CN105094126A - Outdoor self-walking robot system - Google Patents
Outdoor self-walking robot system Download PDFInfo
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- CN105094126A CN105094126A CN201410218633.XA CN201410218633A CN105094126A CN 105094126 A CN105094126 A CN 105094126A CN 201410218633 A CN201410218633 A CN 201410218633A CN 105094126 A CN105094126 A CN 105094126A
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- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
- A01K15/021—Electronic training devices specially adapted for dogs or cats
- A01K15/023—Anti-evasion devices
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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- Animal Behavior & Ethology (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an outdoor self-walking robot system which comprises the components of an electronic boundary system which is in a closed area that is defined through an electronic boundary fence, wherein a boundary signal exists at the periphery of the electronic boundary fence; an outdoor self-walking robot which comprises a first signal inductor and a first control unit for limiting the operation area of the outdoor self-walking robot and making the outdoor self-walking robot walk in the operation area; a receiving device which is worn by a pet and comprises a second signal inductor and a control unit for limiting the activity area of the pet; and an alarm unit which transmits an alarm signal when the pet leaves from the activity area. The outdoor self-walking robot system provided by the invention has advantages of planning the operation area of the outdoor self-walking robot, limiting the activity area of the pet, realizing multiple functions and saving cost.
Description
Technical field
The present invention relates to a kind of outdoor from robot walking system, particularly a kind of for control outdoor from the double open air of doing pet fence of the electron boundary system of robot walking perform region from robot walking system.
Background technology
Along with the development of science and technology, the automatic walking robot of intelligence is well known, the program that can automatically pre-set due to automatic walking robot performs the inter-related task pre-set, operation that need not be artificial and intervention, therefore increasing family product applies this technology, as automatic mower, automatic cleaner etc., the automatic walking robot of these intelligence dramatically saves on the time of people, brings great convenience to life staying idle at home.
For ensureing that above-mentioned automatic walking robot works in the working range preset, adopt the working range of electron boundary system to automatic walking robot to control, the mode that usual electron boundary fence adopts is the wire being laid on ground.When the signal generation apparatus be electrically connected with wire produces the sideband signal preset, default sideband signal flows through electron boundary fence, produces magnetic field.Automatic walking robot is provided with signal inductor and control module, the magnetic field at its present position place is converted to corresponding induced signal and passes to control module by signal inductor, control module receives induced signal and confirms the position of automatic walking robot opposing electronic border fence according to induced signal, thus control automatic walking robot close to controlling automatically walking and robot conversion direction of travel during electron boundary fence in time, prevent automatic walking robot from running to outside electron boundary fence, thus automatic walking robot is worked all the time in electron boundary fence.
Meanwhile, pet enters increasing family as a member of family.In order to protect the items of family not destroyed by pet, preventing pet to wander away or meeting accident, and the behavior of training pet, it is movable usually to need pet to be limited in certain scope.Existing method for limiting mainly contains two kinds, and a kind of is the closed region adopting plank or wire netting to build enclosure type, and the closed region of this enclosure type is high enough to prevent pet from passing through jump over the fence and escape from closed region, one adopts pet fence to limit pet activity region, the electron boundary system of the similar above-mentioned automatic walking robot of this pet fence, generally include the wire being arranged on ground, the signal generation apparatus be electrically connected with wire must be had simultaneously, and the necklace that the pet being provided with signal inductor and control module is worn, usual necklace is also provided with alarm unit, when in the specific close region that pet comes border, control module on necklace senses signal, and start alarm unit, pet is given the alarm signal, as buzzer or electronic shock, to guarantee that pet does not leave the region in fence.
Because a lot of family is by disposed in the outdoor for the zone of action of pet, as on lawn, when user buys outdoor from robot walking and pet fence simultaneously, will arrange multiple closed region using as open air from the perform region of robot walking and the zone of action of pet, especially when these two regions can share, also two closed wire loops must be arranged, mutually mate with the signal generation apparatus of pet electronic enclosure system from the signal generation apparatus of robot walking system with open air to make it, even if wire can use same size, but also separately adaptive signal generation apparatus is installed respectively, not only increase a lot of cost like this and also consume supernumerary's power.
Summary of the invention
The technical matters that the present invention solves is: provide a kind of for control outdoor from the double open air of doing pet fence of the electron boundary system of robot walking perform region from robot walking system.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of outdoor from robot walking system, comprising: electron boundary system, cooks up closed region by electron boundary fence, there is sideband signal around described electron boundary fence; Outdoor from robot walking, comprising the first signal inductor, for responding to described sideband signal, and generating the first induced signal; First control module, receive described first induced signal, determine the position of described open air from the relatively described electron boundary fence of robot walking according to the first induced signal, to limit the perform region of described open air from robot walking, control open air and walk in perform region from robot walking; Described open air also comprises from robot walking system the receiving trap that pet wears, and described receiving trap comprises secondary signal inductor, for responding to described sideband signal, and generates the second induced signal; Second control module, receives described second induced signal, determines the position of the relatively described electron boundary fence of pet according to the second induced signal, to limit the zone of action of pet; Alarm unit, when pet leaves described zone of action, described alarm unit gives the alarm signal.
Preferably, described receiving trap comprises necklace.
Preferably, described alarm unit comprises primary alarm unit and second-level alarm unit, and described primary alarm unit comprises hummer, and described second-level alarm unit comprises electric shock drive plate or vibrating motor.
Preferably, described second control module according to the second induced signal received with the distance between the electron boundary fence determining pet and described zone of action, when described distance is the first default distance, described primary alarm unit starting, when described distance is default second distance, described second-level alarm unit starting, described first distance is greater than described second distance.
Preferably, described receiving trap also comprises operation interface, and described operation interface supplies user operation to set the numerical value of described first Distance geometry second distance.
Preferably, the zone of action of described pet is the perform region of described open air from robot walking.
Preferably, the zone of action of described pet is the non-active area of described open air from robot walking.
Preferably, described electron boundary system comprises electron boundary fence and signal generation apparatus, described electron boundary fence comprises the wire being arranged on ground, described signal generation apparatus produces preset boundary signal and sends to described electron boundary fence, produces magnetic field when described preset boundary signal flows through described electron boundary fence.
Preferably, the zone of action of described pet is the non-active area of described open air from robot walking.
Preferably, the electron boundary fence of the zone of action of described pet and described open air are same wire from the electron boundary fence of the perform region of robot walking, and described first induced signal is contrary with the second induced signal.
Preferably, the electron boundary fence of the zone of action of described pet is different independently wires from described open air from the electron boundary fence of the perform region of robot walking, and described first induced signal is identical with the second induced signal or contrary.
Beneficial effect of the present invention is: shared from the electron boundary system of robot walking open air and make pet fence, greatly save cost, and when the zone of action of pet overlaps from the perform region of robot walking with open air, without the need to arranging the electron boundary fence in pet activity region in addition, share with the electron boundary fence of open air from the perform region of robot walking, decrease manpower.
Accompanying drawing explanation
The technical matters that above-described the present invention solves, technical scheme and beneficial effect by the detailed description that can realize preferably specific embodiment of the present invention below, can describe and clearly obtain simultaneously by reference to the accompanying drawings.
Identical label in accompanying drawing and instructions and symbol are for representing identical or equivalent element.
Fig. 1 is the schematic diagram of open air from robot walking system of the present invention first preferred implementation.
Fig. 2 is the schematic diagram of Pet neck ring of the present invention.
Fig. 3 is the schematic diagram of open air from robot walking system of the present invention second preferred implementation.
Fig. 4 is the schematic diagram of open air from robot walking system of the present invention the 3rd preferred implementation.
Fig. 5 is the schematic diagram of open air from robot walking system of the present invention the 4th preferred implementation.
Wherein
1. open air is from robot walking 2. signal generation apparatus 3. electron boundary fence
4. zone of action, perform region 5. 6. first signal inductor
7. the first control module 8. necklace 81. neck ring belt
82. secondary signal inductor 83. second control module 84. alarm unit
9. magnetic field
Embodiment
Detailed description for the present invention and technology contents, coordinate accompanying drawing to be described as follows, but appended accompanying drawing only provides reference and explanation, is not used for being limited the present invention.Electron boundary system of the present invention is not limited to the electron boundary fence of wire form, can also comprise less radio-frequency RFID border fence, infrared border fence etc.
Open air of the present invention, from robot walking system, as shown in Figure 1, comprises outdoor from robot walking 1, signal generation apparatus 2, electron boundary fence 3.The general wire of electron boundary fence 3 is laid on earth's surface and forms a loop wire loop, and the closed region in loop wire loop is planned to outdoor from the perform region 4 of robot walking, and the region outside electron boundary fence 3 is non-active area.Signal generation apparatus 2 and electron boundary fence 3 are electrically connected, and signal generation apparatus 2 produces preset boundary signal SC and sends to electron boundary fence 3, produce magnetic field 9 when preset boundary signal SC flows through electron boundary fence 3.Open air comprises the first signal inductor 6 and the first control module 7 from robot walking 1, first signal inductor 6 is for responding to the magnetic field 9 in surrounding environment, and generate the first induced signal SC1, first control module 7 receives described first induced signal SC1, and determine outdoor from the position of robot walking 1 opposing electronic border fence 3 according to described first induced signal SC1, thus walk in described perform region 4 from robot walking 1 in restriction open air.First signal inductor 6 can have various ways, as long as magnetic field 9 can be converted to corresponding electric signal by it, preferably, first signal inductor 6 comprises inductance, inductance induced field 9, and produce corresponding electromotive force, thus magnetic field 9 is converted to the first induced signal SC1 and passes to the first control module 7.
In addition, open air also comprises walking unit (not shown) from robot walking 1, walking unit comprises the wheels be arranged on fuselage and the running motor driving wheels, when open air is intelligent grass-removing from robot walking 1, also comprise cutter unit further, cutter unit comprises cutting motor and cutting blade.When intelligent grass-removing works in the perform region 4 that electron boundary fence 3 is planned, cutting motor drives cutting blade to rotate, cutting lawns.First control module 7 is electrically connected walking unit and cutter unit.Therefore, the first control module 7 controls intelligent grass-removing and generates walking path and control travel mechanism and walk according to this path, and controls cutting mechanism and start or stop cutting work.By the cooperation of each unit, intelligent grass-removing by electron boundary fence 3 around perform region 4 in cruise and carry out cutting work, at nominal conditions, intelligent grass-removing straight line moving, until bump against electron boundary fence 3.If intelligent grass-removing runs into electron boundary fence 3, it will turn to turn back to get back in perform region 4 continues straight line moving, until again run into electron boundary fence 3.By the above-mentioned mode of constantly turning back in electron boundary fence 3, cover whole perform region 4 and carry out work.
Open air of the present invention also comprises from robot walking system the receiving trap that pet wears.Preferably, described receiving trap comprises necklace 8, and as shown in Figure 2, necklace 8 comprises neck ring belt 81, secondary signal inductor 82, second control module 83 and alarm unit 84.Similar with the principle of work of the first signal inductor 6 and the first control module 7, secondary signal inductor 82 is for responding to the magnetic field 9 of environment residing for pet, and generate the second induced signal SC2, second control module 83 receives described second induced signal SC2, and determine the position of the electron boundary fence 3 in pet relative motion region 5 according to described second induced signal SC2, thus limit the zone of action of pet.Equally, secondary signal inductor 82 and the first signal inductor 6 similar, also various ways can be had, as long as magnetic field 9 can be converted to corresponding electric signal by it, preferably, secondary signal inductor 82 comprises inductance, inductance induced field 9, and produce corresponding electromotive force, thus magnetic field 9 is converted to the second induced signal SC2 and passes to the second control module 83.
Under normal circumstances, pet by electron boundary fence 3 around zone of action 5 in carry out activity, when pet arrives electron boundary fence 3 place, secondary signal inductor 82 senses magnetic field 9, and produces the second induced signal SC2, and the second control module 83 receives the second induced signal SC2, determine that pet arrives electron boundary fence 3 place, now control module can start alarm unit 84, makes it give the alarm signal to pet, supervises it to get back in zone of action 5.When pet is in zone of action 5, alarm unit 84 is in closed condition.Preferably, alarm unit 84 comprises primary alarm unit and second-level alarm unit, and primary alarm unit comprises hummer, and second-level alarm unit comprises electric shock drive plate or vibrating motor.Preferably, second control module 83 according to the second induced signal SC2 received with the distance between the electron boundary fence 3 determining pet and described zone of action 5, when this distance is the first distance preset, primary alarm unit starting, when this distance is the second distance preset, second-level alarm unit starting, the first distance is greater than second distance.Preferably, described necklace 8 also comprises operation interface, and operation interface to set the numerical value of the first Distance geometry second distance for user operation, arranges like this and facilitates user can regulate the first distance and second distance according to the flexible in size of the zone of action of pet.User can arrange arbitrarily the intensity threshold of the induced signal SC2 corresponding to the first Distance geometry second distance place preset, the the second induced signal SC2 received when the second control module 83 reaches or higher than the signal intensity threshold values at the first Distance geometry second distance place, illustrate that pet has arrived or entered the first Distance geometry second distance place, now primary alarm unit and second-level alarm unit can corresponding startups.Certainly, except measuring the distance of pet from electron boundary fence according to signal intensity, other various ways can also be used, describe no longer one by one here.
When pet is in zone of action 5, when the distance of pet and electron boundary fence 3 arrives the first distance, namely the second induced signal SC2 of pet present position is higher than the signal intensity threshold values of the first distance, primary alarm unit starting, hummer is sounded a buzzer, and this not only have issued alarm signal to pet, also point out pet owner pet close to electron boundary fence, if pet is return in time, namely farther from electron boundary fence 3, primary alarm unit is closed; If pet continues close to electron boundary fence 3, primary alarm unit continues to sound a buzzer, until when the distance of pet and electron boundary fence 3 arrives second distance, namely the second induced signal SC2 of pet present position is higher than the signal intensity threshold values (this signal intensity threshold values is higher than the signal intensity threshold values of the first distance) at second distance place, now primary alarm unit is closed, and second-level alarm unit starting, give pet electric shock or vibration alarm.Preferably, the necklace 8 of pet can also arranging GPS, when pet does not accept the alarm signal of alarm unit 84 and runs out of zone of action 5, wandering away to prevent it, utilize GPS to position its position, given for change to facilitate owner.
About zone of action and the concrete layout of the outdoor electron boundary fence from the perform region of robot walking of pet, be illustrated below in conjunction with Figure of description.
Under the first preferred implementation, as shown in Figure 1, the outdoor zone of action 5 being pet from the perform region 4 of robot walking 1, such setting only need arrange an electron boundary fence 3, namely only a wire loop need be laid on ground, pet shares signal generation apparatus 2 and electron boundary fence 3 with outdoor from robot walking, namely decreases the engineering that surface traverse is laid in the other zone of action for pet, again saves cost.The signal SC sent when signal generation apparatus 2 flows through electron boundary fence 3 clockwise along electron boundary fence 3, and electron boundary fence 3 surrounding produces magnetic field 9, and the direction of magnetic field 9 inside and outside electron boundary fence 3 is contrary.When open air arrives electron boundary fence 3 from robot walking and pet, first signal inductor 6 is identical with the magnetic direction that secondary signal inductor 82 is responded to, first induced signal SC1 is identical with the direction of the second induced signal SC2, and the first control module 7 is determined outdoor also identical with the mode of pet position from robot walking with the second control module 83 according to induced signal.
Under the second preferred implementation, as shown in Figure 3, the zone of action 5 of pet is different from the perform region 4 of robot walking 1 from open air, the zone of action 5 of pet is outdoor from the non-active area of robot walking 1, be arranged so that pet can only be movable in the scope of zone of action 5 like this, open air can only work from robot walking 1 and can not enter in the zone of action 5 of pet in perform region 4, avoids open air operationally to hurt pet from robot walking 1, ensure that the safety of pet.The zone of action 5 that a wire loop forms pet is set in addition out of doors in the perform region 4 of robot walking, now the electron boundary fence 3 of the zone of action 5 of pet is same wire with described open air from electron boundary fence 3 wire used of the perform region 4 of robot walking, when the sideband signal SC that signal generation apparatus 2 sends flows through along electron boundary fence 3, the flow direction of sideband signal SC on the electron boundary fence 3 of perform region 4 is clockwise, the flow direction of sideband signal SC on the electron boundary fence 3 of the zone of action 5 of pet is counterclockwise, the direction in the outer magnetic field 9 produced of electron boundary fence 3 that now zone of action 5 is respective with perform region 4 is contrary.When open air arrives the electron boundary fence 3 in respective region from robot walking and pet, first signal inductor 6 is contrary with the magnetic direction that secondary signal inductor 82 is responded to, first induced signal SC1 is contrary with the direction of the second induced signal SC2, first control module 7 is determined outdoor also contrary from the mode of robot walking and pet position with the second control module 83 according to induced signal, thus guarantees that pet and open air are from robot walking only movable in zone of action 5 and perform region 4 and work respectively.
Under the 3rd preferred implementation, as shown in Figure 4, similar with the second preferred implementation, the zone of action 5 of pet is outdoor from the non-active area of robot walking 1, unlike, the electron boundary fence 3 of the zone of action 5 of pet and described open air are two different independently wires from electron boundary fence 3 wire used of the perform region 4 of robot walking, when the sideband signal SC that signal generation apparatus 2 sends flows through along electron boundary fence 3, the flow direction of sideband signal SC on the electron boundary fence 3 of perform region 4 is clockwise, the flow direction of sideband signal SC on the electron boundary fence 3 of the zone of action 5 of pet is also clockwise, the direction in the outer magnetic field 9 produced of electron boundary fence 3 that now zone of action 5 is respective with perform region 4 is identical.When open air arrives the electron boundary fence 3 in respective region from robot walking and pet, first signal inductor 6 is identical with the magnetic direction that secondary signal inductor 82 is responded to, first induced signal SC1 is identical with the direction of the second induced signal SC2, first control module 7 is determined outdoor also identical with the mode of pet position from robot walking with the second control module 83 according to induced signal, thus guarantees that pet and open air are from robot walking only movable in zone of action 5 and perform region 4 and work respectively.
Under the 4th preferred implementation, as shown in Figure 5, similar with the 3rd preferred implementation, the zone of action 5 of pet is outdoor from the non-active area of robot walking 1, unlike, although electron boundary fence 3 and the described open air of the zone of action 5 of pet are two independently wires from electron boundary fence 3 wire used of the perform region 4 of robot walking, but zone of action 5 is not arrange an independently loop checking installation in perform region 4 in addition, but an independently loop checking installation formation zone of action 5 is set outward in addition in perform region 4.When the sideband signal SC that signal generation apparatus 2 sends flows through along electron boundary fence 3, the flow direction of sideband signal SC on the electron boundary fence 3 of perform region 4 is clockwise, the flow direction of sideband signal SC on the electron boundary fence 3 of the zone of action 5 of pet is counterclockwise, and the direction in the outer magnetic field 9 produced of electron boundary fence 3 that now zone of action 5 is respective with perform region 4 is contrary.When open air arrives the electron boundary fence 3 in respective region from robot walking and pet, first signal inductor 6 is contrary with the magnetic direction that secondary signal inductor 82 is responded to, first induced signal SC1 is contrary with the direction of the second induced signal SC2, first control module 7 is determined outdoor also contrary from the mode of robot walking and pet position with the second control module 83 according to induced signal, thus guarantees that pet and open air are from robot walking only movable in zone of action 5 and perform region 4 and work respectively.
The above embodiments are only used to allow those skilled in the art understand the present invention and to provide preferred embodiment.The present invention is not limited in above-mentioned specific embodiment.Any those skilled in the art easily full of beard and improvement all within inventive concept of the present invention.
Claims (11)
1. open air is from a robot walking system, comprising:
Electron boundary system, cooks up closed region by electron boundary fence, there is sideband signal around described electron boundary fence;
Outdoor from robot walking, comprising the first signal inductor, for responding to described sideband signal, and generating the first induced signal; First control module, receive described first induced signal, determine the position of described open air from the relatively described electron boundary fence of robot walking according to the first induced signal, to limit the perform region of described open air from robot walking, control open air and walk in perform region from robot walking;
It is characterized in that: described open air also comprises from robot walking system the receiving trap that pet wears, and described receiving trap comprises secondary signal inductor, for responding to described sideband signal, and generates the second induced signal; Second control module, receives described second induced signal, determines the position of the relatively described electron boundary fence of pet according to the second induced signal, to limit the zone of action of pet; Alarm unit, when pet leaves described zone of action, described alarm unit gives the alarm signal.
2. open air according to claim 1 is from robot walking system, it is characterized in that: described receiving trap comprises necklace.
3. open air according to claim 1 is from robot walking system, it is characterized in that: described alarm unit comprises primary alarm unit and second-level alarm unit, described primary alarm unit comprises hummer, and described second-level alarm unit comprises electric shock drive plate or vibrating motor.
4. open air according to claim 3 is from robot walking system, it is characterized in that: described second control module according to the second induced signal received with the distance between the electron boundary fence determining pet and described zone of action, when described distance is the first default distance, described primary alarm unit starting, when described distance is default second distance, described second-level alarm unit starting, described first distance is greater than described second distance.
5. open air according to claim 4 is from robot walking system, it is characterized in that: described receiving trap also comprises operation interface, and described operation interface supplies user operation to set the numerical value of described first Distance geometry second distance.
6. open air according to claim 1 is from robot walking system, it is characterized in that: the zone of action of described pet is the perform region of described open air from robot walking.
7. open air according to claim 1 is from robot walking system, it is characterized in that: the zone of action of described pet is the non-active area of described open air from robot walking.
8. open air according to claim 1 is from robot walking system, it is characterized in that: described electron boundary system comprises electron boundary fence and signal generation apparatus, described electron boundary fence comprises the wire being arranged on ground, described signal generation apparatus produces preset boundary signal and sends to described electron boundary fence, produces magnetic field when described preset boundary signal flows through described electron boundary fence.
9. open air according to claim 8 is from robot walking system, it is characterized in that: the zone of action of described pet is the non-active area of described open air from robot walking.
10. open air according to claim 9 is from robot walking system, it is characterized in that: the electron boundary fence of the zone of action of described pet and described open air are same wire from the electron boundary fence of the perform region of robot walking, and described first induced signal is contrary with the second induced signal.
11. open airs according to claim 9 are from robot walking system, it is characterized in that: the electron boundary fence of the zone of action of described pet is different independently wires from described open air from the electron boundary fence of the perform region of robot walking, and described first induced signal is identical with the second induced signal or contrary.
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| CN201410218633.XA CN105094126A (en) | 2014-05-22 | 2014-05-22 | Outdoor self-walking robot system |
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| CN201410218633.XA CN105094126A (en) | 2014-05-22 | 2014-05-22 | Outdoor self-walking robot system |
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| CN106909143A (en) * | 2015-12-22 | 2017-06-30 | 苏州宝时得电动工具有限公司 | Self-movement robot system |
| CN108415433A (en) * | 2018-03-22 | 2018-08-17 | 杭州苏珀曼智能科技有限公司 | The more recognition methods of line and its anti-more line control system |
| CN108614557A (en) * | 2018-05-07 | 2018-10-02 | 北京三辰环卫机械有限公司 | Control floor-cleaning machine washes the mthods, systems and devices on ground |
| CN108664030A (en) * | 2018-05-23 | 2018-10-16 | 上海圭目机器人有限公司 | A kind of intelligent disinfecting robot system |
| CN108803586A (en) * | 2017-04-26 | 2018-11-13 | 松下家电研究开发（杭州）有限公司 | A kind of working method of sweeping robot |
| CN109862511A (en) * | 2017-11-30 | 2019-06-07 | 中国电信股份有限公司 | Fence area monitoring method, device and computer readable storage medium |
| CN109961560A (en) * | 2017-12-14 | 2019-07-02 | 深圳卓和云投资控股有限公司 | A kind of automatic cruising vending machine, selling system and vending method |
| CN110446166A (en) * | 2019-08-12 | 2019-11-12 | 广州小鹏汽车科技有限公司 | The monitoring method and device of a kind of positioning device close to geography fence |
| US10721860B2 (en) * | 2017-04-25 | 2020-07-28 | Husqvarna Ab | Adaptive signal reception |
| CN112716392A (en) * | 2019-10-28 | 2021-04-30 | 深圳拓邦股份有限公司 | Control method of cleaning equipment and cleaning equipment |
| CN113382905A (en) * | 2019-02-01 | 2021-09-10 | 采埃孚股份公司 | Autonomous operation of a vehicle in a safe working area |
| CN114793600A (en) * | 2022-04-22 | 2022-07-29 | 松灵机器人(深圳)有限公司 | Mowing robot control method and related device |
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