CN105242675A - Automatic walking equipment - Google Patents
Automatic walking equipment Download PDFInfo
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- CN105242675A CN105242675A CN201410268643.4A CN201410268643A CN105242675A CN 105242675 A CN105242675 A CN 105242675A CN 201410268643 A CN201410268643 A CN 201410268643A CN 105242675 A CN105242675 A CN 105242675A
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Abstract
The invention discloses automatic walking equipment, which comprises a body, a working module, a walking module, a control module and a monitoring module, wherein the monitoring module monitors angle parameters of a geomagnetic field of the position where the automatic walking equipment is located and sends the angle parameters to the control module; and the control module compares the received angle parameters with preset slippage judgment conditions, and controls the automatic walking equipment to execute a preset slippage response action according to a comparison result conforming to the slippage judgment conditions. Compared with the prior art, the automatic walking equipment has the beneficial effects that whether the automatic walking equipment falls into a slippage state or not is effectively recognized through monitoring the angle parameters of the geomagnetic field of the position where the automatic walking equipment is located and the corresponding control module, and the corresponding action is taken so as to stop slipping.
Description
Technical field
The present invention relates to field in intelligent robotics, particularly relate to a kind of automatic running device.
Background technology
Along with the continuous progress of computer technology and artificial intelligence technology, the automatic working system being similar to intelligent robot has started the life of coming into people slowly.Wherein, the usual compact of automatic dust catcher, is integrated with environmental sensor, from drive system, dust collecting system, battery and charging system, without the need to manual control, can cruise in indoor voluntarily, the auto-returned charging station when energy is low, dock and charge, then continuing dust suction of cruising.Intelligent grass-removing can be mowed automatically in the lawn of user, charging, interferes without the need to user.This automatic working system after once arranging just without the need to manual intervention or management, user is uninteresting and free the housework work of wasting time and energy from clean, lawn maintenance etc.
But intelligent robot is walked some express zone, as muddy place, hollow, the ground such as stair, may skid and stick, and driving wheel cannot be borrowed power or not land, driving wheel idle running and machine cannot move substantially.Because driving wheel is still in rotation, this situation cannot differentiate with normal operating mode by intelligent robot, still continues to execute the task, and dallies and mow or dust suction in original place, until running down of battery also cannot depart from.
Summary of the invention
The object of the present invention is to provide a kind of automatic running device that can identify slipping state.
The invention provides a kind of automatic running device, a kind of automatic running device, work of automatically walking in perform region, comprising: fuselage; Operational module, performs predetermined work; Walking module, supports and drives described fuselage to move, comprising drive unit and driving wheel; Control module, controls automatic running device work, controls automatic running device and perform the skidding reaction action preset when the equipment operational factor of being included in meets default skidding Rule of judgment; Described automatic running device also comprises monitoring modular, monitors the angle parameter of the terrestrial magnetic field of described automatic running device present position, and the operational factor of described skidding Rule of judgment comprises the angle parameter variable quantity of terrestrial magnetic field.
Preferably, described monitoring modular comprises electronic compass.
Preferably, described monitoring modular comprises gyroscope, and described gyroscope detects and obtains axial angle step, is corrected the angle parameter of described terrestrial magnetic field by the angle step of axis.
Preferably, described skidding Rule of judgment is: in Preset Time or in default theoretical operating range, the angle parameter variable quantity of described terrestrial magnetic field is in default threshold range.
Preferably, also comprise state detection sensor, described state detection sensor detects the state parameter of described walking module.
Preferably, described skidding Rule of judgment is: the variable quantity of terrestrial magnetic field angle parameter is in default threshold range, and default changing condition appears in state parameter.
Preferably, described skidding reaction action is: described drive unit drives described driving wheel divertical motion or counter motion, or the two motion combines.
Preferably, described skidding reaction action is: outwardly give the alarm signal and stop described drive unit.
Compared with prior art, the invention has the beneficial effects as follows: by monitoring the angle parameter of the terrestrial magnetic field residing for described automatic running device, coordinate corresponding control module, when effectively identifying whether automatic running device is absorbed in slipping state, and take corresponding actions to depart from.Due to the intrinsic physical field that terrestrial magnetic field is the earth, any point on earth all has otherness and uniqueness, therefore, judge whether automatic running device is in slipping state, more reliably, is not easily disturbed by the terrestrial magnetic field angle residing for monitoring automatic running device.
Accompanying drawing explanation
Fig. 1 is the overall schematic of the automatic working system of specific embodiments of the invention.
Fig. 2 is the overall schematic of the automatic running device of specific embodiments of the invention.
Fig. 3 is the skidding identification of the automatic running device of specific embodiments of the invention and the module map of reaction associated components.
Fig. 4 is the skidding identification process figure of the automatic running device of specific embodiments of the invention.
1. automatic operation equipment 3. boundary line 5. bus stop
7. perform region 9. control module 11. storage area
13. control sections 15. contrast part 17. monitoring modular
19. drive unit 21. walking module 23. driving wheels
25. auxiliary wheel 27. housing 29. cutting assemblies
31. cutting motors
Embodiment
Detailed description for the present invention and technology contents, coordinate accompanying drawing to be described as follows, appended accompanying drawing only provides reference and explanation, is not used for being limited the present invention.
As Fig. 1, the automatic running device 1 of this embodiment is a part for automatic working system.Automatic working system also comprises boundary line 3 and bus stop 5.Wherein boundary line 3 is for limiting the perform region 7 of automatic working system, and automatic running device 1 is walked and worked among boundary line 3, and bus stop 5, for berthing for automatic running device 1, especially returns makeup energy for automatic running device 1 when energy deficiency.Boundary line 3 can be surrounded by electric wire, barrier or dummy line.
Automatic running device 1 can be automatic mower, or automatic cleaner etc., and they walk in the ground or on the surface of perform region automatically, carry out mowing or dust suction work.Certainly, automatic running device is not limited to automatic mower and automatic cleaner, can be also miscellaneous equipment, and as spray appliance, surveillance equipment etc. is applicable to unattended equipment, and in the present embodiment, automatic running device 1 is mower.
Automatic running device 1 comprises walking module, operational module, energy module, control module, boundary line detecting module and monitoring modular etc.
With reference to Fig. 2, except above-mentioned module, automatic running device 1 also comprises the fuselage 27 holding and install modules, the control panel etc. operated for user, automatic running device 1 also comprises various environmental sensor, such as humidity sensor or temperature sensor or light sensor etc., these sensors can help automatic running device to judge working environment, to perform corresponding program.
Walking module 21 is walked in perform region 7 for driving automatic running device 1, generally includes the wheels be arranged on automatic running device 1 and the drive unit 19 driving wheels walking and turn to.Wheels comprise the driving wheel 23 of connecting drive device 19 and mainly play the auxiliary wheel 25 of supplemental support effect, preferably, in the specific embodiment of the present invention, the quantity of driving wheel 23 is two, be positioned at the both sides at the rear portion of automatic running device 1, drive unit 19 is for being connected to two running motors on two driving wheels 23, the quantity of auxiliary wheel is one or two, be positioned at the front portion of automatic running device 1, auxiliary wheel 25 does not connect running motor, but can be driven when supporting automatic running device 1 and walking walking of rolling, in this embodiment, auxiliary wheel 25 has two, be positioned at the front part sides of automatic running device 1.Certainly, the number of driving wheel 23 and auxiliary wheel 25 or form also can be other, as: 3 wheels are all driving wheel or 4 wheels is all driving wheel, or fuselage both sides are caterpillar like wheel.
By above-mentioned vibrational power flow, automatic running device 1 can be controlled by control module 9, walks on the work surface flexibly and turns to.When normally walking, two running motors export identical rotating speed, Direct driver or by indirectly driving automatic running device 1 to move as gear or belt transferring structure, and auxiliary wheel 25 also follows rolling; When turning to, two running motors export different rotating speeds, and automatic running device 1 is understood driving wheel 23 side corresponding to retrogressing towards lower driving wheel 23 side of rotating speed or direction and turned to.Certainly, automatic running device 1 also can arrange other forms of walking module, as, driving wheel 23 and running motor all only have one, be positioned at the front of automatic running device 1 or the center section at rear, and auxiliary wheel 25 is positioned at corresponding the opposing party, running motor is driven walking respectively by two cover kinematic trains and is turned to; For another example, in drive unit 19, independent running motor and steering motor are set, drive the walking of automatic running device 1 respectively and turn to, and the number of driving wheel 23 can be that one or two are even more, be positioned at front or the rear of automatic running device 1, auxiliary wheel 25 is positioned at the opposing party accordingly.Walking module 21 can also have other version, does not repeat them here.
Operational module is for performing the specific works task of automatic running device 1, if automatic running device 1 is automatic cleaner, then operational module comprises dust-absorbing motor, the service part for performing dust suction task such as suction port, sweep-up pipe, vacuum chamber, dust collect plant; Automatic running device 1 is automatic mower in the present embodiment, and operational module comprises the cutting assembly 29 be installed on below automatic mower accordingly, and drives cutting assembly to carry out the cutting motor 31 of cutting lawns work.Cutting assembly 29 can for connecting the blade of mowing output shaft or the combination for the cutterhead and blade that connect mowing output shaft, its concrete structure and possible form by insider known, repeat no more.Operational module preferably also comprises the parts that mowing effect is optimized or adjusted to mowing height adjusting mechanism etc.
Boundary line detecting module, for detecting the relative position relation in automatic running device 1 and boundary line 3, specifically may comprise distance, angle, one or more in boundary line in outer orientation, not be described in detail at this.
Energy module is used for providing energy for the work in every of automatic running device 1, and in this automatic mower, energy module is the rechargeable battery being arranged in fuselage 27, and connects the charging pole piece of rechargeable battery; Charging pole piece is positioned at the front portion of fuselage 27 and is exposed to outside fuselage 27, for when automatic mower enters bus stop 5, and the phase inductive charging pole piece docking of bus stop 5, be automatic mower charging.
With reference to Fig. 3, control module 9 is walked automatically for controlling automatic running device 1, work, makeup energy, and according to set program, or performing corresponding instruction according to the environment detected, is the core component of automatic running device 1.The function that its performs comprises and controls operational module startup work or stopping, generating walking path and controls walking module 21 and walk according to this path, judge energy module electricity and in time instruction automatic running device 1 return charging station automatic butt and charge etc.In the present invention, control module 9 is also responsible for the identification of skidding, and it receives the signal that the monitoring modular on machine returns, when meeting the condition preset, judge that automatic running device 1 is in slipping state, control automatic running device 1 thereupon and make various reaction to depart from slipping state.Control module 9 and the identification of skidding with react relevant part and comprise and contrast part 15, control section 13 and storage area 11.The signal that contrast part 15 is beamed back for receiving other parts, whether the condition analysis automatic running device 1 according to presetting skids, control section 13 is for controlling the analysis result of automatic running device 1 according to contrast part 15, control automatic running device 1 and perform the instruction preset, storage area 11 is for storing working routine and the correlation parameter of automatic running device 1, and action is reacted in the skidding Rule of judgment preset described above and the skidding preset; Storage area 11 also stores the information etc. that automatic running device 1 correlation parameter in the course of the work, each sensor and other modules are beamed back.
Bus stop 5 is usually located in limit, boundary line 3 or boundary line 3, and provide system to be connected with civil power or other electric energy, return charging for automatic running device 1, bus stop 5 is provided with charged electrical pole piece, for the corresponding electrode slice docking with automatic running device 1.
Automatic running device 1 also comprises control panel, for setting mode of operation for operator, is not described in detail at this.
By the cooperation of above modules, automatic running device 1 by boundary line around working range in cruise and carry out grass cutting action, at nominal conditions, automatic running device 1 straight line moving, until bump against boundary line 3.If automatic running device 1 runs into boundary line 3, it will turn to turn back to get back in boundary continues straight line moving, until again run into boundary line 3.By the above-mentioned mode of constantly turning back in boundary line 3, cover whole perform region and carry out work.When automatic running device 1 electricity be low to moderate predeterminable level or occur other situations need to return bus stop 5 time, control module 9 controls automatic running device 1 and finds boundary line 3, then walk along boundary line 3, because bus stop 5 is positioned in boundary line 3, therefore automatic running device 1 will walk back in bus stop 5 along boundary line 3, and then docking is charged or berthed in bus stop 5.
Below the skidding identification of automatic running device 1 and the associated components of reaction and control method is introduced in detail.
The skidding of automatic running device 1 refers to, muddy or hollow areas at some, or when encountering obstacle, the driving wheel 23 of automatic running device 1 dallies, automatic running device 1 but cannot be driven synchronously to advance.In this case, the fuselage 27 and usually and the synchronized auxiliary wheel 25 moved ahead of fuselage 27 is usually basic keeps static of automatic running device 1.If automatic running device 1 can not find this situation, think still in walking and work automatically, but in fact automatic running device 1 may sink into slipping state for a long time, cannot leave, and causes power supply to waste and normally cannot get back to bus stop 5 charging.
In order to address this problem, the present invention monitors the terrestrial magnetic field angle residing for automatic running device 1 in real time, the terrestrial magnetic field angle of sampling instant and initial terrestrial magnetic field angle are contrasted, if in Preset Time, the terrestrial magnetic field angle of all sampling instants and the comparing result of initial terrestrial magnetic field angle all meet default condition, then judge that automatic running device 1 is in slipping state.Subsequently, automatic running device 1 can take corresponding action to break away from slipping state, such as retreat, turn to, report to the police, the combination of dormancy or these modes etc., wherein main reaction action is that control module accessory drive drives driving wheel to turn forward or backward.
Composition graphs 3, specifically, monitoring modular 17 monitors the terrestrial magnetic field angle residing for automatic running device 1 in real time, and the data of being monitored are imported in control module 9, the data passed back and initial terrestrial magnetic field angle contrast by contrast part 15, if in Preset Time, all comparative results all meet default condition, then judge that automatic running device 1 is in slipping state; Subsequently, control section 13 can send corresponding instruction to drive unit 19, makes drive unit 19 drive driving wheel 23 to move, turns to or retreat, or giving the alarm, or performing other actions.
Monitoring modular 17 is for obtaining the terrestrial magnetic field angle residing for automatic running device 1, and be generally geomagnetic sensor, geomagnetic sensor comprises electronic compass in the present invention.By the terrestrial magnetic field angle described in the corresponding moment automatic running device 1 of electronic compass automatic acquisition.
Preset time T selects according to the precision of electronic compass and the speed of automatic running device.Although magnetic field of the earth angle is all different at every bit, but owing to being subject to the restriction of electronic compass measuring accuracy, electronic compass self has a measuring error scope, when 2 when too near, the terrestrial magnetic field angle difference scope of 2 is within the measuring error scope of electronic compass self, then whether electronic compass cannot the diversity judgement of base area magnetic field angle be different geographic position points.General when distance between two points S-phase is apart from about 10 meters (8 meters, 9 meters, 11 meters, 12 meters etc.), it is different geographic position points that the sure Difference test by terrestrial magnetic field angle of electronic compass goes out at these 2.At present, the speed of travel V of automatic running device 1 is generally 20 meters of per minutes, therefore, if automatic running device 1 is normally walked, through preset time T=30 second (T=S/V), then electronic compass must go out at these 2 by the Difference test of terrestrial magnetic field angle is different geographic position points.
In the present invention, the idiographic flow of skidding judgement as shown in Figure 4.
Start: when automatic running device 1 starts, be the start node of flow process.Automatic running device 1 directly enters step S101 after starting;
Step S101: in contrast part 15, a count parameter n is set, and the value of count parameter n is set to 0.Obtain the terrestrial magnetic field angle residing for Startup time automatic running device 1 by monitoring modular 17, and this value is saved as initially magnetic field angle A
0;
Step S102: obtain the initially magnetic field angle residing for automatic running device 1, by the value of count parameter n from increasing 1, i.e. n=n+1; Directly enter step S103;
Step S103: every the Δ t time, gathers the terrestrial magnetic field angle this moment residing for automatic running device 1 by monitoring modular 17 again, and is saved as An (in first round circulation, n=1); Directly enter step S104;
Step S104: by the terrestrial magnetic field angle that collects this moment with initially magnetic field angle is poor, obtains difference B=An-A
0(in first round circulation, B=A
1-A
0).Difference B and default threshold range δ is compared.If difference B is within default threshold range δ, then illustrates that automatic running device 1 is likely in slipping state, thus enter step S105; Otherwise, illustrate that automatic running device 1 is in normal operating conditions, thus directly proceed to step S101;
Step S105: judge whether counts n is greater than or equal to preset times N.If n >=N, then illustrate that automatic running device 1 is in slipping state, enters step S106; Otherwise, then illustrate and also need to confirm whether automatic running device 1 is in slipping state, proceeds to step S102 again, change the value of count parameter n, by count parameter n from increasing 1.
Step S106: determine that automatic running device 1 is in slipping state, control section 13 sends appointment to drive unit 19, takes corresponding action.
Terminate: judge that automatic running device 1 is in slipping state and after taking corresponding measure or when automatic running device 1 is closed, the flow process that this identification is skidded terminates.
Sampling interval duration Δ t is preset value, can select 0.2 second, 0.5 second, 0.8 second, 1 second, 1.5 seconds, 2 seconds equal times.T is shorter for sampling interval duration Δ, then illustrate that to judge whether to be in slipping state more frequent, can determine this value according to the ability of control module 9 of automatic running device 1 and the precision of electronic compass.Sampling interval duration gets Δ t=1 second in this embodiment.
In the flow process that above-mentioned skidding judges, threshold range δ presets according to the error of electronic compass itself and measuring accuracy.The error of electronic compass itself is less or its measuring accuracy is higher, then the interval of corresponding threshold range δ just can be less.In the present embodiment, threshold range δ=± 3 teslas.The difference of electronic compass selected by certain basis, this threshold range δ can do corresponding adjustment.When the error of selected electronic compass own is less or measuring accuracy is higher, then the scope of threshold range δ also can correspondingly reduce.
The measuring accuracy of electronic compass can be improved by supplementary means, corrects as adopted gyroscope.Gyroscope can detect the axial angle increment of automatic running device 1 in a period of time, translation operation is carried out by control module 9 pairs of axial angle increments, terrestrial magnetic field angle measured by electronic compass can be corrected, thus improve the measuring accuracy of electronic compass.After the measuring accuracy of electronic compass is improved, reduce accordingly for judging that the threshold range δ of slide condition just can do.If do not coordinate gyrostatic threshold range δ=± 3 teslas, then the threshold range after coordinating gyroscope just can narrow down to δ=± 2 teslas.Certainly, the concrete numerical value of threshold range δ also can be taken as other values.
Preset times N determines according to preset time T and sampling interval duration Δ t, general preset times N=[T/ Δ t] (the value rounding operation of [T/ Δ t] representative to T/ Δ t).In the present embodiment, when Preset Time is taken as 30 seconds, sampling interval duration Δ t is taken as 1 second, then preset times N is 30.The determination of preset time T is that the speed of the Distance geometry automatic running device of base area magnetic field angle the change of divergence is determined, T=S/V.So when the distance change of speed or the terrestrial magnetic field angle difference change chosen, also can there is corresponding change in preset time T, thus preset times N also can change.
For judging whether the preset time T of skidding, also can substitute by other modes, such as: the presupposition theory operating range L of automatic running device 1.Judge whether automatic running device 1 is in slipping state, can be undertaken by distance measurements.In automatic running device 1, arrange one or more tachometer generator, this tachometer generator is used for detecting the number of turns m that turns over of driving wheel.Driving wheel often turns around, and the distance that automatic running device 1 travels is fixed as s, then the actual travel distance H of automatic running device is number of turns m and the product (H=m × s) often enclosing fixed range s.The process that concrete judgement is skidded is as follows: the terrestrial magnetic field angle residing for interval of delta t time-sampling automatic running device 1, and by sampling terrestrial magnetic field angle and initial terrestrial magnetic field angle poor, if difference is outside the threshold range δ preset, then illustrate that automatic running device 1 is normally walked, then repeat said process; If difference is within the threshold range δ preset, then illustrate that automatic running device 1 may be in slipping state.In that case, the actual travel distance H judging automatic running device is needed whether to be greater than or equal to presupposition theory operating range L, if be not more than and be not equal to, then the step repeating Δ t sampling and compare; Otherwise, then illustrate that automatic running device 1 is in slipping state, then need to enter next step reaction of trying to shirk responsibility.
Except judging whether automatic running device 1 is in slipping state with the change of above-mentioned terrestrial magnetic field angle, also can coordinate and carrying out skidding by other parameters and judge.Automatic running device 1 also comprises the sensor for monitoring walking module 21 state parameter, and this sensor can be voltage sensor, current sensor or acceleration transducer etc.Due to automatic running device 1 be in slipping state time, the load when duty factor of its walking module 21 is normally walked is much little, and therefore, corresponding change can occur the state parameters such as its corresponding voltage, electric current or acceleration.These state parameters are detected by sensor, then magnetic field angle change ordinatedly, the angle parameter change of control module 9 according to the terrestrial magnetic field received and the state parameter of walking module, combine and judge whether automatic running device is in slipping state.When not having other parameters, by the situation of change of terrestrial magnetic field angle parameter in a period of time or a segment distance, control module 9 judges whether automatic running device 1 is in slipping state, as described above.When there being state parameter, when predetermined change occurs state parameter, as voltage or current parameters decline to a great extent suddenly, preset range is no more than as voltage or current parameters maintain very low value and change within a period of time, now, the terrestrial magnetic field angle parameter change that control module detects also is in default threshold range, then control module 9 directly can judge that automatic running device 1 is in slipping state, does not need recycle to monitor terrestrial magnetic field angle change for N time.By coordinating other parameters, which more definitely and can judge whether automatic running device 1 is in slipping state rapidly.
When the motion state that contrast part 15 recognizes driving wheel 23 and auxiliary wheel 25 meets pre-conditioned, control module 9 judges that automatic walking module 1 is in slipping state, the corresponding control automatic running device 1 of control section 13 of control module 9 performs the skidding reaction action preset, and performs preset program in other words.The skidding reaction action preset is built in the storer 11 of control module 9, and content specifically can set according to the demand of reality, at least can comprise actuation of an alarm, namely outwardly send alerting signal; Departure motion, namely instruction walking modular belt moves automatic running device 1 and leaves skidding area; Dormancy action, namely instruction automatic running device stops drive unit, and may also quit work device and miscellaneous part.Preset program is generally the combination of above all kinds of action, and it performs the job step forming automatic running device 1.In this specific embodiment, pre-set programs comprises departure motion, and namely control section 13 is by pre-set programs, sends instruction, make walking module 21 drive automatic running device 1 to depart from slipping state to walking module 21.Concrete, first walking module 21 is ordered about driving wheel 23 by drive unit 19 and is rotated backward default time or default distance, drive automatic running device 1 to retreat and leave skidding place, then ordering about driving wheel 23 drives automatic running device 1 to turn to default angle, walks around skidding place and continues to travel.Certainly, concrete step of leaving also can be other suitable steps.
Below the another kind introducing control section 13 more preferably skids another preferred job step of reaction action automatic running device 1 in other words.In this pre-set programs, control section 13 instruction automatic running device 1 performs departure motion, actuation of an alarm and dormancy action.After judging that automatic running device 1 skids, first perform departure motion, identical with in the pre-set programs of a upper embodiment of concrete steps, does not repeat them here.If departure motion success, namely turns in rear a period of time or a segment distance and be not again absorbed in slipping state, then pre-set programs stops, and proceeds to normal work; If departure motion failure, turning to namely through preset times, but turn in rear a period of time or a segment distance at every turn and be all again absorbed in slipping state, or through the time of presetting, retreat or turn to and cannot run succeeded, automatic running device 1 is still in slipping state, then stop departure motion, perform actuation of an alarm and dormancy action, control section 13 instruction automatic running device 1 gives the alarm to user in various optional mode, in the present embodiment, the hummer on automatic running device or other warning horns sound the alarm prompting.Preferably, hummer sounded the alarm, until be restored to normal working routine every the time of presetting; Control section 13 is gone back instruction automatic running device 1 and is performed dormancy action simultaneously, and the walking module 21 of automatic running device 1 and operational module quit work, and saves energy.
Other type of alarms optional in alarming step also have, and utilize wireless module to the radio receiving terminal of user, as mobile phone or computer etc. send reminder message, send blinking light etc., do not enumerate at this.
What it may occur to persons skilled in the art that is; the concrete steps of the skidding identification in the present invention can have other version; reaction of skidding also can have a lot of versions; but the technical characteristics of the used technical solution and the present invention same or similar, all should be covered by scope.
Claims (8)
1. an automatic running device, work of automatically walking in perform region, comprising:
Fuselage;
Operational module, performs predetermined work;
Walking module, supports and drives described fuselage to move, comprising drive unit and driving wheel;
Control module, controls automatic running device work, controls automatic running device and perform the skidding reaction action preset when the equipment operational factor of being included in meets default skidding Rule of judgment;
It is characterized in that, described automatic running device also comprises monitoring modular, monitors the angle parameter of the terrestrial magnetic field of described automatic running device present position, and the operational factor of described skidding Rule of judgment comprises the angle parameter variable quantity of terrestrial magnetic field.
2. automatic running device according to claim 1, is characterized in that, described monitoring modular comprises electronic compass.
3. automatic running device according to claim 2, is characterized in that, described monitoring modular comprises gyroscope, and described gyroscope detects and obtains axial angle step, is corrected the angle parameter of described terrestrial magnetic field by the angle step of axis.
4. automatic running device according to claim 1, is characterized in that, described skidding Rule of judgment is: in Preset Time or in default theoretical operating range, the angle parameter variable quantity of described terrestrial magnetic field is in default threshold range.
5. automatic running device according to claim 1, is characterized in that, also comprises state detection sensor, and described state detection sensor detects the state parameter of described walking module.
6. automatic running device according to claim 5, is characterized in that, described skidding Rule of judgment is: the variable quantity of terrestrial magnetic field angle parameter is in default threshold range, and default changing condition appears in state parameter.
7. automatic running device according to claim 1, is characterized in that, described skidding reaction action is: described drive unit drives described driving wheel divertical motion or counter motion, or the two motion combines.
8. automatic running device according to claim 1, is characterized in that, described skidding reaction action is: outwardly give the alarm signal and stop described drive unit.
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| CN201410268643.4A CN105242675A (en) | 2014-06-17 | 2014-06-17 | Automatic walking equipment |
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