CN107632595B - Path returning method of automatic walking equipment, automatic walking equipment and path returning system - Google Patents
Path returning method of automatic walking equipment, automatic walking equipment and path returning system Download PDFInfo
- Publication number
- CN107632595B CN107632595B CN201610562425.0A CN201610562425A CN107632595B CN 107632595 B CN107632595 B CN 107632595B CN 201610562425 A CN201610562425 A CN 201610562425A CN 107632595 B CN107632595 B CN 107632595B
- Authority
- CN
- China
- Prior art keywords
- signal
- regression
- intensity
- automatic walking
- current position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
Abstract
The invention relates to a path regression method of automatic walking equipment, the automatic walking equipment and a path regression system, wherein the method comprises the following steps: receiving a regression signal of the current position of the automatic walking equipment; judging the intensity of the regression signal of the current position and the intensity of a preset regression signal; if the intensity of the regression signal of the current position is greater than or less than the intensity of the preset regression signal, guiding the automatic walking equipment to move towards the direction of the preset regression signal; and if the intensity of the regression signal of the current position is equal to the intensity of the preset regression signal, guiding the automatic walking equipment to perform regression movement along the regression signal of the current position. The invention can effectively avoid damaging the lawn and keep the integrity of the lawn.
Description
Technical Field
The invention relates to the field of intelligent regression, in particular to a path regression method of automatic walking equipment, the automatic walking equipment and a path regression system.
Background
With the development of scientific technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can automatically execute preset related tasks by a preset program without manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial application and household products. The intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and home life.
The intelligent mower is one of automatic walking devices and can automatically realize the trimming of a lawn. The intelligent mower usually works in a boundary line, and for convenient charging, the charging station is arranged on the boundary line, and when the intelligent mower is used for trimming the electric quantity of the lawn, the intelligent mower can automatically return to the charging station for returning to charge. However, in general, the smart lawn mowers all return along a fixed route when they return to the charging (in general, the smart lawn mowers all return along a boundary line to be charged), and the smart lawn mowers repeatedly crush the lawn on the route to break the lawn on the route, and in a serious case, the lawn on the route is crushed to be bare.
Disclosure of Invention
Accordingly, there is a need for a path returning method, an automatic walking device and a path returning system for an automatic walking device, which can avoid repeatedly rolling the same lawn line and damaging the lawn.
A path regression method of an automatic walking device comprises the following steps:
receiving a regression signal of the current position of the automatic walking equipment;
judging the intensity of the regression signal of the current position and the intensity of a preset regression signal;
if the intensity of the regression signal of the current position is greater than or less than the intensity of the preset regression signal, guiding the automatic walking equipment to move towards the direction of the preset regression signal;
and if the intensity of the regression signal of the current position is equal to the intensity of the preset regression signal, guiding the automatic walking equipment to perform regression movement along the regression signal of the current position.
In the path regression method for the automatic walking equipment, the automatic walking equipment can regress along the regression signal when regressing, and the automatic walking equipment can regress along different regression signals when regressing each time, so that the same lawn line cannot be repeatedly rolled, the lawn can be effectively prevented from being damaged, and the integrity of the lawn is kept.
In one embodiment, if the intensity of the regression signal at the current position is greater than or less than the intensity of the preset regression signal, the step of guiding the automatic walking device to move in the direction of the preset regression signal specifically includes:
and if the judged intensity of the regression signal of the current position is greater than the intensity of the preset regression signal, guiding the automatic walking equipment to move towards the direction in which the regression signal is weakened, otherwise, guiding the automatic walking equipment to move towards the direction in which the regression signal is strengthened.
In one embodiment, the predetermined regression signal is a random signal when regressing.
In one embodiment, the regression signal is a square wave signal, a triangular wave signal, a trapezoidal wave signal, or a sawtooth wave signal.
In one embodiment, the frequency range of the regression signal is 500 Hz-500 KHz.
In one embodiment, the waveform rising edge time of the regression signal ranges from 500ns to 2000 ns.
In one embodiment, the return signal is in the form of a radio wave.
An automatic walking device for receiving a return signal transmitted from a signal line to a space, comprising:
the signal receiving module is used for receiving a regression signal of the current position of the automatic walking equipment;
the signal judgment module is used for judging the intensity of the regression signal of the current position and the intensity of a preset regression signal;
the first guiding module is used for guiding the automatic walking equipment to move towards the direction of the preset regression signal when the intensity of the regression signal at the current position is greater than or less than the intensity of the preset regression signal;
and the second guiding module is used for guiding the automatic walking equipment to move along the regression signal of the current position in a regression mode when the intensity of the regression signal of the current position is equal to the intensity of the preset regression signal.
The automatic walking equipment can return along the return signals when returning, and can return along different return signals when returning every time, so that the same lawn line cannot be repeatedly rolled, the lawn can be effectively prevented from being damaged, and the integrity of the lawn is kept.
In one embodiment, the first boot module comprises:
a guiding unit, configured to guide the automatic walking device to move in a direction in which a regression signal weakens when the judged intensity of the regression signal at the current position is greater than the intensity of the preset regression signal;
and the second guiding unit is used for guiding the automatic walking equipment to move towards the direction of enhancing the regression signal when the judged intensity of the regression signal of the current position is smaller than the intensity of the preset regression signal.
In one embodiment, the preset regression signal is a random signal of the automatic walking device when regressing.
In one embodiment, the regression signal is a square wave signal, a triangular wave signal, a trapezoidal wave signal, or a sawtooth wave signal.
In one embodiment, the frequency range of the regression signal is 500 Hz-500 KHz.
In one embodiment, the waveform rising edge time of the regression signal ranges from 500ns to 2000 ns.
In one embodiment, the return signal is in the form of a radio wave.
A path regression system, characterized by comprising a charging station for supplying electric power to and/or parking at said self-propelled device, a signal emitting device for emitting a regression signal transmittable on said signal line, a signal line connected to said signal emitting device, and a self-propelled device according to any one of claims 8 to 14, said signal emitting device being provided in said charging station.
In the path regression system, the automatic walking equipment can regress along the regression signal when regressing, and the automatic walking equipment can regress along different regression signals when regressing every time, so that the same lawn line cannot be repeatedly rolled, the lawn can be effectively prevented from being damaged, and the integrity of the lawn is kept.
In one embodiment, the signal line is a unidirectional line and does not form a connection loop.
In one embodiment, the signal lines are linear or curved.
Drawings
Fig. 1 is a flowchart of a path regression method of an automatic walking apparatus according to an embodiment;
FIG. 2 is a schematic structural diagram of an embodiment of an automatic walking device;
FIG. 3 is a schematic structural diagram of the first guide module in FIG. 2;
fig. 4 is a schematic structural diagram of a path regression system according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the path regression method of the automatic walking device of the embodiment includes steps S120 to S180.
Step S120, receiving a regression signal of the current position of the automatic walking device. When the automatic walking device needs to return to a charging station for charging, or the automatic walking device needs to return to a stop point in a work combination mode, or other reasons need to return, the automatic walking device needs to return from the current position, and therefore the automatic walking device can receive a return signal of the position of the automatic walking device.
Step S140, the intensity of the regression signal at the current position and the intensity of the preset regression signal are determined. When the automatic walking equipment returns, in order to avoid repeating the same returning path and causing repeated grinding to damage the lawn, the returning is required to be carried out along different returning signals every time, therefore, different preset returning signals of the automatic walking equipment for returning the lawn every time need to be used, and the repeated grinding to damage the lawn is prevented.
In step S160, if the intensity of the regression signal at the current position is greater than or less than the intensity of the preset regression signal, the automatic walking device is guided to move in the direction of the preset regression signal. When the regression signal of the current position of the automatic walking device is different from the preset regression signal, the automatic walking device needs to be guided to move to the position near the preset regression signal so as to prevent the path from being repeated during the current regression.
And step S180, if the intensity of the regression signal at the current position is equal to the intensity of the preset regression signal, guiding the automatic walking equipment to perform regression movement along the regression signal at the current position. When the automatic walking equipment moves to the preset regression signal, the automatic walking equipment returns along the preset regression signal, so that the same regression path can be prevented from being repeated, and the lawn is prevented from being rolled.
In the path regression method for the automatic walking equipment, the automatic walking equipment can regress along the regression signal when regressing, and the automatic walking equipment can regress along different regression signals when regressing each time, so that the same lawn line cannot be repeatedly rolled, the lawn can be effectively prevented from being damaged, and the integrity of the lawn is kept.
Wherein, step S160 specifically includes: and if the judged intensity of the regression signal of the current position is greater than the intensity of the preset regression signal, guiding the automatic walking equipment to move towards the direction in which the regression signal is weakened, otherwise, guiding the automatic walking equipment to move towards the direction in which the regression signal is strengthened. The signal of the current position of the automatic walking device may be stronger or weaker than the preset regression signal, and therefore, the automatic walking device needs to be guided to move to a position near the preset regression signal, so that the regression signal received by the automatic walking device is equal to the preset regression signal or the error between the two signals is within an allowable range.
The preset regression signal may be a certain randomly selected intensity signal when the automatic walking device needs to regress, or a certain intensity signal designated manually, so that the automatic walking device is ensured to return along different paths each time the automatic walking device regresses.
The regression signal can be a square wave signal, a triangular wave signal, a trapezoidal wave signal or a sawtooth wave signal, and the like, and the signal is convenient to transmit and receive by automatic walking equipment. Generally, the frequency range of the regression signal is 500Hz to 500KHz, and the range of the rising edge time of the waveform of the regression signal is 500ns to 2000 ns.
In order to facilitate the return of the automatic walking device, the return signal is in the form of radio waves.
As shown in fig. 2, the automatic walking device of an embodiment may receive a return signal transmitted to a space by a signal line, and specifically, the automatic walking device includes a signal receiving module 120, a signal determining module 140, a first guiding module 160, and a second guiding module 180.
The signal receiving module 120 is configured to receive a regression signal of the current position of the automatic walking device. When the automatic walking device needs to return to a charging station for charging, or the automatic walking device needs to return to a stop point in a work combination mode, or other reasons need to return, the automatic walking device needs to return from the current position, and therefore the automatic walking device can receive a return signal of the position of the automatic walking device.
The signal determining module 140 is configured to determine the intensity of the regression signal at the current position and the intensity of the preset regression signal. When the automatic walking equipment returns, in order to avoid repeating the same returning path and causing repeated grinding to damage the lawn, the returning is required to be carried out along different returning signals every time, therefore, different preset returning signals of the automatic walking equipment for returning the lawn every time need to be used, and the repeated grinding to damage the lawn is prevented.
The first guiding module 160 is configured to guide the automatic walking device to move towards the preset regression signal when the intensity of the regression signal at the current position is greater than or less than the intensity of the preset regression signal. When the regression signal of the current position of the automatic walking device is different from the preset regression signal, the automatic walking device needs to be guided to move to the position near the preset regression signal so as to prevent the path from being repeated during the current regression.
The second guiding module 180 is configured to guide the automatic walking device to move along the regression signal of the current location in a regression manner when the intensity of the regression signal of the current location is equal to the intensity of the preset regression signal. When the automatic walking equipment moves to the preset regression signal, the automatic walking equipment returns along the preset regression signal, so that the same regression path can be prevented from being repeated, and the lawn is prevented from being rolled.
The automatic walking equipment can return along the return signals when returning, and can return along different return signals when returning every time, so that the same lawn line cannot be repeatedly rolled, the lawn can be effectively prevented from being damaged, and the integrity of the lawn is kept.
As shown in fig. 3, the first guide module 160 includes a first guide unit 161 and a second guide unit 162.
The guiding unit 161 is configured to guide the automatic walking device to move in a direction in which the regression signal weakens when the intensity of the regression signal at the determined current position is greater than the intensity of the preset regression signal.
The second guiding unit 162 is configured to guide the automatic walking device to move towards a direction in which the regression signal is enhanced when the intensity of the regression signal at the determined current position is less than the intensity of the preset regression signal.
In this embodiment, the signal of the current position of the automatic walking device may be stronger or weaker than the preset regression signal, and therefore, the automatic walking device needs to be guided to move to a position near the preset regression signal, so that the regression signal received by the automatic walking device is equal to the preset regression signal, or the error between the regression signal and the preset regression signal is within an allowable range.
The preset regression signal may be a certain randomly selected intensity signal when the automatic walking device needs to regress, or a certain intensity signal designated manually, so that the automatic walking device is ensured to return along different paths each time the automatic walking device regresses.
The regression signal can be a square wave signal, a triangular wave signal, a trapezoidal wave signal or a sawtooth wave signal, and the like, and the signal is convenient to transmit and receive by automatic walking equipment. Generally, the frequency range of the regression signal is 500Hz to 500KHz, and the range of the rising edge time of the waveform of the regression signal is 500ns to 2000 ns.
In order to facilitate the return of the automatic walking device, the return signal is in the form of radio waves.
As shown in fig. 4, the path regression system 200 of an embodiment includes a charging station 210, a signal transmitting device 220, a signal line 230 connected to the signal transmitting device 220, and the above-mentioned self-walking apparatus 240, wherein the charging station 210 is used for providing power to the self-walking apparatus 240 and/or parking, the signal transmitting device 220 is disposed in the charging station 210, and the signal transmitting device 220 is used for transmitting a regression signal capable of being transmitted on the signal line.
In the path regression system, the automatic walking equipment can regress along the regression signal when regressing, and the automatic walking equipment can regress along different regression signals when regressing every time, so that the same lawn line cannot be repeatedly rolled, the lawn can be effectively prevented from being damaged, and the integrity of the lawn is kept.
In this embodiment, the signal line 230 is a unidirectional line and does not form a connection loop. The signal line 230 is a non-connection loop, and the automatic walking device only needs to move along the direction with the return signal when returning, so that repeated route searching is avoided, and the returning time is saved.
In this embodiment, the signal line 230 can be a straight line or a curved line.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. A path regression method of an automatic walking device is characterized by comprising the following steps:
receiving a regression signal of the current position of the automatic walking equipment;
judging the intensity of the regression signal of the current position and the intensity of a preset regression signal;
if the intensity of the regression signal of the current position is greater than or less than the intensity of the preset regression signal, guiding the automatic walking equipment to move towards the direction of the preset regression signal;
if the intensity of the regression signal of the current position is equal to the intensity of the preset regression signal, guiding the automatic walking equipment to perform regression movement along the regression signal of the current position;
if the intensity of the regression signal at the current position is greater than or less than the intensity of the preset regression signal, the step of guiding the automatic walking equipment to move towards the direction of the preset regression signal specifically comprises the following steps:
and if the judged intensity of the regression signal of the current position is greater than the intensity of the preset regression signal, guiding the automatic walking equipment to move towards the direction in which the regression signal is weakened, otherwise, guiding the automatic walking equipment to move towards the direction in which the regression signal is strengthened.
2. The path regression method according to claim 1, wherein the predetermined regression signal is a random signal when regressing.
3. The path regression method according to claim 1, wherein the regression signal is a square wave signal, a triangular wave signal, a trapezoidal wave signal, or a sawtooth wave signal.
4. The path regression method according to claim 1, wherein a frequency range of said regression signal is 500Hz to 500 KHz.
5. The path regression method according to claim 1, wherein a waveform rising edge time of the regression signal ranges from 500ns to 2000 ns.
6. The path regression method of claim 1, wherein said regression signal is in the form of a radio wave.
7. An automatic walking device for receiving a return signal transmitted from a signal line to a space, comprising:
the signal receiving module is used for receiving a regression signal of the current position of the automatic walking equipment;
the signal judgment module is used for judging the intensity of the regression signal of the current position and the intensity of a preset regression signal;
the first guiding module is used for guiding the automatic walking equipment to move towards the direction of the preset regression signal when the intensity of the regression signal at the current position is greater than or less than the intensity of the preset regression signal;
the second guiding module is used for guiding the automatic walking equipment to move along the regression signal of the current position in a regression mode when the intensity of the regression signal of the current position is equal to the intensity of the preset regression signal;
wherein the first guide module comprises:
a guiding unit, configured to guide the automatic walking device to move in a direction in which a regression signal weakens when the judged intensity of the regression signal at the current position is greater than the intensity of the preset regression signal;
and the second guiding unit is used for guiding the automatic walking equipment to move towards the direction of enhancing the regression signal when the judged intensity of the regression signal of the current position is smaller than the intensity of the preset regression signal.
8. The device of claim 7, wherein the pre-set regression signal is a random signal of the device when regressing.
9. The device of claim 7, wherein the regression signal is a square wave signal, a triangular wave signal, a trapezoidal wave signal, or a sawtooth wave signal.
10. The automated walking apparatus of claim 7, wherein the frequency range of the regression signal is 500Hz to 500 KHz.
11. The automated walking apparatus of claim 7, wherein the waveform rising edge time of the regression signal ranges from 500ns to 2000 ns.
12. The automated walking device of claim 7, wherein the regression signal is in the form of a radio wave.
13. A path regression system, characterized by comprising a charging station for supplying electric power to and/or parking at said self-propelled device, a signal emitting device for emitting a regression signal transmittable on said signal line, a signal line connected to said signal emitting device, and a self-propelled device according to any one of claims 7 to 12, said signal emitting device being provided in said charging station.
14. The path regression system according to claim 13, wherein said signal line is a unidirectional line and does not constitute a connection loop.
15. The path regression system of claim 14, wherein said signal line is linear or curved.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610562425.0A CN107632595B (en) | 2016-07-18 | 2016-07-18 | Path returning method of automatic walking equipment, automatic walking equipment and path returning system |
| EP16874939.8A EP3392729B1 (en) | 2015-12-17 | 2016-12-19 | Auto-movement robot system |
| PCT/CN2016/110855 WO2017101882A1 (en) | 2015-12-17 | 2016-12-19 | Auto-movement robot system |
| US15/789,397 US10852735B2 (en) | 2015-12-17 | 2017-10-20 | Self-moving robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610562425.0A CN107632595B (en) | 2016-07-18 | 2016-07-18 | Path returning method of automatic walking equipment, automatic walking equipment and path returning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107632595A CN107632595A (en) | 2018-01-26 |
| CN107632595B true CN107632595B (en) | 2020-09-22 |
Family
ID=61112787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610562425.0A Active CN107632595B (en) | 2015-12-17 | 2016-07-18 | Path returning method of automatic walking equipment, automatic walking equipment and path returning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107632595B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109471442B (en) * | 2018-12-11 | 2022-03-04 | 珠海一微半导体股份有限公司 | Processing method for meeting obstacle when robot linearly returns to seat, chip and robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101108482A (en) * | 2006-07-19 | 2008-01-23 | 财团法人工业技术研究院 | Route guidance method of self-propelled device |
| CN101211186A (en) * | 2006-12-29 | 2008-07-02 | 财团法人工业技术研究院 | Method for mobile device returning to service station and mobile device service system |
| CN103246285A (en) * | 2012-02-10 | 2013-08-14 | 本田技研工业株式会社 | Guidance apparatus of unmanned autonomous operating vehicle |
| CN103631267A (en) * | 2012-08-24 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | An intelligent robot and a method for moving the same to the brightest position |
| CN103645733A (en) * | 2013-12-02 | 2014-03-19 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
| WO2014071860A1 (en) * | 2012-11-09 | 2014-05-15 | 苏州宝时得电动工具有限公司 | Automatic work system |
| CN104395849A (en) * | 2012-06-07 | 2015-03-04 | 皇家飞利浦有限公司 | System and method for guiding a robot cleaner along a path |
| CN104793614A (en) * | 2014-01-16 | 2015-07-22 | 苏州宝时得电动工具有限公司 | Automatic walking equipment returning guidance system |
| CN104917211A (en) * | 2014-03-10 | 2015-09-16 | 宝时得机械(中国)有限公司 | Sensor-based butt joint method and system |
| EP2945783A1 (en) * | 2013-01-18 | 2015-11-25 | iRobot Corporation | Mobile robot providing environmental mapping for household environmental control |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3147961B2 (en) * | 1992-01-16 | 2001-03-19 | 正太 冷牟田 | Work vehicle guidance system |
| KR100468107B1 (en) * | 2002-10-31 | 2005-01-26 | 삼성광주전자 주식회사 | Robot cleaner system having external charging apparatus and method for docking with the same apparatus |
| US20120065829A1 (en) * | 2010-09-15 | 2012-03-15 | Jyh-Cheng Yu | Wall-following Moving Device |
| JP2013228821A (en) * | 2012-04-24 | 2013-11-07 | Mamiya-Op Nequos Co Ltd | Working machine, component device thereof, and computer program |
-
2016
- 2016-07-18 CN CN201610562425.0A patent/CN107632595B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101108482A (en) * | 2006-07-19 | 2008-01-23 | 财团法人工业技术研究院 | Route guidance method of self-propelled device |
| CN101211186A (en) * | 2006-12-29 | 2008-07-02 | 财团法人工业技术研究院 | Method for mobile device returning to service station and mobile device service system |
| CN103246285A (en) * | 2012-02-10 | 2013-08-14 | 本田技研工业株式会社 | Guidance apparatus of unmanned autonomous operating vehicle |
| CN104395849A (en) * | 2012-06-07 | 2015-03-04 | 皇家飞利浦有限公司 | System and method for guiding a robot cleaner along a path |
| CN103631267A (en) * | 2012-08-24 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | An intelligent robot and a method for moving the same to the brightest position |
| WO2014071860A1 (en) * | 2012-11-09 | 2014-05-15 | 苏州宝时得电动工具有限公司 | Automatic work system |
| EP2945783A1 (en) * | 2013-01-18 | 2015-11-25 | iRobot Corporation | Mobile robot providing environmental mapping for household environmental control |
| CN103645733A (en) * | 2013-12-02 | 2014-03-19 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
| CN104793614A (en) * | 2014-01-16 | 2015-07-22 | 苏州宝时得电动工具有限公司 | Automatic walking equipment returning guidance system |
| CN104917211A (en) * | 2014-03-10 | 2015-09-16 | 宝时得机械(中国)有限公司 | Sensor-based butt joint method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107632595A (en) | 2018-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9429950B2 (en) | Method and a robotic work tool system with a charging station and a boundary wire | |
| EP2959348B1 (en) | A robotic work tool system and method comprising a charging station | |
| CN108142069B (en) | Path moving system | |
| WO2015115949A1 (en) | Robotic working tool system with a boundary wire | |
| CN111352429A (en) | Automatic working system and control method thereof | |
| JP6697550B2 (en) | How to control vehicle charging | |
| JP2016504007A5 (en) | ||
| EP2682299B1 (en) | Vehicular power transmission device | |
| CN106105296A (en) | point-to-point radio system, point-to-point radio equipment and communication control method | |
| CN105471008A (en) | Information processing method, first electronic equipment and second electronic equipment | |
| US10939611B2 (en) | Adaptive signal transmission | |
| CN103345175B (en) | The two-way automatic induction switching device shifter of auto radio | |
| CN107632595B (en) | Path returning method of automatic walking equipment, automatic walking equipment and path returning system | |
| CN105743151A (en) | Charging Vehicle, Charging System And Driving Method Of Charging System | |
| US20200383265A1 (en) | A Robotic Working Tool and Work Area Boundary Sensing Method | |
| CN111555415A (en) | Control system for robot wireless charging and control system for charging station wireless power supply | |
| CN109247117B (en) | Method and device for automatically detecting boundary line breakage and intelligent mower | |
| CN109960252B (en) | Robot and data processing method thereof | |
| CN112119648A (en) | Control method, remote server, control station, and storage medium | |
| US10721860B2 (en) | Adaptive signal reception | |
| CN106909140A (en) | Route homing method and system | |
| EP3616019B1 (en) | Compensating for stray capacitances for a robotic lanwmower system | |
| CN102837652B (en) | The system and method for passive confirmation operator existence when the request of operating and controlling vehicle feature | |
| CN113866670B (en) | Ground fault warning device, method and control device | |
| JPWO2018003265A1 (en) | Self-propelled cleaning device, control method of self-propelled cleaning device, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |