CN103576678B - Auto-returned system and the method controlling automatic running device return bus stop - Google Patents
Auto-returned system and the method controlling automatic running device return bus stop Download PDFInfo
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- CN103576678B CN103576678B CN201210252419.7A CN201210252419A CN103576678B CN 103576678 B CN103576678 B CN 103576678B CN 201210252419 A CN201210252419 A CN 201210252419A CN 103576678 B CN103576678 B CN 103576678B
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Abstract
The invention discloses a kind of method controlling automatic running device return bus stop, bus stop is provided with the generating means for sending ultrasonic signal, and automatic running device includes controller and receives device.Described reception device detecting ultrasonic signal, controller, according to the signal reception condition of reception device at least two receiving angle scope, controls the direction of travel of described automatic running device so that described automatic running device returns described bus stop.Present invention also offers a kind of auto-returned system.
Description
Technical field
The present invention relates to a kind of auto-returned system and control the method that automatic running device returns bus stop.
Background technology
Along with computer technology and the continuous progress of artificial intelligence technology, it is similar to the automatic working system of intelligent robot
Have begun to the life coming into people slowly.The company such as Samsung, Electrolux all develops automatic dust catcher and has thrown
Enter market.The usual compact of this automatic dust catcher, be integrated with environmental sensor, from drive system, dust collecting system, battery and
Charging system, it is possible to without manual control, voluntarily in indoor cruise, the auto-returned bus stop when energy is low, dock and charge,
Then proceed to dust suction of cruising.Meanwhile, the company such as Haas Ke Wana develops similar automatic mower, and it can be automatically user
Lawn in mow, charge, it is not necessary to user interferes.It is no need for afterwards putting into essence again owing to this automatic working system is once arranged
Power management, housework that is user is uninteresting from cleaning, lawn maintenance etc. and that waste time and energy frees working, therefore suffers from greatly
Welcome.
Refer to Fig. 1, existing automatic mower 100 works in the closed area surrounded by boundary line 10, when its electricity
Measure relatively low or time other reasons needs to return to bus stop 200, automatic mower 100 strides across boundary line 10, and along boundary line 10
Return bus stop 200 clockwise or counterclockwise.
But when automatic mower 100 is natively positioned at distance nearer some position of bus stop 200, as in Fig. 1 from
Motor mower 100 location, automatic mower 100 is found immediate boundary line 10, and is returned by counterclockwise when returning
Bus stop 200, return route is unreasonable and wastes electric energy.It is therefore desirable to existing hay mover and bus stop are improved.
Summary of the invention
The deficiency existed for prior art, the present invention provides auto-returned system and the control of a kind of fast automatic return
Automatic running device returns the method for bus stop.
The technical scheme is that and be achieved in that: a kind of control the method that automatic running device returns bus stop, institute
Stating bus stop and be provided with the generating means for sending ultrasonic signal, described automatic running device includes for receiving ultrasound wave
The reception device of signal and controller, described automatic running device works in default working range, and described reception device has
There is at least two receiving angle scope, said method comprising the steps of: when described automatic running device starts recurrence, described control
Device processed controls described reception device and starts to detect ultrasonic signal；Described controller connects at least two according to described reception device
Receive the signal reception condition of angular range, control the direction of travel of described automatic running device so that described automatic running device
Return described bus stop.
Preferably, described reception device includes the first receptor and the second receptor, described first receptor, the second reception
Utensil has respective receiving angle scope.
Preferably, described reception device rotates and is arranged on described automatic running device, connects described in the control of described controller
Receiving apparatus rotates or swings, thus at least two receiving angle range reception ultrasonic signal.
Preferably, described working range is defined by the boundary line closed, described controller according to described reception device extremely
The signal reception condition of few two receiving angle scopes, controls described automatic running device and moves to the avris of described working range
Region, after described automatic running device arrives described avris region, described controller controls described automatic running device edgewise
Boundary line returns bus stop.
Further, described reception device includes the first receptor and the second receptor, described first receptor, second connects
Receive device and lay respectively at the left and right sides of described automatic running device axis, and the receiving angle scope of described first receptor with
The receiving angle scope of the second receptor is non-intersect or part intersects, when the first receptor receives ultrasonic signal, described
Controller controls automatic running device and keeps direction of travel, when the second receptor receives ultrasonic signal, described controller
Control automatic running device to rotate, until the first receptor receives ultrasonic signal, so that it is determined that direction of travel.
Preferably, described generating means includes that at least two generator, described at least two generator send different surpassing
Acoustic signals, the angle of departure of described at least two generator partly overlaps, thus is divided by the transmitting boundary of described generating means
For mono signal overlay area and one or more overlapped signal overlay area, described reception device has two receiving angle models
Enclosing, the left and right sides and the said two receiving angle range section that are respectively facing described automatic running device axis intersect, institute
State controller and judge the region residing for described automatic running device according to the ultrasonic signal that described reception device receives, and according to
The signal reception condition of described reception device controls described automatic running device and moves to specific overlapped signal overlay area, when
When described automatic running device is positioned at specific overlapped signal overlay area, described controller is according to the signal of described reception device
Reception condition controls described automatic running device and walks towards described bus stop.
Further, when described automatic running device is positioned at described mono signal overlay area, described controller controls institute
State automatic running device rotate so that described reception device at predetermined receiving angle range reception to ultrasonic signal, at another
Individual receiving angle range reception is less than ultrasonic signal, and is oriented direction of travel with the most described automatic running device, from
And control described automatic running device and move to specific overlapped signal overlay area.
Further, when described automatic running device is positioned at described specific overlapped signal overlay area, described control
Device control described automatic running device rotate so that described reception device all receive two receiving angle scopes described at least
The signal that two supersonic generators send, thus control described automatic running device and walk towards described bus stop.
Further, before judging the region residing for described automatic running device, described controller controls described automatic row
Walking equipment to rotate a circle, the ultrasonic signal received according to described reception device afterwards judges residing for described automatic running device
Region.
Further, described generating means includes that the first generator and the second generator, described specific overlapped signal cover
Cover region territory is dual signal overlay area.
Further, described generating means includes the first generator, the second generator and the 3rd generator, described 3rd
Raw device is arranged between the first generator and the second generator, described first generator, the second generator and the 3rd generator
The angle of departure is partially overlapped by each other, thus is divided into mono signal overlay area, dual signal to cover the transmitting boundary of described generating means
Cover region territory and triple signal coverage areas, described specific overlapped signal overlay area is triple signal coverage areas.
The present invention also provides for a kind of auto-returned system, and including bus stop and automatic running device, described bus stop is provided with
For sending the generating means of ultrasonic signal, described automatic running device includes the reception device for received ultrasonic signal
And controller, described automatic running device works in default working range, and described reception device has at least two and receives
Angular range, described controller controls described reception device when described automatic running device starts and returns and starts to detect ultrasound wave
Signal, and control described automatic running device according to receiving the device signal reception condition at least two receiving angle scope
Direction of travel so that described automatic running device returns described bus stop.
Preferably, described reception device includes the first receptor and the second receptor, described first receptor, the second reception
Utensil has respective receiving angle scope.
Preferably, described reception device rotates and is arranged on described automatic running device, connects described in the control of described controller
Receiving apparatus rotates or swings, thus at least two receiving angle range reception ultrasonic signal.
Preferably, described working range is defined by the boundary line closed, described controller according to described reception device extremely
The signal reception condition of few two receiving angle scopes, controls described automatic running device and moves to the avris of described working range
Region, after described automatic running device arrives described avris region, described controller controls described automatic running device edgewise
Boundary line returns described bus stop.
Further, described reception device includes the first receptor and the second receptor, described first receptor, second connects
Receive device and lay respectively at the left and right sides of described automatic running device axis, and the receiving angle scope of described first receptor with
The receiving angle scope of the second receptor is non-intersect or part intersects, when the first receptor receives ultrasonic signal, described
Controller controls automatic running device and keeps direction of travel, when the second receptor receives ultrasonic signal, described controller
Control automatic running device to rotate, until the first receptor receives ultrasonic signal, so that it is determined that direction of travel.
Preferably, described generating means includes that at least two generator, described at least two generator send different surpassing
Acoustic signals, the angle of departure of described at least two generator partly overlaps, thus is divided by the transmitting boundary of described generating means
For mono signal overlay area and one or more overlapped signal overlay area, described reception device has two receiving angle models
Enclosing, the left and right sides and the said two receiving angle range section that are respectively facing described automatic running device intersect, described control
Device judges the region residing for described automatic running device according to the ultrasonic signal that described reception device receives, and connects according to described
The signal reception condition of receiving apparatus controls described automatic running device and moves to specific overlapped signal overlay area, when described from
When dynamic walking arrangement is positioned at specific overlapped signal overlay area, described controller receives feelings according to the signal of described reception device
Condition controls described automatic running device and walks towards described bus stop.
Further, when described automatic running device is positioned at described mono signal overlay area, described controller controls institute
State automatic running device rotate so that described reception device at predetermined receiving angle range reception to ultrasonic signal, at another
Individual receiving angle range reception is less than ultrasonic signal, and is oriented direction of travel with the most described automatic running device, from
And control described automatic running device and move to specific overlapped signal overlay area.
Further, when described automatic running device is positioned at described specific overlapped signal overlay area, described control
Device control described automatic running device rotate so that described reception device all receive two receiving angle scopes described at least
The signal that two supersonic generators send, thus control described automatic running device and walk towards described bus stop.
Further, before judging the region residing for described automatic running device, described controller controls described automatic row
Walking equipment to rotate a circle, the ultrasonic signal received according to described reception device afterwards judges residing for described automatic running device
Region.
Further, described generating means includes that the first generator and the second generator, described specific overlapped signal cover
Cover region territory is dual signal overlay area.
Further, described generating means includes the first generator, the second generator and the 3rd generator, described 3rd
Raw device is arranged between the first generator and the second generator, described first generator, the second generator and the 3rd generator
The angle of departure is partially overlapped by each other, thus is divided into mono signal overlay area, dual signal to cover the transmitting boundary of described generating means
Cover region territory and triple signal coverage areas, described specific overlapped signal overlay area is triple signal coverage areas.
Auto-returned system of the present invention and control automatic running device return the method for bus stop according to receiving device at least
The signal reception condition of two receiving angle scopes, controls the direction of travel of automatic running device so that automatic running device returns
Return bus stop.So that automatic running device can return bus stop to intelligent nearby, mode is simple and reliable.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings:
Fig. 1 is the schematic diagram that existing automatic mower returns bus stop.
Fig. 2 is the signal that in auto-returned system the first better embodiment of the present invention, automatic mower travel direction adjusts
Figure.
Fig. 3 is the signal that in auto-returned system the first better embodiment of the present invention, automatic mower returns bus stop
Figure.
Fig. 4 is the front view of bus stop in auto-returned system the second better embodiment of the present invention.
Fig. 5 is that in auto-returned system the second better embodiment of the present invention, automatic mower enters in mono signal overlay area
The schematic diagram that line direction adjusts.
Fig. 6 is that in auto-returned system the second better embodiment of the present invention, automatic mower is entered by mono signal overlay area
Enter the schematic diagram of dual signal overlapping region.
Fig. 7 be in auto-returned system the second better embodiment of the present invention automatic mower in dual signal overlapping region
The schematic diagram that travel direction adjusts.
Fig. 8 is that in auto-returned system the second better embodiment of the present invention, automatic mower is in dual signal overlay region
The schematic diagram in territory.
Fig. 9 is that in auto-returned system the second better embodiment of the present invention, automatic mower leaves dual signal overlay region
The schematic diagram that during territory, travel direction adjusts.
Figure 10 is that in auto-returned system the second better embodiment of the present invention, automatic mower advances towards bus stop
Schematic diagram.
Figure 11 be in auto-returned system the second better embodiment of the present invention automatic mower along between two generators
Perpendicular bisector advance schematic diagram.
Figure 12 be in auto-returned system the 3rd better embodiment of the present invention automatic mower by mono signal overlay area
Enter the schematic diagram of dual signal overlapping region.
Figure 13 be in auto-returned system the 3rd better embodiment of the present invention automatic mower by dual signal overlay region
Territory enters the schematic diagram in triple signal overlap regions.
Figure 14 be in auto-returned system the 3rd better embodiment of the present invention automatic mower in triple signal overlap districts
The schematic diagram that territory travel direction adjusts.
Figure 15 be in auto-returned system the 3rd better embodiment of the present invention automatic mower in triple signal overlap districts
The schematic diagram in territory.
Figure 16 be in auto-returned system the 3rd better embodiment of the present invention automatic mower by triple signal overlap districts
Territory enters the schematic diagram of mono signal overlay area.
Figure 17 is that in auto-returned system the 3rd better embodiment of the present invention, automatic mower advances towards bus stop
Schematic diagram.
Figure 18 is the schematic flow sheet that the present invention controls that automatic running device returns the method for bus stop.
Figure 19 is the flow process that the present invention controls the first better embodiment of the method for automatic running device return bus stop
Schematic diagram.
Figure 20 is the flow process that the present invention controls the second better embodiment of the method for automatic running device return bus stop
Schematic diagram.
Figure 21 is the flow process that the present invention controls the 3rd better embodiment of the method for automatic running device return bus stop
Schematic diagram.
Wherein,
100, automatic mower；200, bus stop；10, boundary line；
A, the first generator；B, the second generator；C, the 3rd generator；
A, the first signal coverage areas；B, secondary signal overlay area；C, the 3rd signal coverage areas；
Ab, the first overlapping region；Ac, the second overlapping region；Bc, triple-overlapped region；
Abc, the 4th overlapping region；M, white space；110, the first receptor；
120, the second receptor；210, positive charged terminal；220, negative pole charging terminal；
Detailed description of the invention
With reference to shown in Fig. 2, the present invention provides a kind of auto-returned system and controls automatic running device return bus stop
Method.Auto-returned system of the present invention includes automatic running device and bus stop 200.Automatic running device is being enclosed by boundary line 10
Walking in the default working range become, bus stop 200 is for stopping when not working for automatic running device.Preferably, stop
Stand and be provided with charging device, supplement energy for automatic running device when energy deficiency.
Bus stop 200 is positioned on boundary line 10, and bus stop 200 is provided with generating means.Generating means has the first generation
Device A, the first generator A send first ultrasonic signal with certain frequency or amplitude.Due to ultrasonic signal in atmosphere
During propagation, weak ratio is more serious, and therefore ultrasonic generator has limited transmitting boundary.
In present embodiment, automatic running device is automatic mower 100.Automatic mower 100 is provided with for receiving
The reception device of ultrasonic signal, receives device and has at least two receiving angle scope.In present embodiment, receive device bag
Including the first receptor 110 and the second receptor 120, the first receptor 110 and the second receptor 120, towards different orientation, make
The signal receiving angle scope obtaining both is non-intersect or the most crossing.In present embodiment, the first receptor 110 is towards automatically cutting
The left side of grass machine 100 and be arranged at the left side of longitudinal central axis line of automatic mower 100, the second receptor 120 is towards automatically cutting
The right side of grass machine 100 and be arranged at the right side of longitudinal central axis line of automatic mower 100.So, the first receptor 110 receive or
Partly receiving the ultrasonic signal transmitted on the left of automatic mower 100, the second receptor 120 receives or part receives from automatically
The ultrasonic signal transmitted on the right side of hay mover 100.In other embodiments, the first receptor 110 and the second receptor 120 are arranged
Position can exchange.
Automatic mower 100 is additionally provided with controller (not shown), and controller controls automatic mower 100 according to projected route
Or random path walking.When automatic mower 100 need to return bus stop 200 due to reasons such as electricity are low, controller controls to connect
Receiving apparatus starts and starts to detect ultrasonic signal.Controller connects according to the signal receiving device at least two receiving angle scope
Receipts situation, controls automatic mower 100 and advances or adjustment direction so that automatic mower 100 moves in described working range
Specific region.Controller controls the track route of automatic mower 100 afterwards so that automatic mower 100 returns bus stop
200。
Please also refer to Fig. 2 and Fig. 3, the charging terminal (figure in first preferred embodiment of the present invention, on bus stop 200
Do not show) it is arranged at the right side of bus stop 200 and just to boundary line 10.The signal of the first receptor 110 and the second receptor 120 connects
Receipts scope is non-intersect, and the first receptor 110 receives the ultrasonic signal transmitted on the left of automatic mower 100, the second receptor
120 receive the ultrasonic signal transmitted on the right side of automatic mower 100.In other embodiments, the first receptor 110 and second
The signal range of receiving of receptor 120 can also partly intersect.
When the first receptor 110 of automatic mower 100 receives ultrasonic signal, described controller controls automatically to cut
Grass machine 100 keeps direction of travel；When the second receptor 120 receives ultrasonic signal, described controller controls automatically to mow
Machine 100 rotates, until the first receptor 110 receives ultrasonic signal, to determine direction of travel.So that automatic mower
The 100 avris regions moving to working range.
Automatic mower 100 is additionally provided with boundary line detector (not shown).Boundary line detector is at automatic mower
100 keep detecting boundary line signal while direction of travel.When boundary line detector detects boundary line 10, controller is sentenced
Disconnected automatic mower 100 arrives avris region, and controls automatic mower 100 along boundary line 10 by predetermined direction walking, as inverse
Clockwise, with return the right side of bus stop 200 be charged docking.
In present embodiment, auto-returned system guides automatic mower 100 to move to work model by ultrasonic signal
The avris region of the right enclosed, then control automatic mower 100 and return to the right side of bus stop 200 along boundary line 10, decrease
The return path of automatic mower 100, saves time of return, improves the efficiency returning bus stop 200, and realization is the most right
Connect, simple and reliable.
Charging terminal on bus stop 200 may also set up in the left side of bus stop 200, is guided automatically by ultrasonic signal
Hay mover 100 advances to the boundary line 10 of bus stop 200 left, then controls automatic mower 100 and return to stop along boundary line 10
Pull in 200 left side dock.
In other embodiments, receiving device and also can only have the first receptor 110, the first receptor 110 is fixing or turns
Be dynamically connected on automatic mower 100, the first receptor 110 have at least two different towards orientation, thus have at least
Two receiving angle scopes.
If the first receptor 110 is rotationally connected with on automatic mower 100, controller is when automatic mower 100 returns
Control the first receptor 110 rotate or swing in the range of certain radian so that the first receptor 110 in difference towards side
Position received ultrasonic signal, controller, according to the different signal reception condition towards orientation of receptor, controls automatic mower 100
Direction of travel.
If the first receptor 110 is fixedly connected on automatic mower 100, controller is when automatic mower 100 returns
Control automatic mower 100 often advance a segment distance time rotate a circle or swing in the range of certain radian, so that first
Receptor 110 receives according to the different signal towards orientation of receptor towards orientation received ultrasonic signal, controller in difference
Situation, controls the direction of travel of automatic mower 100.
Refer to Fig. 4, in second preferred embodiment of the present invention, positive charged terminal 210 on bus stop 200 and negative pole
Charging terminal 220 is arranged towards working range and the horizontal parallel of automatic mower 100.Generating means includes being horizontally spaced about
The first generator A on bus stop 200 and the second generator B.First generator A sends the first ultrasonic signal, second
Raw device B sends the second ultrasonic signal being different from the first ultrasonic signal.
Please also refer to Fig. 5, the angle of departure of the first generator A and the second generator B partly overlaps so that generating means
Transmitting boundary has the signal coverage areas of overlap, thus bus stop 200 near zone is divided into some subregions: mono signal covers
Cover region territory, dual signal overlapping region and white space m.Mono signal overlay area includes only cover the first ultrasonic signal
One signal coverage areas a and only cover the secondary signal overlay area b of the second ultrasonic signal.Dual signal overlapping region is for covering
Cover the first overlapping region ab of the first ultrasonic signal and the second ultrasonic signal.Wherein, dual signal overlapping region and blank
Region m is positioned at positive charged terminal 210 and the dead ahead of negative pole charging terminal 220 of bus stop 200.
The front center of automatic mower 100 highlights forward, and the first receptor 110 and the second receptor 120 are respectively provided with
The left and right sides in automatic mower 100 front end edge longitudinal central axis line.So, the first receptor 110 and the second receptor 120
Signal receiving angle range section intersects.First receptor 110 primary recipient is on the left of automatic mower 100 and front is transmitted
Ultrasonic signal, the second receptor 120 primary recipient is on the right side of automatic mower 100 and the ultrasonic signal that transmits of front.
The controller signal reception condition according to the first receptor 110 and the signal reception condition control of the second receptor 120
The direction of travel of automatic mower 100 processed also enters specific subregion, particularly with bus stop 200 just to the first overlay region
Territory ab and white space m.Controller is according to the signal reception condition of the first receptor 110 and the letter of the second receptor 120 afterwards
Number reception condition controls automatic mower 100 and walks towards bus stop 200.Stop so that automatic mower 100 returns nearby
Pull in 200, it is to avoid automatic mower 100 is taken a roundabout way and returned, and improves automatic mower 100 and returns the effect of bus stop 200
Rate, improve automatic mower 100 and bus stop 200 docks probability.
During as it is shown in figure 5, automatic mower 100 need to return or receive ultrasonic signal first, controller controls automatically
Hay mover 100 first rotates a circle and carries out initial position judgement, to determine current affiliated subregion.If automatic mower 100 rotates
After one week, receive device and only receive the first ultrasonic signal, then controller judges that current region is the first signal coverage areas
a；If after automatic mower 100 rotates a circle, receive device and only receive the second ultrasonic signal, then controller judges to work as proparea
Territory is secondary signal overlay area b；If after automatic mower 100 rotates a circle, receive device and receive the first ultrasonic signal
And second ultrasonic signal, then controller judges that current region is the first overlapping region ab；If automatic mower 100 rotates a circle
After, receiving device and be not received by any signal, controller controls automatic mower 100 and continues according to projected route or random road
Line is walked.
If the initial position of automatic mower 100 is the first signal coverage areas a, controller controls automatic mower 100
Rotate, until the only first receptor 110 receives the first ultrasonic signal, as shown in Figure 6, with now automatic mower 100
It is oriented direction of travel, controls automatic mower 100 and enter the first overlapping region ab.In like manner, the initial bit of automatic mower 100
When being set to secondary signal overlay area b, controller controls automatic mower 100 and rotates, until the only second receptor 120 receives
Second ultrasonic signal, and it is oriented direction of travel with now automatic mower 100.
Refer to Fig. 7, when automatic mower 100 is entered into the first overlapping region ab by the first signal coverage areas a, first
Receptor 110 receives the first ultrasonic signal and the second ultrasonic signal, and controller controls automatic mower 100 and rotates, directly
The first ultrasonic signal and the second ultrasonic signal is all received so that automatically to first receptor the 110, second receptor 120
Hay mover 100 is towards bus stop 200.Controller Sustainable Control automatic mower 100 afterwards so that the first receptor 110, second
Receptor 120 all keeps receiving the first ultrasonic signal and the second ultrasonic signal.
As shown in Figure 8, automatic mower 100 is positioned at an extreme condition of the first overlapping region ab and is: automatic mower
100 are positioned at the signal boundary on the left of the second generator B.Now controller controls automatic mower 100 so that the first receptor
110 keep receiving the first ultrasonic signal, second receptor 120 holding reception the second ultrasonic signal.Automatic mower 100 will
Signal boundary on the left of the second generator B advances.
In like manner, when automatic mower 100 is entered into the first overlapping region ab by secondary signal overlay area b, second receives
Device 120 receives the first ultrasonic signal and the second ultrasonic signal, and controller controls automatic mower 100 and rotates, until the
One receptor the 110, second receptor 120 all receives the first ultrasonic signal and the second ultrasonic signal.A pole now
Limit situation is: controller controls automatic mower 100 and advances along the signal boundary on the right side of the first generator A.
If the initial position of automatic mower 100 is the first overlapping region ab, controller still controls automatic mower 100 and revolves
Turn, until first receptor the 110, second receptor 120 all receives the first ultrasonic signal and the second ultrasonic signal.
Refer to Fig. 9, when automatic mower 100 will leave the first overlapping region ab and enter white space m, if the
One receptor 110 is not received by any signal, and controller controls automatic mower 100 and rotates counterclockwise, until first receives
Device 110 receives the first ultrasonic signal, as shown in Figure 10 so that automatic mower 100 is just to bus stop 200.In clear area
Territory m, controller maintains the direction of travel of automatic mower 100.Due to positive charged terminal 210 and negative pole charging terminal 220 water
Be arrangeding in parallel, automatic mower 100 can reliably dock with bus stop 200.
In like manner, if automatic mower 100 will leave the first overlapping region ab and enter white space m, if second connects
Receiving device 120 and be not received by any signal, controller then controls automatic mower 100 and turns clockwise, until the second receptor
120 receive the second ultrasonic signal.Hereafter, controller maintains the direction of travel of automatic mower 100, until automatic mower
100 dock with bus stop 200 in white space m.
Refer to Figure 11, automatic mower 100 enters a kind of special case of white space m and is: automatic mower 100 is along first
Perpendicular bisector between generator A and the second generator B advances, and the first receptor 110 and the second receptor 120 will receive not simultaneously
To any signal, now controller controls automatic mower 100 straight ahead, until automatic mower 100 is right with bus stop 200
Connect.
The automatic mower 100 initial position in generator coverage judges, enters region decision and control mode
As shown in table 1:
Table 1
In present embodiment, near zone is divided into some subregions, auto-returned by two generators on bus stop 200
System guides automatic mower 100 to move to specific subregion, particularly with bus stop 200 just by two kinds of ultrasonic signals
To subregion.Controller receives according to the signal reception condition of the first receptor 110 and the signal of the second receptor 120 afterwards
Situation controls automatic mower 100 and moves towards bus stop 200, and with bus stop 200 just to subregion and bus stop 200
Docking.So so that automatic mower 100 returns bus stop 200 nearby, it is to avoid automatic mower 100 is taken a roundabout way and returned,
Improve automatic mower 100 and return the efficiency of bus stop 200, and improve docking of automatic mower 100 and bus stop 200
Probability.
Refer to Figure 12, the 3rd preferred embodiment of the present invention is on the basis of the second preferred embodiment, in order to further
Improving the probability that docks of automatic mower 100 and bus stop 200, generating means also includes the 3rd generator C, the 3rd generator C
Between the first generator A and the second generator B.3rd generator C sends and is different from the first ultrasonic signal and the second surpasses
3rd ultrasonic signal of acoustic signals.
First generator A, the angle of departure of the second generator B and the 3rd generator C all partly overlap so that generating means
Transmitting boundary has the signal coverage areas of overlap, thus bus stop 200 near zone is divided into some subregions: mono signal covers
Cover region territory, dual signal overlapping region and triple signal overlap region.
Mono signal overlay area includes only covering the first signal coverage areas a of the first ultrasonic signal, only covers second
The secondary signal overlay area b of ultrasonic signal and only cover the 3rd signal coverage areas c of the 3rd ultrasonic signal.Dual letter
Number overlapping region includes: covers the first ultrasonic signal and the second overlapping region ac of the 3rd ultrasonic signal, cover and the second surpass
Acoustic signals and the triple-overlapped region bc of the 3rd ultrasonic signal.Triple signal overlap regions are for covering the first ultrasound wave letter
Number, the second ultrasonic signal and the 4th overlapping region abc of the 3rd ultrasonic signal.Wherein, triple signal overlap regions and
Three signal coverage areas c are positioned at positive charged terminal 210 and the dead ahead of negative pole charging terminal 220 of bus stop 200.
In present embodiment, auto-returned system guides automatic mower 100 to specifically by three kinds of ultrasonic signals
Subregion moves, particularly with bus stop 200 just to subregion.Control automatic mower 100 afterwards and shift to bus stop 200,
And with bus stop 200 just to subregion dock with bus stop 200.So so that automatic mower 100 returns stop nearby
Stand 200, it is to avoid automatic mower 100 is taken a roundabout way and returned, and improves automatic mower 100 and returns the efficiency of bus stop 200.
Due to bus stop 200 just to triple signal overlap regions much smaller than covering the first ultrasonic signal and the second ultrasonic signal
The first overlapping region ab, further increase automatic mower 100 and bus stop 200 docks probability.
Specifically, when automatic mower 100 need to return or receive ultrasonic signal first, controller controls automatically to cut
Grass machine 100 first rotates a circle and carries out initial position judgement, to determine current affiliated subregion.
If after automatic mower 100 rotates a circle, receive device and only receive the first ultrasonic signal, then controller judges
Current region is the first signal coverage areas a；If after automatic mower 100 rotates a circle, reception device only receives and the second surpasses
Acoustic signals, then judge that current region is secondary signal overlay area b；If after automatic mower 100 rotates a circle, receive device
Only receive the 3rd ultrasonic signal, then judge that current region is the 3rd signal coverage areas c；If automatic mower 100 rotates
After one week, receive device and only receive the first ultrasonic signal and the 3rd ultrasonic signal, then judge that current region is the second weight
Folded region ac；If after automatic mower 100 rotates a circle, receive device and only receive the second ultrasonic signal and the 3rd ultrasound wave
Signal, then judge that current region is triple-overlapped region bc；If after automatic mower 100 rotates a circle, receive device and receive
First ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal, then judge that current region is the 4th overlapping region
abc；If after automatic mower 100 rotates a circle, receiving device and be not received by any signal, controller controls automatic mower
100 continue to walk according to projected route or random path.
If the initial position of automatic mower 100 is the first signal coverage areas a, controller controls automatic mower
100 rotate, until the only first receptor 110 receives the first ultrasonic signal, so that it is determined that direction of travel.In like manner, automatically cut
When the initial position of grass machine 100 is secondary signal overlay area b, controller controls automatic mower 100 and rotates, until only second
Receptor 120 receives the second ultrasonic signal, so that it is determined that direction of travel.
Refer to Figure 13, when automatic mower 100 is entered into the second overlapping region ac by the first signal coverage areas a, the
One receptor 110 receives the first ultrasonic signal and the 3rd ultrasonic signal, and controller controls automatic mower 100 so that
First receptor 110 receives the first ultrasonic signal and the 3rd ultrasonic signal, the second receptor 120 does not receives signal.
In like manner, when automatic mower 100 is entered into triple-overlapped region bc by secondary signal overlay area b, the second receptor 120 receives
To the second ultrasonic signal and the 3rd ultrasonic signal, controller controls automatic mower 100 so that the second receptor 120 connects
Receive the second ultrasonic signal and the 3rd ultrasonic signal, the first receptor 110 does not receives signal.
Refer to Figure 14, when automatic mower 100 is entered the 4th overlapping region abc by the second overlapping region ac, first connects
Receive device 110 and receive the 3rd ultrasonic signal and the second ultrasonic signal.Controller controls automatic mower 100 and rotates, until
First receptor the 110, second receptor 120 all receives the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasound wave
Signal.Controller Sustainable Control automatic mower 100 afterwards so that first receptor the 110, second receptor 120 all receives
First ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal.
As shown in figure 15, automatic mower 100 is positioned at an extreme condition of the 4th overlapping region abc and is: automatically mow
Machine 100 is positioned at the signal boundary on the left of the second generator B.Now controller controls automatic mower 100 so that first receives
Device 110 receives the first ultrasonic signal and the 3rd ultrasonic signal, the second receptor 120 receives the second ultrasonic signal and the 3rd
Ultrasonic signal.Signal boundary on the left of the second generator B is advanced by automatic mower 100.
In like manner, when automatic mower 100 is entered the 4th overlapping region abc by triple-overlapped region bc, the second receptor 120
Receive the 3rd ultrasonic signal and the first ultrasonic signal.Controller controls automatic mower 100 and rotates, until first receives
Device the 110, second receptor 120 all receives the first ultrasonic signal, the second ultrasonic signal and the 3rd ultrasonic signal.Now
An extreme condition be: controller controls automatic mower 100 and advances along the signal boundary on the right side of the first generator A.
Refer to Figure 16, when automatic mower 100 is entered three signal coverage areas c by the 4th overlapping region abc, if
First receptor 110 only receives the 3rd ultrasonic signal, and controller controls automatic mower 100 and rotates counterclockwise, until the
One receptor 110 receives the first ultrasonic signal and the 3rd ultrasonic signal, as shown in figure 17.Hereafter, controller maintains certainly
The direction of travel of motor mower 100, until automatic mower 100 docks with bus stop 200.
In like manner, if the second receptor 120 only receives the 3rd ultrasonic signal, it is suitable that controller controls automatic mower 100
Hour hands rotate, until the second receptor 120 receives the second ultrasonic signal and the 3rd ultrasonic signal.Hereafter, controller dimension
Hold the direction of travel of automatic mower 100, until automatic mower 100 docks with bus stop 200.
A kind of special case that automatic mower 100 is entered the 3rd signal coverage areas c by the 4th overlapping region abc is: automatically
Hay mover 100 advances along the perpendicular bisector between the first generator A and the second generator B, the first receptor 110 and the second receptor
120 will only receive the 3rd ultrasonic signal simultaneously, and now controller controls automatic mower 100 straight ahead, until automatically
Hay mover 100 docks with bus stop 200.
If the initial position of automatic mower 100 is the second overlapping region ac, controller controls automatic mower 100 and revolves
Turn, until the first receptor 110 receives the first ultrasonic signal and the 3rd ultrasonic signal, the second receptor 120 receives not
To signal.In like manner, if the initial position of automatic mower 100 is triple-overlapped region bc, controller controls automatic mower 100
Rotate, until the second receptor 120 only receives the second ultrasonic signal and the 3rd ultrasonic signal, the first receptor 110 connects
Can not receive signal.
If the initial position of automatic mower 100 is the 4th overlapping region abc, controller controls automatic mower 100 and revolves
Turn, until first receptor the 110, second receptor 120 all receives the first ultrasonic signal, the second ultrasonic signal and the 3rd
Ultrasonic signal.
If the initial position of automatic mower 100 is three signal coverage areas c, controller controls automatic mower
100 rotate, until the first receptor 110 and the second receptor 120 all receive the 3rd ultrasonic signal.Hereafter, controller dimension
Hold the direction of travel of automatic mower 100, until automatic mower 100 docks with bus stop 200.
In the present embodiment, the automatic mower 100 initial position in generator coverage judges, enters region decision
And controller control mode is as shown in table 2:
Table 2
Present invention also offers a kind of method controlling automatic running device return bus stop 200, bus stop 200 is provided with
Generating means.Automatic running device is automatic mower 100, and automatic mower 100 is provided with the first receptor 110 and second and connects
Receiving device 120, the first receptor 110 and the second receptor 120 are towards different orientation so that both signal range of receiving not phases
Hand over or part intersects.In present embodiment, the first receptor 110 is arranged at the left side of the longitudinal central axis line of automatic mower 100,
Second receptor 120 is arranged at the right side of the longitudinal central axis line of automatic mower 100.
Refer to Figure 18, said method comprises the following steps:
Step S1: controller, when automatic mower 100 starts and returns, controls the first receptor and the second receptor starts
And detect ultrasonic signal.
Step S2: controller receives according to the signal reception condition of the first receptor 110 and the signal of the second receptor 120
Situation, controls the direction of travel of described automatic mower 100 so that described automatic mower 100 moves to described working range
Interior specific region.
Step S3: after automatic mower 100 arrives specific region, controller controls the walking road of automatic mower 100
Line so that automatic mower 100 returns described bus stop 200.
Refer to Figure 19, control automatic running device in the present invention and return first preferably the implementing of method of bus stop 200
In example, above-mentioned steps S2 includes:
Step S21: judge whether the first receptor 110 receives ultrasonic signal, is then to enter step S22, otherwise enters
Enter step S23.
Step S22: keep the direction of travel of automatic mower 100.
Step S23: control automatic mower 100 and rotate, until the first ultrasound wave 110 receptor receives ultrasound wave letter
Number so that automatic mower 100 moves to the avris region of working range, and returns step S22.
Above-mentioned steps S3 includes:
Step S31: detecting boundary line signal.
Step S32: if receiving boundary line signal, then control automatic mower 100 and press predetermined direction row along boundary line 10
Walk, as counterclockwise.
Referring again to Fig. 5, in the present invention the second preferred embodiment, generating means includes the first generator A and second
Generator B.First generator A sends the first ultrasonic signal, and the second generator B sends and is different from the of the first ultrasonic signal
Two ultrasonic signals.
The angle of departure of the first generator A and the second generator B partly overlaps so that the transmitting boundary of generating means has weight
Folded signal coverage areas, thus bus stop 200 near zone is divided into some subregions: mono signal overlay area, dual letter
Number overlapping region and white space m.
Refer to Figure 20, in the present invention the second preferred embodiment, above-mentioned steps S1 is: controller is at automatic mower
When 100 startups return, control automatic mower 100 and rotate a circle, control the first receptor 110 and the second receptor 120 simultaneously
Detecting ultrasonic signal.Above-mentioned steps S2 includes:
Step S2a: judge the initial position of automatic mower 100 when detecting ultrasonic signal.Receive according to first
Whether device 110 receives ultrasonic signal and whether the second receptor 120 receives ultrasonic signal, it is judged that automatic mower
100 regions being presently in are mono signal overlay area or dual signal overlapping region, if mono signal overlay area then enters
Step S2b, otherwise enters step S3a.
Step S2b: if the initial position of automatic mower 100 is mono signal overlay area, then control automatic mower 100
Enter dual signal overlapping region.
Above-mentioned steps S3 includes:
Step S3a: when automatic mower 100 is positioned at dual signal overlapping region, controls automatic mower 100 so that
First receptor the 110, second receptor 120 all receives the first ultrasonic signal and the second ultrasonic signal.
Step S3b: being oriented direction of travel and controlling automatic mower 100 and advance with now automatic mower 100.
Referring again to Figure 12, in the present invention the 3rd preferred embodiment, generating means include the first generator A, second
Generator B and the 3rd generator C, and the 3rd generator C is between the first generator A and the second generator B.
First generator A sends the first ultrasonic signal, and the second generator B sends and is different from the of the first ultrasonic signal
Two ultrasonic signals, the 3rd generator C sends the 3rd ultrasound wave being different from the first ultrasonic signal and the second ultrasonic signal
Signal.
First generator A, the angle of departure of the second generator B and the 3rd generator C all partly overlap so that generating means
Transmitting boundary has the signal coverage areas of overlap, thus bus stop 200 near zone is divided into some subregions: mono signal covers
Cover region territory, dual signal overlapping region and triple signal overlap region.
Mono signal overlay area includes only covering the first signal coverage areas a of the first ultrasonic signal, only covers second
The secondary signal overlay area b of ultrasonic signal and only cover the 3rd signal coverage areas c of the 3rd ultrasonic signal.Dual letter
Number overlapping region includes: covers the first ultrasonic signal and the second overlapping region ac of the 3rd ultrasonic signal, cover and the second surpass
Acoustic signals and the triple-overlapped region bc of the 3rd ultrasonic signal.Triple signal overlap regions are for covering the first ultrasound wave letter
Number, the second ultrasonic signal and the 4th overlapping region abc of the 3rd ultrasonic signal.
Refer to Figure 21, in the present invention the 3rd preferred embodiment, above-mentioned steps S1 is: controller is at automatic mower
When 100 startups return, control automatic mower 100 and rotate a circle, control the first receptor 110 and the second receptor 120 simultaneously
Detecting ultrasonic signal.
Above-mentioned steps S2 includes:
Step S2A: judge the initial position of automatic mower 100 when detecting ultrasonic signal.Receive according to first
Whether device 110 receives ultrasonic signal and whether the second receptor 120 receives ultrasonic signal, it is judged that automatic mower
100 regions being presently in are mono signal overlay area, dual signal overlapping region or triple signal overlap region, if single letter
The first signal coverage areas a or secondary signal overlay area b in number overlay area then enter step S2B, if dual signal
Overlapping region then enters step S2C, if triple signal overlap region then enters step S3A.
Step S2B: when the initial position of automatic mower 100 is the first signal coverage areas in mono signal overlay area
During a or secondary signal overlay area b, then control automatic mower 100 and enter dual signal overlapping region.
Step S2C: when automatic mower 100 is positioned at dual signal overlapping region, then control automatic mower 100 and enter
Triple signal overlap regions.
Above-mentioned steps S3 includes:
Step S3A: when automatic mower 100 is positioned at triple signal overlap region, controls automatic mower 100 and enters single letter
The 3rd signal coverage areas c in number overlay area.
Step S3B: control automatic mower 100 and advance towards bus stop 200.
Auto-returned system of the present invention and control automatic running device return the method for bus stop 200 according to receiving device extremely
The signal reception condition of few two receiving angle scopes, controls the direction of travel of automatic mower 100 so that automatic mower
100 return bus stop 200.So that automatic mower 100 can return bus stop 200, mode letter in intelligent ground nearby
Single reliable.
It may occur to persons skilled in the art that, concrete structure and the present invention in auto-returned system of the present invention control
Automatic running device returns the method for bus stop 200 can a lot of versions, but the main skill of the used technical solution
Art feature is same or similar with the present invention, all should be covered by scope.
Claims (22)
1. controlling the method that automatic running device returns bus stop, described bus stop is provided with for sending ultrasonic signal
Generating means, described automatic running device includes the reception device for received ultrasonic signal and controller, described automatically
Walking arrangement works in default working range, it is characterised in that: described reception device has at least two receiving angle model
Enclose, said method comprising the steps of:
When described automatic running device starts recurrence, described controller controls described reception device and starts to detect ultrasonic signal；
Described controller according to described reception device in the signal reception condition of at least two receiving angle scope, control described from
The direction of travel of dynamic walking arrangement so that described automatic running device returns described bus stop；
When at predetermined receiving angle range reception to ultrasonic signal, believe less than ultrasound wave at another receiving angle range reception
Number, controller is oriented direction of travel with the most described automatic running device；Otherwise, controller first controls described automatic walking
Equipment rotates so that at predetermined receiving angle range reception to ultrasonic signal, at another receiving angle range reception less than super
Acoustic signals, controller is oriented direction of travel with the most described automatic running device again.
Method the most according to claim 1, it is characterised in that: described reception device includes that the first receptor and second receives
Device, described first receptor, the second receptor have respective receiving angle scope.
Method the most according to claim 1, it is characterised in that: the rotation of described reception device is arranged at described automatic walking and sets
Standby upper, described controller controls described reception device and rotates or swing, thus ultrasonic at least two receiving angle range reception
Ripple signal.
Method the most according to claim 1, it is characterised in that: described working range is defined by the boundary line closed, described
Controller in the signal reception condition of at least two receiving angle scope according to described reception device, controls described automatic walking and sets
The standby avris region moving to described working range, after described automatic running device arrives described avris region, described control
Device controls described automatic running device and returns described bus stop along boundary line.
Method the most according to claim 4, it is characterised in that: described reception device includes that the first receptor and second receives
Device, described first receptor, the second receptor lay respectively at the left and right sides of described automatic running device axis, and described
The receiving angle scope of one receptor is non-intersect with the receiving angle scope of the second receptor or part intersects, when the first receptor
When receiving ultrasonic signal, described controller controls automatic running device and keeps direction of travel, when the second receptor receives
During ultrasonic signal, described controller controls automatic running device and rotates, until the first receptor receives ultrasonic signal, from
And determine direction of travel.
Method the most according to claim 1, it is characterised in that: described generating means includes at least two generator, described
At least two generator sends different ultrasonic signals, and the angle of departure of described at least two generator partly overlaps, thus will
The transmitting boundary of described generating means is divided into mono signal overlay area and one or more overlapped signal overlay area, described in connect
Receiving apparatus has two receiving angle scopes, is respectively facing the left and right sides and the said two acceptance angle of described automatic running device
Degree range section intersects, and the ultrasonic signal that described controller receives according to described reception device judges described automatic running device
Residing region, and move to specific weight according to the signal reception condition described automatic running device of control of described reception device
Folded signal coverage areas, when described automatic running device is positioned at specific overlapped signal overlay area, described controller according to
The signal reception condition of described reception device controls described automatic running device and walks towards described bus stop；Described specific weight
Folded signal coverage areas is, the ultrasonic signal that described at least two generator sends all can be by least one of reception device
The region that receiving angle scope is received.
Method the most according to claim 6, it is characterised in that: cover when described automatic running device is positioned at described mono signal
During region, described controller controls described automatic running device and rotates so that described reception device is in predetermined receiving angle scope
Receive ultrasonic signal, at another receiving angle range reception less than ultrasonic signal, and with the most described automatic walking
Equipment be oriented direction of travel, thus control described automatic running device and move to the described specific overlapped signal area of coverage
Territory.
Method the most according to claim 6, it is characterised in that: when described automatic running device is positioned at described specific overlap
During signal coverage areas, described controller controls described automatic running device and rotates so that described reception device is two receptions
Angular range all receives the signal that described at least two generator sends, thus controls described automatic running device towards described
Bus stop is walked.
Method the most according to claim 6, it is characterised in that: before judging the region residing for described automatic running device,
Described controller controls described automatic running device and rotates a circle, the ultrasonic signal received according to described reception device afterwards
Judge the region residing for described automatic running device.
Method the most according to claim 6, it is characterised in that: described generating means includes the first generator and second
Raw device, the ultrasonic signal that described at least two generator sends all can be received at least one receiving angle scope of device
The region received is dual signal overlay area.
11. methods according to claim 6, it is characterised in that: described generating means includes the first generator, the second generation
Device and the 3rd generator, the angle of departure of described first generator, the second generator and the 3rd generator is partially overlapped by each other, thus
The transmitting boundary of described generating means is divided into mono signal overlay area, dual signal overlay area and triple signal coverage
Territory, the ultrasonic signal that described at least two generator sends all can be received at least one receiving angle scope institute of device
The region received is triple signal coverage areas.
12. 1 kinds of auto-returned systems, including bus stop and automatic running device, described bus stop is provided with for sending ultrasound wave
The generating means of signal, described automatic running device includes the reception device for received ultrasonic signal and controller, described
Automatic running device works in default working range, it is characterised in that:
Described reception device has at least two receiving angle scope, and described controller starts recurrence at described automatic running device
Time control described reception device and start to detect ultrasonic signal, and according to receiving the device letter at least two receiving angle scope
Number reception condition controls the direction of travel of described automatic running device so that described automatic running device returns described bus stop；
When at predetermined receiving angle range reception to ultrasonic signal, believe less than ultrasound wave at another receiving angle range reception
Number, controller is oriented direction of travel with the most described automatic running device；Otherwise, controller first controls described automatic walking
Equipment rotates so that at predetermined receiving angle range reception to ultrasonic signal, at another receiving angle range reception less than super
Acoustic signals, controller is oriented direction of travel with the most described automatic running device again.
13. auto-returned systems according to claim 12, it is characterised in that: described reception device includes the first receptor
And second receptor, described first receptor, the second receptor have respective receiving angle scope.
14. auto-returned systems according to claim 12, it is characterised in that: the rotation of described reception device is arranged at described
On automatic running device, described controller controls described reception device and rotates or swing, thus at least two receiving angle model
Enclose received ultrasonic signal.
15. auto-returned systems according to claim 12, it is characterised in that: described working range is by the boundary line closed
Defining, described controller in the signal reception condition of at least two receiving angle scope, controls described according to described reception device
Automatic running device moves to the avris region of described working range, when described automatic running device arrives described avris region
After, described controller controls described automatic running device and returns described bus stop along boundary line.
16. auto-returned systems according to claim 15, it is characterised in that: described reception device includes the first receptor
And second receptor, described first receptor, the second receptor lay respectively at the left and right two of described automatic running device axis
Side, and the receiving angle scope of described first receptor is non-intersect with the receiving angle scope of the second receptor or part intersects,
When the first receptor receives ultrasonic signal, described controller controls automatic running device and keeps direction of travel, when second
When receptor receives ultrasonic signal, described controller controls automatic running device and rotates, until the first receptor receives
Ultrasonic signal, so that it is determined that direction of travel.
17. auto-returned systems according to claim 12, it is characterised in that: described generating means includes that at least two is sent out
Raw device, described at least two generator sends different ultrasonic signals, the angle of departure part weight of described at least two generator
Folded, thus the transmitting boundary of described generating means is divided into mono signal overlay area and one or more overlapped signal area of coverage
Territory, described reception device has two receiving angle scopes, is respectively facing the left and right sides of described automatic running device and described
Two receiving angle range sections intersect, and the ultrasonic signal judgement that described controller receives according to described reception device is described certainly
Dynamic region residing for walking arrangement, and move according to the signal reception condition described automatic running device of control of described reception device
To specific overlapped signal overlay area, when described automatic running device is positioned at specific overlapped signal overlay area, described
Controller controls described automatic running device according to the signal reception condition of described reception device and walks towards described bus stop；Institute
Stating specific overlapped signal overlay area is, the ultrasonic signal that described at least two generator sends all can be received device
The region that received of at least one receiving angle scope.
18. auto-returned systems according to claim 17, it is characterised in that: when described automatic running device is positioned at described
During mono signal overlay area, described controller controls described automatic running device and rotates so that described reception device connects predetermined
Receive angular range and receive ultrasonic signal, at another receiving angle range reception less than ultrasonic signal, and with now institute
State the direction of travel that is oriented of automatic running device, thus control described automatic running device and move to described specific overlapping letter
Number overlay area.
19. auto-returned systems according to claim 17, it is characterised in that: when described automatic running device is positioned at described
During specific overlapped signal overlay area, described controller controls described automatic running device and rotates so that described reception device
All receive, two receiving angle scopes, the signal that described at least two generator sends, thus control described automatic walking and set
For walking towards described bus stop.
20. auto-returned systems according to claim 17, it is characterised in that: judging residing for described automatic running device
Region before, described controller control described automatic running device rotate a circle, receive according to described reception device afterwards
Ultrasonic signal judges the region residing for described automatic running device.
21. auto-returned systems according to claim 17, it is characterised in that: described generating means includes the first generator
And second generator, the ultrasonic signal that described at least two generator sends all can be received device at least one receive
The region that angular range is received is dual signal overlay area.
22. auto-returned systems according to claim 17, it is characterised in that: described generating means includes the first generation
Device, the second generator and the 3rd generator, described 3rd generator is arranged between the first generator and the second generator, described
The angle of departure of the first generator, the second generator and the 3rd generator is partially overlapped by each other, thus sending out described generating means
The scope of penetrating is divided into mono signal overlay area, dual signal overlay area and triple signal coverage areas, and described at least two occurs
The region that the ultrasonic signal that device sends all can be received by least one the receiving angle scope receiving device is triple letter
Number overlay area.
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| CN201210252419.7A CN103576678B (en) | 2012-07-20 | 2012-07-20 | Auto-returned system and the method controlling automatic running device return bus stop |
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| CN201210252419.7A CN103576678B (en) | 2012-07-20 | 2012-07-20 | Auto-returned system and the method controlling automatic running device return bus stop |
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