the third signal receiving unit 501 and the boundary line 80 are in a second relative position relationship based on the boundary signal parsed from the third amplified signal.

[0083] Step S322: When the first signal receiving unit 301 and the boundary line 80 are in a first relative position relationship, and the third signal receiving unit 501 and the boundary line 80 are in a second relative position relationship, it is determined that the current orientation of the autonomous driving device 70 is the homeward direction.

[0084] Specifically, when the waveform directions of the boundary signals parsed from the first amplified signal and the third amplified signal are opposite, it can be determined that one of the first signal receiving unit 301 and the second signal receiving unit 401 is located inside the boundary and the other is located outside the boundary. The regression direction is determined. Assuming that the first signal receiving unit 301 is located on the left side of the forward direction of the fuselage 10 and the third signal receiving unit 501 is located on the right side of the forward direction of the fuselage 10, when the regression direction is clockwise, the positional relationship between the first signal receiving unit 301 and the boundary line 80 (i.e., the first relative positional relationship) is that the first signal receiving unit 301 is located outside the boundary line 80, and the positional relationship between the third signal receiving unit 501 and the boundary line 80 (i.e., the second relative positional relationship) is that the third signal receiving unit 501 is located inside the boundary line 80. On the contrary, when the regression direction is counterclockwise, the positional relationship between the first signal receiving unit 301 and the boundary line 80 (i.e., the first relative positional relationship) is that the first signal receiving unit 301 is located on the inner side of the boundary line 80, and the positional relationship between the third signal receiving unit 501 and the boundary line 80 (i.e., the second relative positional relationship) is that the third signal receiving unit 501 is located on the outer side of the boundary line 80.

[0085] According to the boundary signal parsed from the first amplified signal, it can be determined whether the first signal receiving unit 301 and the boundary line 80 are in the first relative position relationship, and according to the boundary signal parsed from the third amplified signal, it can be determined whether the third signal receiving unit 501 and the boundary line 80 are in the second relative position relationship. Then, according to the determined relative position relationship, it can be inferred whether the current direction of the automatic walking device 70 is the homeward direction.

[0086] In one embodiment, step S34, i.e., adjusting the walking speed of the first walking unit 201 and / or the second walking unit 202 according to the analysis result so that the automatic walking device 70 can regress on the line, includes: determining the adjustment amplitude of the speed of the first walking unit 201 and / or the second walking unit 202 according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal.

[0087] When the automatic walking device 70 walks on the line or deviates from the boundary line 80, the second amplified signal and the fourth amplified signal obtained by amplifying the second detection signal received by the second signal receiving unit 401 will present different analysis results. The analysis results can be used to determine whether the automatic walking device 70 deviates from the boundary line 80, as well as the direction and amplitude of the deviation from the boundary line 80, and then adjust the return posture of the automatic walking device 70 by adjusting the walking speed of the first walking unit 201 and / or the second walking unit 202.

[0088] In one embodiment, the step of determining the adjustment range of the speed of the first walking unit 201 and / or the second walking unit 202 according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal includes:

[0089] Step S341: When a boundary signal is parsed from the fourth amplified signal, the speed of the first walking unit 201 and / or the second walking unit 202 is adjusted with a first adjustment amplitude.

[0090] Step S342: When no boundary signal is parsed from the fourth amplified signal, and a boundary signal is parsed from the second amplified signal and the signal overflows, the speed of the first walking unit 201 and / or the second walking unit 202 is adjusted by a second adjustment amplitude, and the second adjustment amplitude is smaller than the first adjustment amplitude.

[0091] Step S343: when no boundary signal is parsed from the fourth amplified signal, a boundary signal is parsed from the second amplified signal and the signal does not overflow, or no boundary signal is parsed, the current walking speeds of the first walking unit 201 and the second walking unit 202 are maintained.

[0092] Since the first magnification is smaller than the second magnification, when the boundary signal is parsed from the fourth amplified signal, and the boundary signal is parsed from the second amplified signal and the signal overflows, it means that the automatic walking device 70 deviates from the boundary line 80 by a large amount. At this time, the speed of the first walking unit 201 and / or the second walking unit 202 is adjusted with a larger first adjustment amplitude. Specifically, only the speed of the first walking unit 201 can be adjusted, or only the speed of the second walking unit 202 can be adjusted, or the speeds of the first walking unit 201 and the second walking unit 202 can be adjusted at the same time, as long as the difference or ratio between the walking speeds of the first walking unit 201 and the second walking unit 202 is large, so as to ensure that the walking posture of the automatic walking device 70 is adjusted in time with a larger amplitude.

[0093] When the boundary signal cannot be parsed from the fourth amplified signal, and the boundary signal can be parsed from the second amplified signal and the signal overflows, it means that the automatic walking device 70 deviates from the boundary line 80 by a small amount. At this time, the speed of the first walking unit 201 and / or the second walking unit 202 is adjusted with a second adjustment amplitude smaller than the first adjustment amplitude, so as to adjust the walking posture of the automatic walking device 70 by a smaller amplitude.

[0094] When no boundary signal can be parsed from the fourth amplified signal, and the boundary signal can be parsed from the second amplified signal and the signal has not overflowed or the boundary signal cannot be parsed, it means that the automatic walking device 70 deviates slightly from the boundary line 80 or does not deviate from the boundary line 80. At this time, the walking speed of the walking unit is not adjusted, and the current walking speed of the first walking unit 201 and the second walking unit 202 is maintained.

[0095] The above judgment and speed adjustment are based on the following principle: when the deviation from the boundary line 80 is large, the boundary signal can be resolved from the fourth amplified signal with a smaller amplification factor, and the boundary signal can be resolved from the second amplified signal with a larger amplification factor and the signal overflows; when the deviation from the boundary line 80 is small, the boundary signal cannot be resolved from the fourth amplified signal with a smaller amplification factor, and the boundary signal can be resolved from the second amplified signal with a larger amplification factor and the signal overflows; when the deviation from the boundary line 80 is slight, the boundary signal cannot be resolved from the fourth amplified signal with a smaller amplification factor, and the boundary signal can be resolved from the second amplified signal with a larger amplification factor and the signal does not overflow; when the deviation from the boundary line 80 is not at all, the boundary signal cannot be resolved from the fourth amplified signal with a smaller amplification factor and from the second amplified signal with a larger amplification factor.

[0096] The following is a specific example:

[0097] Assume that when the second signal receiving unit 401 is within 2.5 cm from the boundary line 80, the boundary signal cannot be resolved from the fourth amplified signal, and when the second signal receiving unit 401 is beyond 2.5 cm from the boundary line 80, the boundary signal can be resolved from the fourth amplified signal. When the second signal receiving unit 401 is within 1 cm-2.5 cm from the boundary line 80, the boundary signal can be resolved from the second amplified signal and the signal overflows, when the second signal receiving unit 401 is beyond 2.5 cm from the boundary line 80, the boundary signal can be resolved from the second amplified signal and the signal overflows, when the second signal receiving unit 401 is within 1 cm from the boundary line 80, the boundary signal can be resolved from the second amplified signal and the signal does not overflow, and when the second signal receiving unit 401 is on the boundary line 80, the boundary signal cannot be resolved from the second amplified signal.

[0098] Based on the above principle, if the boundary signal is parsed from the fourth amplified signal, it means that the automatic walking device 70 deviates from the boundary line 80 by more than 2.5 cm, and the speed ratio of the first walking unit 201 and the second walking unit 202 is adjusted to 100:95 or 95:100. If the boundary signal cannot be parsed from the fourth amplified signal, but the boundary signal is parsed from the second amplified signal and the signal overflows, it means that the automatic walking device 70 deviates from the boundary line 80 between 1 cm and 2.5 cm, and the speed ratio of the first walking unit 201 and the second walking unit 202 is adjusted to 100:98 or 98:100. If the boundary signal cannot be parsed from the fourth amplified signal, but the signal is parsed from the second amplified signal and the signal does not overflow, it means that the automatic walking device 70 deviates from the boundary line 80 by less than 1 cm, and the speed ratio of the first walking unit 201 and the second walking unit 202 is adjusted to 100:100. If no boundary signal can be analyzed from the fourth amplified signal and the second amplified signal, it means that the automatic walking device 70 has not deviated from the boundary line 80. At this time, the speed ratio of the first walking unit 201 and the second walking unit 202 is adjusted to 100:100.

[0099] In one embodiment, the first walking unit 201 is arranged close to the first signal receiving unit 301, and the second walking unit 202 is arranged close to the third signal receiving unit 501. Assuming that when the automatic walking device 70 returns, the first signal receiving unit 301 is close to the inside of the boundary, and the third signal receiving unit 501 is close to the outside of the boundary, then the first walking unit 201 is close to the inside of the boundary, and the second walking unit 202 is close to the outside of the boundary. When the speed of the first walking unit 201 and / or the second walking unit 202 is adjusted by the first adjustment amplitude in step S341, and the speed of the first walking unit 201 and / or the second walking unit 202 is adjusted by the second adjustment amplitude in step S342,

[0100] When the direction of the boundary signal waveform parsed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform parsed from the first amplified signal, when the walking speed of the first walking unit 201 and / or the second walking unit 202 is adjusted with the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit 201 is adjusted to be greater than the walking speed of the second walking unit 202.

[0101] When the direction of the boundary signal waveform parsed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform parsed from the third amplified signal, when the walking speed of the first walking unit 201 and / or the second walking unit 202 is adjusted with the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit 201 is adjusted to be less than the walking speed of the second walking unit 202.

[0102] That is, after the boundary signal is parsed from the second amplified signal or the fourth amplified signal, the waveform direction of the parsed boundary signal needs to be analyzed to determine whether it is the same as the waveform direction of the boundary signal parsed from the first amplified signal or the waveform direction of the boundary signal parsed from the third amplified signal, and then determine the deviation direction. The adjustment direction is determined according to the deviation direction, and the adjustment direction determines the magnitude relationship between the adjusted speeds of the first walking unit 201 and the second walking unit 202.

[0103] When the direction of the boundary signal waveform analyzed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform analyzed from the first amplified signal, it means that the automatic walking device 70 deviates toward the first signal receiving unit 301, that is, it means that the automatic walking device 70 deviates toward the inside of the boundary. When adjusting with the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit 201 is adjusted to be greater than the second walking unit 202, that is, the ratio of the walking speed of the first walking unit 201 to the walking speed of the second walking unit 202 is 100:95 or 100:98, so that the automatic walking unit moves toward the outside of the boundary to return to the boundary line 80. On the contrary, the ratio of the walking speed of the first walking unit 201 to the walking speed of the second walking unit 202 is 95:100 or 98:100, so that the automatic walking unit moves toward the inside of the boundary.

[0104] It should be noted that, in the present application, the above-mentioned failure to parse the boundary signal includes: not receiving the corresponding signal, or receiving the signal, but the analysis of the received signal based on signal characteristic values ​​such as edge (including rising edge and falling edge), signal strength, amplitude ratio (including signal peak and trough amplitude ratio), frequency and period does not meet the above-mentioned signal characteristic values.

[0105] It should be noted that the automatic walking device provided in the above embodiment, when realizing its functions, is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the automatic walking device 70 provided in the above embodiment belongs to the same concept as the method embodiment, and its specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0106] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic walking device, characterized in that: include: body; A walking module, comprising a first walking unit and a second walking unit symmetrically distributed on both sides of the fuselage; a first boundary detection module, installed on the fuselage, comprising a first signal receiving unit and a first amplifying unit, wherein the first signal receiving unit is used to detect the electromagnetic field to obtain a first detection signal, and the first amplifying unit is used to amplify the first detection signal by a first amplification factor to obtain and output a first amplified signal; a second boundary detection module, installed on the fuselage, comprising a second signal receiving unit and a second amplifying unit, wherein the second signal receiving unit is used to detect the electromagnetic field to obtain a second detection signal, and the second amplifying unit is used to cyclically amplify the second detection signal by a second amplification factor and a first amplification factor in sequence to obtain and output a second amplified signal corresponding to the second amplification factor and a fourth amplified signal corresponding to the first amplification factor, wherein the second amplification factor is greater than the first amplification factor; The fuselage has a central axis, the second signal receiving unit is arranged on the central axis, and the first signal receiving unit and the third signal receiving unit are arranged symmetrically about the central axis; a third boundary detection module, installed on the fuselage, comprising a third signal receiving unit and a third amplifying unit, wherein the third signal receiving unit is used to detect the electromagnetic field to obtain a third detection signal, and the third amplifying unit is used to amplify the third detection signal by a first amplification factor to obtain a third amplified signal, and the first signal receiving unit and the third signal receiving unit are symmetrically distributed on both sides of the second signal receiving unit; a processing module, connected to the first boundary detection module, the second boundary detection module, the third boundary detection module and the walking module, respectively, and used to: control the walking module to drive the automatic walking device to find the boundary line; when it is determined that the automatic walking device has found the boundary line, analyze the received first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal; and, according to the analysis result, adjust the walking speed of the first walking unit and / or the second walking unit to make the automatic walking device return to the line; The processing module is specifically used to: determine the adjustment range of the speed of the first walking unit and / or the second walking unit according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal, so as to make the automatic walking device return to the line riding state; further, the processing module is specifically used to: When a boundary signal is parsed from the fourth amplified signal, the speed of the first walking unit and / or the second walking unit is adjusted with a first adjustment amplitude; When no boundary signal can be parsed from the fourth amplified signal, and a boundary signal is parsed from the second amplified signal and the signal overflows, the speed of the first walking unit and / or the second walking unit is adjusted with a second adjustment amplitude, and the second adjustment amplitude is smaller than the first adjustment amplitude; When no boundary signal is parsed from the fourth amplified signal, and a boundary signal is parsed from the second amplified signal and the signal does not overflow or the boundary signal cannot be parsed, the current walking speeds of the first walking unit and the second walking unit are maintained.

2. The automatic walking device according to claim 1, characterized in that: The first signal receiving unit, the third signal receiving unit and the second signal receiving unit are located on a vertical line of the central axis.

3. The automatic walking device according to claim 1, characterized in that: The first walking unit is disposed close to the first signal receiving unit, and the second walking unit is disposed close to the third signal receiving unit.

4. The automatic walking device according to claim 1, characterized in that: The first boundary detection module, the second boundary detection module, the third boundary detection module and the processing module are integrated on the same circuit board; The first boundary detection module, the second boundary detection module and the third boundary detection module each include a corresponding filtering unit for filtering out signals of a preset frequency in each detection signal; The first walking unit is arranged close to the first signal receiving unit, and the second walking unit is arranged close to the third signal receiving unit; the processing module is specifically used for: When the direction of the boundary signal waveform parsed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform parsed from the first amplified signal, when the walking speed of the first walking unit and / or the second walking unit is adjusted by the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit is adjusted to be greater than the walking speed of the second walking unit; When the direction of the boundary signal waveform parsed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform parsed from the third amplified signal, when the walking speed of the first walking unit and / or the second walking unit is adjusted with the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit is adjusted to be less than the walking speed of the second walking unit.

5. A regression control method for an automatic walking device, characterized in that: The automatic walking device includes a walking module, a first boundary detection module, a second boundary detection module, a third boundary detection module and a processing module, the walking module includes a first walking unit and a second walking unit symmetrically distributed on both sides of the fuselage, the first boundary detection module includes a first signal receiving unit and a first amplifying unit, the second boundary detection module includes a second signal receiving unit and a second amplifying unit, the third boundary detection module includes a third signal receiving unit and a third amplifying unit, the first signal receiving unit and the third signal receiving unit are symmetrically distributed on both sides of the second signal receiving unit; the first signal receiving unit is used to detect an electromagnetic field to obtain a first detection signal, the first amplifying unit is used to amplify the first detection signal by a first amplification factor to obtain and output a first amplified signal; the second signal receiving unit is used to detect an electromagnetic field to obtain a second detection signal, the second amplifying unit is used to cyclically amplify the second detection signal by a second amplification factor and a first amplification factor in sequence to obtain and output a second amplified signal corresponding to the second amplification factor and a fourth amplified signal corresponding to the first amplification factor, the second amplification factor being greater than the first amplification factor; The third signal receiving unit is used to detect the electromagnetic field to obtain a third detection signal, and the third amplifying unit is used to amplify the third detection signal by a first amplification factor to obtain a third amplified signal; the regression control method includes: Control the walking module to drive the automatic walking device to find a boundary line; When it is determined that the autonomous walking device has found the boundary line, analyzing the received first amplified signal, the second amplified signal, the third amplified signal, and the fourth amplified signal; According to the analysis result, adjusting the walking speed of the first walking unit and / or the second walking unit to make the automatic walking device return to the line; The step of adjusting the walking speed of the first walking unit and / or the second walking unit according to the analysis result so as to make the automatic walking device return to the line riding state includes: Determining an adjustment range of the speed of the first walking unit and / or the second walking unit according to an analysis result of the second amplified signal and an analysis result of the fourth amplified signal; The step of determining the adjustment range of the speed of the first walking unit and / or the second walking unit according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal includes: When a boundary signal is parsed from the fourth amplified signal, the speed of the first walking unit and / or the second walking unit is adjusted with a first adjustment amplitude; When no boundary signal can be parsed from the fourth amplified signal, and a boundary signal is parsed from the second amplified signal and the signal overflows, the speed of the first walking unit and / or the second walking unit is adjusted with a second adjustment amplitude, and the second adjustment amplitude is smaller than the first adjustment amplitude; When no boundary signal is parsed from the fourth amplified signal, and a boundary signal is parsed from the second amplified signal and the signal does not overflow or the boundary signal cannot be parsed, the current walking speeds of the first walking unit and the second walking unit are maintained.

6. The regression control method according to claim 5, characterized in that: The step of analyzing the received first amplified signal, the second amplified signal, the third amplified signal, and the fourth amplified signal after determining that the autonomous walking device has found the boundary line includes: When it is determined that the waveform directions of the boundary signals parsed from the first amplified signal and the third amplified signal are opposite, and the current orientation of the autonomous driving device is the homeward direction, it is determined that the boundary line is found.

7. The regression control method according to claim 6, characterized in that: The regression control method further includes: determining whether the current orientation of the automatic walking device is a regression direction.

8. The regression control method according to claim 7, characterized in that: The step of determining whether the current orientation of the autonomous walking device is a homeward orientation comprises: Determining whether the first signal receiving unit and the boundary line are in a first relative position relationship according to the boundary signal parsed from the first amplified signal, and determining whether the third signal receiving unit and the boundary line are in a second relative position relationship according to the boundary signal parsed from the third amplified signal; When the first signal receiving unit and the boundary line have a first relative position relationship, and the third signal receiving unit and the boundary line have a second relative position relationship, it is determined that the current orientation of the autonomous walking device is a homeward direction.

9. The regression control method according to claim 5, characterized in that: The first walking unit is arranged close to the first signal receiving unit, and the second walking unit is arranged close to the third signal receiving unit; In the step of adjusting the speed of the first walking unit and / or the second walking unit with a first adjustment amplitude, and in the step of adjusting the speed of the first walking unit and / or the second walking unit with a second adjustment amplitude, When the direction of the boundary signal waveform parsed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform parsed from the first amplified signal, when the walking speed of the first walking unit and / or the second walking unit is adjusted by the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit is adjusted to be greater than the walking speed of the second walking unit; When the direction of the boundary signal waveform parsed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform parsed from the third amplified signal, when the walking speed of the first walking unit and / or the second walking unit is adjusted with the first adjustment amplitude or the second adjustment amplitude, the walking speed of the first walking unit is adjusted to be less than the walking speed of the second walking unit.

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