CN107632595A - Path homing method, automatic running device and the path regression system of automatic running device - Google Patents
Path homing method, automatic running device and the path regression system of automatic running device Download PDFInfo
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- CN107632595A CN107632595A CN201610562425.0A CN201610562425A CN107632595A CN 107632595 A CN107632595 A CN 107632595A CN 201610562425 A CN201610562425 A CN 201610562425A CN 107632595 A CN107632595 A CN 107632595A
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Abstract
The present invention relates to a kind of path homing method of automatic running device, automatic running device and path regression system, methods described to include：The recurrence signal of current location where receiving automatic running device；Judge the size of the intensity and the default intensity for returning signal of the recurrence signal of the current location；If the intensity of the recurrence signal of the current location is more than or less than the default intensity for returning signal, guiding automatic running device moves to the default direction for returning signal；If the intensity of the recurrence signal of the current location is equal to the default intensity for returning signal, guides recurrence signal of the automatic running device along the current location to return and move.The present invention can be effectively prevented from destroying lawn, keep lawn complete.
Description
Technical field
Field is returned the present invention relates to intelligence, it is a kind of path homing method more particularly to automatic running device, automatic
Walking arrangement and path regression system.
Background technology
With the development of science and technology, intelligent automatic running device is well known, because automatic running device can
The inter-related task pre-set is performed with the program pre-set automatically, without artificial operation and intervention, therefore should in industry
With and family product on application it is very extensive.Robot of the industrial application as performed various functions, on family product
Using such as hay mover, dust catcher etc., these intelligent automatic running devices dramatically saves on the time of people, to industrial production
And life staying idle at home all brings great convenience.
Intelligent grass-removing is one kind in automatic running device, can realize the trimming to lawn automatically.Intelligent grass-removing leads to
Often worked in boundary line, for convenience of charging, charging station is provided with boundary line, when intelligent grass-removing is cutting the grass on a lawn electricity not
When sufficient, recurrence charging can be carried out with auto-returned charging station.But each along fixed line when usual intelligent grass-removing returns charging
Road returns to (general intelligence hay mover returns each along boundary line to charge), and more number returns to charging along same route,
Intelligent grass-removing can be rolled repeatedly to the lawn on the circuit, cause the lawn on the route to be ground bad, when serious, the road
Lawn on line is with being rolled into light.
The content of the invention
Based on this, it is necessary to which path homing method, automatic running device and the path for providing a kind of automatic running device are returned
Return system, avoid rolling same lawn circuit repeatedly, destroy lawn.
A kind of path homing method of automatic running device, including：
The recurrence signal of current location where receiving automatic running device；
Judge the size of the intensity and the default intensity for returning signal of the recurrence signal of the current location；
If the intensity of the recurrence signal of the current location is more than or less than the default intensity for returning signal, guide
Automatic running device moves to the default direction for returning signal；
If the intensity for returning signal of the current location is equal to the default intensity for returning signal, guiding is described certainly
Recurrence signal of the dynamic walking arrangement along the current location, which returns, to be moved.
In the path homing method of automatic running device described above, automatic running device can be believed when returning along returning
Number return, can be returned along different recurrence signal during due to returning every time, therefore, same lawn line will not be rolled repeatedly
It road, can be effectively prevented from destroying lawn, keep lawn complete.
In one of the embodiments, if the intensity of the recurrence signal of the current location is more than or less than described preset back
Return the intensity of signal, then the step for guiding automatic running device to be moved to the default direction for returning signal is specially：
If the intensity of the recurrence signal of the current location judged is more than the default intensity for returning signal, guide
The automatic running device moves to the direction for returning signal decrease, otherwise, then guides the automatic running device to believe to recurrence
Number enhancing direction movement.
In one of the embodiments, the default signal that returns is the random signal when secondary recurrence.
In one of the embodiments, the recurrence signal is square-wave signal, triangular wave signal, trapezoidal wave signal or saw
Tooth ripple signal.
In one of the embodiments, the frequency range for returning signal is 500Hz~500KHz.
In one of the embodiments, the scope of the waveform rising time for returning signal is 500ns~2000ns.
In one of the embodiments, the recurrence signal is radio wave form.
A kind of automatic running device, recurrence signal of the automatic running device reception signal line to spatial emission, it is special
Sign is, including：
Signal receiving module, the recurrence signal for current location where receiving the automatic running device；
Signal judge module, for the intensity and the intensity of default recurrence signal of the recurrence signal for judging the current location
Size；
First guiding module, the intensity for the recurrence signal in the current location are more than or less than the default recurrence
During the intensity of signal, the automatic running device is guided to be moved to the default direction for returning signal；
Second guiding module, the intensity for the recurrence signal in the current location are equal to the default recurrence signal
During intensity, guide recurrence signal of the automatic running device along the current location to return and move.
Automatic running device described above return when can along return signal return, due to every time return when can edge
Different recurrence signals returns, and therefore, will not roll same lawn circuit repeatedly, can be effectively prevented from destroying lawn, keep grass
Level ground is complete.
In one of the embodiments, first guiding module includes：
A unit is guided, the intensity for the recurrence signal in the current location of judgement is more than default return and believed
Number intensity when, guide the automatic running device to return signal weaken direction move；
Unit two are guided, the intensity for the recurrence signal in the current location of judgement is less than default return and believed
Number intensity when, guide the automatic running device to return signal enhancing direction move.
In one of the embodiments, the default recurrence signal is that the automatic running device is random when secondary recurrence
Signal.
In one of the embodiments, the recurrence signal is square-wave signal, triangular wave signal, trapezoidal wave signal or saw
Tooth ripple signal.
In one of the embodiments, the frequency range for returning signal is 500Hz~500KHz.
In one of the embodiments, the scope of the waveform rising time for returning signal is 500ns~2000ns.
In one of the embodiments, the recurrence signal is radio wave form.
A kind of path regression system, it is characterised in that filled including charging station, sender unit, with signal transmitting
The signal wire of connection and the automatic running device as described in claim any one of 8-14 are put, the charging station is used for described
Automatic running device provides electric energy and/or stop, the sender unit are arranged in the charging station, the signal transmitting
Device is used to launch the recurrence signal that can be transmitted on the signal line.
In path described above regression system, automatic running device can return when returning along signal is returned, due to every
It can be returned during secondary recurrence along different recurrence signals, therefore, same lawn circuit will not be rolled repeatedly, can be effectively prevented from
Lawn is destroyed, keeps lawn complete.
In one of the embodiments, the signal wire is unidirectional line, does not form link circuit.
In one of the embodiments, the signal wire is linear pattern or flexure type.
Brief description of the drawings
Fig. 1 is the path homing method flow chart of the automatic running device of an embodiment；
Fig. 2 is the structural representation of the automatic running device of an embodiment；
Fig. 3 is the structural representation of the first guiding module in Fig. 2；
Fig. 4 is the structural representation of the path regression system of an embodiment.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, the path homing method of the automatic running device of an embodiment, including step S120 is to step
S180。
Step S120, the recurrence signal of current location where receiving automatic running device.When automatic running device needs back
Gui Shi, if desired for charging station charging is revert to, the combination that either works, which will revert to anchor point or other reasonses, to be needed to return
When, automatic running device needs to be returned from current location, therefore, automatic running device can be with its position of received by itself
Recurrence signal.
Step S140, judge the size of the intensity and the default intensity for returning signal of the recurrence signal of current location.Automatically
Walking arrangement is when returning, and in order to avoid repeating same return path, causes to roll repeatedly and destroys lawn, return needs edge every time
Different recurrence signals returns, for this reason, it may be necessary to be the different default recurrence signal of each recurrence equipment of automatic running device, prevents
Only roll repeatedly and destroy lawn.
Step S160, if the intensity of the recurrence signal of current location is more than or less than the default intensity for returning signal, draw
Move in the direction for leading automatic running device to default recurrence signal.When the recurrence signal of automatic running device current location is with presetting
When returning signal difference, then need to guide automatic running device to be moved near default recurrence signal, road when returning to prevent this
Footpath repeats.
Step S180, if the intensity of the recurrence signal of current location is equal to the default intensity for returning signal, guiding is automatic
Recurrence signal of the walking arrangement along current location, which returns, to be moved.When automatic running device is moved to default recurrence signal, automatically
Walking arrangement returns along default recurrence signal and can avoid repeating same return path, avoids rolling lawn.
In the path homing method of automatic running device described above, automatic running device can be believed when returning along returning
Number return, can be returned along different recurrence signal during due to returning every time, therefore, same lawn line will not be rolled repeatedly
It road, can be effectively prevented from destroying lawn, keep lawn complete.
Wherein, step S160 is specially：If the intensity of the recurrence signal of the current location judged is more than default recurrence signal
Intensity, then guide automatic running device to return signal weaken direction move, otherwise, then guide automatic running device to return
The direction of signal enhancing is returned to move.The signal of current location where automatic running device, which may be better than or be weaker than default return, to be believed
Number, therefore, it is necessary to guide automatic running device to be moved to the default recurrence for returning near signal, receiving automatic running device
Signal with it is default return that signal is equal or the error of the two in allowed limits.
Signal is returned for default, it can be randomly selected a certain intensity when needing to return for automatic running device
Signal, can also be by a certain strength signal artificially specified, each along difference during so as to ensure that automatic running device returns every time
Path return.
It can be square-wave signal, triangular wave signal, trapezoidal wave signal or sawtooth signal etc. to return signal, and signal will side
Just transmit, also to facilitate automatic running device to receive.The frequency range for generally returning signal is 500Hz~500KHz, returns letter
Number the scope of waveform rising time be 500ns~2000ns.
For convenience of the recurrence of automatic running device, recurrence signal is radio wave form.
As shown in Fig. 2 be the automatic running device of an embodiment, automatic running device can reception signal line to spatial emission
Recurrence signal, specifically, automatic running device include signal receiving module 120, signal judge module 140, first guide mould
The guiding module 180 of block 160 and second.
Signal receiving module 120 is used for the recurrence signal of current location where receiving automatic running device.Work as automatically walk
When equipment needs to return, if desired for charging station charging is revert to, the combination that either works will revert to anchor point or other reasonses
Need return when, automatic running device need returned from current location, therefore, automatic running device can with received by itself its
The recurrence signal of position.
Signal judge module 140 is used for the intensity for the recurrence signal for judging current location and the default intensity for returning signal
Size.Automatic running device is when returning, and in order to avoid repeating same return path, causes to roll repeatedly and destroys lawn, every time
Returning needs to return along different recurrence signal, for this reason, it may be necessary to different default of each recurrence equipment for automatic running device
Signal is returned, prevents from rolling repeatedly and destroys lawn.
First guiding module 160 is used to be more than or less than default recurrence signal in the intensity of the recurrence signal of current location
During intensity, the direction of guiding automatic running device to default recurrence signal is moved.When the recurrence of automatic running device current location
When signal and default recurrence signal difference, then need to guide automatic running device to be moved near default recurrence signal, to prevent this
Path repeats during secondary recurrence.
Second guiding module 180 is used to be equal to the default intensity for returning signal in the intensity of the recurrence signal of current location
When, recurrence signal of the guiding automatic running device along current location, which returns, to be moved.When automatic running device is moved to default recurrence
During signal, automatic running device returns along default recurrence signal and can avoid repeating same return path, avoids rolling lawn.
Automatic running device described above return when can along return signal return, due to every time return when can edge
Different recurrence signals returns, and therefore, will not roll same lawn circuit repeatedly, can be effectively prevented from destroying lawn, keep grass
Level ground is complete.
As shown in figure 3, the first guiding module 160 includes two units 162 of the unit 161 of guiding one and guiding.
A unit 161 is guided to be used to be more than the strong of default recurrence signal in the intensity of the recurrence signal of the current location of judgement
When spending, guiding automatic running device moves to the direction for returning signal decrease.
Two units 162 are guided to be used to be less than the strong of default recurrence signal in the intensity of the recurrence signal of the current location of judgement
When spending, guiding automatic running device moves to the direction for returning signal enhancing.
In the present embodiment, the signal of current location where automatic running device may be better than or be weaker than default recurrence signal,
Therefore, it is necessary to guide automatic running device to be moved to the default recurrence letter for returning near signal, receiving automatic running device
Number with it is default return that signal is equal or the error of the two in allowed limits.
Signal is returned for default, it can be randomly selected a certain intensity when needing to return for automatic running device
Signal, can also be by a certain strength signal artificially specified, each along difference during so as to ensure that automatic running device returns every time
Path return.
It can be square-wave signal, triangular wave signal, trapezoidal wave signal or sawtooth signal etc. to return signal, and signal will side
Just transmit, also to facilitate automatic running device to receive.The frequency range for generally returning signal is 500Hz~500KHz, returns letter
Number the scope of waveform rising time be 500ns~2000ns.
For convenience of the recurrence of automatic running device, recurrence signal is radio wave form.
As shown in figure 4, the path regression system 200 of an embodiment includes charging station 210, sender unit 220, with believing
The signal wire 230 and above-described automatic running device 240 that number emitter 220 connects, charging station 210 are used for automatic row
The offer electric energy of equipment 240 is provided and/or stop, sender unit 220 are arranged in charging station 210, sender unit 220 is used
In the recurrence signal that transmitting can be transmitted on signal wire.
In path described above regression system, automatic running device can return when returning along signal is returned, due to every
It can be returned during secondary recurrence along different recurrence signals, therefore, same lawn circuit will not be rolled repeatedly, can be effectively prevented from
Lawn is destroyed, keeps lawn complete.
In the present embodiment, signal wire 230 is unidirectional line, does not form link circuit.Signal wire 230 is disconnected loop, from
Dynamic walking arrangement, along there is the direction for returning signal to move, avoids finding route repeatedly, when saving recurrence when returning
Between.
In the present embodiment, content described in the present embodiment can be achieved when signal wire 230 is linear pattern or flexure type.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (17)
- A kind of 1. path homing method of automatic running device, it is characterised in that including：The recurrence signal of current location where receiving automatic running device；Judge the size of the intensity and the default intensity for returning signal of the recurrence signal of the current location；If the intensity of the recurrence signal of the current location is more than or less than the default intensity for returning signal, guiding is automatic Walking arrangement moves to the default direction for returning signal；If the intensity of the recurrence signal of the current location is equal to the default intensity for returning signal, the automatic row is guided Recurrence signal recurrence of the equipment along the current location is walked to move.
- 2. path homing method according to claim 1, it is characterised in that if the recurrence signal of the current location is strong Degree is more than or less than the default intensity for returning signal, then guides automatic running device to the default direction for returning signal Mobile step is specially：If intensity of the intensity of the recurrence signal of the current location judged more than the default recurrence signal, described in guiding Automatic running device moves to the direction for returning signal decrease, otherwise, then guides the automatic running device to increase to signal is returned Strong direction movement.
- 3. path homing method according to claim 1, it is characterised in that the default recurrence signal is when secondary recurrence Random signal.
- 4. path homing method according to claim 1, it is characterised in that the recurrence signal is square-wave signal, triangle Shape ripple signal, trapezoidal wave signal or sawtooth signal.
- 5. path homing method according to claim 1, it is characterised in that it is described return signal frequency range be 500Hz~500KHz.
- 6. path homing method according to claim 1, it is characterised in that the waveform rising time for returning signal Scope be 500ns~2000ns.
- 7. path homing method according to claim 1, it is characterised in that the recurrence signal is radio wave form.
- 8. a kind of automatic running device, recurrence signal of the automatic running device reception signal line to spatial emission, its feature It is, including：Signal receiving module, the recurrence signal for current location where receiving the automatic running device；Signal judge module, for judging the big of intensity of the intensity for returning signal of the current location with presetting recurrence signal It is small；First guiding module, the intensity for the recurrence signal in the current location are more than or less than the default recurrence signal Intensity when, guide the automatic running device to it is described it is default return signal direction move；Second guiding module, the intensity for the recurrence signal in the current location are equal to the default intensity for returning signal When, guide recurrence signal of the automatic running device along the current location to return and move.
- 9. automatic running device according to claim 8, it is characterised in that first guiding module includes：A unit is guided, the intensity for the recurrence signal in the current location of judgement is more than the default recurrence signal During intensity, the automatic running device is guided to be moved to the direction for returning signal decrease；Unit two are guided, the intensity for the recurrence signal in the current location of judgement is less than the default recurrence signal During intensity, the automatic running device is guided to be moved to the direction for returning signal enhancing.
- 10. automatic running device according to claim 8, it is characterised in that the default recurrence signal is described automatic Random signal of the walking arrangement when secondary recurrence.
- 11. automatic running device according to claim 8, it is characterised in that the recurrence signal is square-wave signal, triangle Shape ripple signal, trapezoidal wave signal or sawtooth signal.
- 12. automatic running device according to claim 8, it is characterised in that it is described return signal frequency range be 500Hz~500KHz.
- 13. automatic running device according to claim 8, it is characterised in that during the waveform rising edge of the recurrence signal Between scope be 500ns~2000ns.
- 14. automatic running device according to claim 8, it is characterised in that the recurrence signal is radio wave form.
- 15. a kind of path regression system, it is characterised in that including charging station, sender unit and the sender unit The signal wire of connection and the automatic running device as described in claim any one of 8-14, the charging station are used for described in certainly Dynamic walking arrangement provides electric energy and/or stop, the sender unit are arranged in the charging station, the signal transmitting dress Put for launching the recurrence signal that can be transmitted on the signal line.
- 16. path regression system according to claim 15, it is characterised in that the signal wire is unidirectional line, is not formed Link circuit.
- 17. path regression system according to claim 16, it is characterised in that the signal wire is linear pattern or bending Type.
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 |
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| CN107632595A true CN107632595A (en) | 2018-01-26 |
| CN107632595B CN107632595B (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| 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 |
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| CN (1) | CN107632595B (en) |
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| CN109471442A (en) * | 2018-12-11 | 2019-03-15 | 珠海市微半导体有限公司 | Robot straight line encounters the processing method and chip and robot of barrier when returning seat |
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| Publication number | Publication date |
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| CN107632595B (en) | 2020-09-22 |
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