CN109828565A - A kind of control method from mobile device return path - Google Patents
A kind of control method from mobile device return path Download PDFInfo
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- CN109828565A CN109828565A CN201910089590.2A CN201910089590A CN109828565A CN 109828565 A CN109828565 A CN 109828565A CN 201910089590 A CN201910089590 A CN 201910089590A CN 109828565 A CN109828565 A CN 109828565A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 230000005611 electricity Effects 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims 1
- 238000013439 planning Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004146 energy storage Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 2
- 238000005295 random walk Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
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- 238000003032 molecular docking Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Abstract
The invention discloses a kind of control methods from mobile device return path, it is described to be defined from the working region of mobile device by boundary line, the boundary line and recurrence base station are joined to form primary Ioops, which comprises whether detection is described needs to return the recurrence base station from mobile device；When it is described need to return the recurrence base station from mobile device when, control module control is described to find boundary line from mobile device；It is described find boundary line from mobile device after, the control module control is described reversely to walk pre-determined distance from mobile device along the boundary line；It is described reversely walk pre-determined distance along the boundary line from mobile device after, the control module control is described to turn around to return direction running along the boundary line from mobile device, until reaching the recurrence base station.The control method of return path provided by the invention can effectively avoid being stuck in the possibility returned on base station from mobile device.
Description
Technical field
The present invention relates to Mechanical course field, more particularly to one kind from mobile device return path control method.
Background technique
With the fast development of big data, cloud computing and artificial intelligence, progress into human lives' from mobile device
Every field, and increasingly play increasingly important role.Generally, it is completed in work from mobile device or needs to charge
When, it is required to be returned to base station, to facilitate management.A kind of traditional scheme is to be laid with boundary line in working region, from
It advances when mobile device returns along boundary line.
From technologies such as the fusion of platforms of mobile device motion control, Multi-sensor Fusion, path plannings.In order to realize certainly
The predetermined function of mobile device needs to carry out all region covering planning to from the path of mobile device, makes it that work be completely covered
All accessible regions in environment.According to different strategies, all region covering path planning can be divided into stochastic path planning again
With two kinds of nonrandom path planning.
As one kind from mobile device, intelligent grass-removing can be realized automatic mowing, to bring for people's lives
It greatly facilitates.Traditional intelligent grass-removing system can work in order to avoid intelligent grass-removing is driven out to work borderline region
Boundary line is set around region, and is powered, so that intelligent grass-removing can judge side by the magnetic field signal around detection electric current
Boundary.When intelligent grass-removing needs to return charging base station electric energy supplement, boundary line is first found, is moved after finding boundary line along boundary line
It is dynamic to return to charging base station, the cross-border line movement of machine is controlled by control module, intelligent grass-removing can be made substantially aligned with base station,
To realize accurate docking.
For the intelligent grass-removing using random walk path planning, finds boundary electric wire and recharge electricity along sideline automatically
The path of base station and movement are very important.Inappropriate path and movement will lead to intelligent grass-removing, and to be electrically charged base station stuck
And cannot automatically disengage, machine down is eventually led to, needs manually to release failure.
Summary of the invention
In view of this, the present invention proposes the new control method from mobile device return path of one kind to solve above-mentioned ask
Topic.
According to an aspect of the invention, there is provided a kind of control method from mobile device return path, described from shifting
The working region of dynamic equipment is defined by boundary line, and the boundary line and recurrence base station are joined to form primary Ioops, the method
Include:
S1: whether detection is described needs to return the recurrence base station from mobile device；
S2: when it is described need to return the recurrence base station from mobile device when, control module control is described from mobile device
Find boundary line；
S3: it is described find boundary line from mobile device after, the control module control it is described from mobile device described in
Boundary line is reversely walked pre-determined distance；
S4: it is described reversely walk pre-determined distance along the boundary line from mobile device after, the control module controls institute
It states and turns around to return direction running along the boundary line from mobile device, until reaching the recurrence base station.
Preferably, in step s3, the control module control is described reversely walks from mobile device along the boundary line
The step of pre-determined distance includes:
Described to find the boundary line from mobile device, the control module control is described to be turned to from mobile device, makes institute
The direction of travel for stating automatic mobile device is contrary with the recurrence；
Control is described reversely to walk pre-determined distance from mobile device along the boundary line.
Preferably, in step s3, the control module control is described reversely walks from mobile device along the boundary line
The step of pre-determined distance includes:
Described to find the boundary line from mobile device, the control module control is described to be retreated from mobile device；
Stop retreating after the control module control retrogressing set distance from mobile device, the control module control
System is described to be turned to from mobile device and moves on the searching boundary line；
It is described from finding the boundary line described in mobile device again from mobile device, the control module control it is described from
Mobile device turns to, and it is contrary with the recurrence to make the direction of travel of the automatic mobile device, and controls described from mobile
Equipment is reversely walked pre-determined distance along the boundary line.
Preferably, the control module control described the step of being turned to from mobile device, the specifically described control module control
System is described to return contrary directional steering from mobile device to described.
Preferably, in step sl, whether detection is described needs to return the recurrence base station from mobile device, is that basis is
The no electricity for detecting the battery from mobile device is lower than given threshold, or, if detect preset operating time
Reached, or whether detects that rainy weather is judged.
Preferably, in step s 2, when it is described need to return the recurrence base station from mobile device when, the control module
Control is described to be moved on from mobile device according to current position and direction, until finding the boundary line.
Preferably, described from mobile device includes fuselage, and left margin signal supervisory instrument is arranged at intervals on the fuselage
With right margin signal supervisory instrument, the sideband signal generated for sensing the boundary line, the control module according to it is described it is left,
The sideband signal judgement positional relationship from mobile device and the boundary line of right margin signal supervisory instrument detection.
Preferably, left and right sideband signal detection device is respectively arranged at the left and right sides of the fuselage center line.
Preferably, when the sideband signal of the left and right sideband signal detection device detection is signal in boundary,
The control module control is described to keep advancing from mobile device.
Preferably, when one of them of the sideband signal of the left and right sideband signal detection device detection is boundary
Interior signal, when another one are boundary external signal, the control module judgement is described to find the boundary line from mobile device.
Preferably, the recurrence direction be counterclockwise, control module control it is described from mobile device according to returning
The step of returning direction running, be it is described from mobile device adjustment direction according to control module adjustment, to keep the left side
The sideband signal of sector signal detection device detection is signal in boundary, and the right margin signal supervisory instrument detects described
Sideband signal is boundary external signal；The control module control step reversely walked from mobile device along the boundary line
It suddenly, is according to the control module adjustment direction of travel from mobile device, to keep the left margin signal detection to fill
The sideband signal for setting detection is boundary external signal, and the sideband signal of the right margin signal supervisory instrument detection is side
Signal * in boundary.
The utility model has the advantages that being stuck in recurrence base station according to an embodiment of the invention, avoiding from mobile device, and need artificial
Contact the trouble of obstacle.
According to below with reference to the accompanying drawings becoming to detailed description of illustrative embodiments, other feature of the invention and aspect
It is clear.
Detailed description of the invention
Comprising in the description and constitute the attached drawing of part of specification and specification together illustrate it is of the invention
Exemplary embodiment, feature and aspect, and principle for explaining the present invention.
Fig. 1 is the return path schematic diagram of control method according to an embodiment of the invention；
Fig. 2 is the return path schematic diagram of control method according to another embodiment of the present invention；
Fig. 3 is the schematic diagram of another return path of control method shown in Fig. 2.
Specific embodiment
Below with reference to attached drawing various exemplary embodiments, feature and the aspect that the present invention will be described in detail.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, in order to better illustrate the present invention, numerous details is given in specific embodiment below.
It will be appreciated by those skilled in the art that without certain details, the present invention equally be can be implemented.In some instances, for
Method, means, element and circuit well known to those skilled in the art are not described in detail, in order to highlight purport of the invention.
It should be noted that in the absence of conflict, the feature in embodiments herein and embodiment can be combined with each other.
Embodiment 1
Fig. 1 is the schematic diagram of the return path according to an embodiment of the invention from mobile device 100.The present embodiment is mentioned
Supply from mobile device 100, working region 500 be by with return the boundary line 300 that connect of base station 200 and define, boundary line 300
Primary Ioops are joined to form with base station 200 is returned, are moved in the working region 500 that boundary line 300 limits from mobile device 100
Dynamic and work.The control method of the return path includes:
S1: whether detection is described needs to return the recurrence base station 200 from mobile device 100.It is autonomous from mobile device 100
Random walk walking is carried out in specific working region 500, the working region 500 walked to it carries out cutting operation.
In step sl, detection is real-time perfoming from whether mobile device 100 needs to be returned to recurrence base station 200, can
To return base station 200 from whether mobile device 100 needs to be returned to by periodically detecting, trigger condition also can be set,
Detection returns base station 200 from whether mobile device 100 needs to be returned to, i.e., by detecting whether that meeting trigger condition is sentenced
It is disconnected.In the present embodiment, when from mobile device 100, when detecting cell voltage lower than programmed values, then judgement is certainly mobile
The needs of equipment 100, which are back to, returns base station 200.In a preferred embodiment, whether detection needs from mobile device 100
It is returned to the step of returning base station 200, is judged according to whether detecting that preset operating time arrived, the default work
Time can be 3 hours, 2 hours, 1 hour etc..Or (e.g., electricity is lower than pre- for the energy based on the energy-storage units for detecting its carrying
If triggering returns when value (preferably, when the voltage of energy-storage units is lower than predeterminated voltage)).In another preferred embodiment party
In formula, it is according to whether detecting rainfall day that whether detection, which needs to be returned to the step of returning base station 200 from mobile device 100,
Gas is judged, such as response rain sensor etc..
S2: when it is described need to return the recurrence base station 200 from mobile device 100 when, control module control is described from moving
Dynamic equipment 100 finds boundary line 300.When judge in step S1 from mobile device 100 need return return base station 200 the case where
Under, control module is controlled from the Automatic-searching boundary line 300 of mobile device 100.Specifically, control module is controlled from mobile device
100 move on according to current position and direction, until finding boundary line 300.
S3: it is described find boundary line 300 from mobile device 100 after, the control module control is described from mobile device
100 along the reversed walking pre-determined distance in boundary line 300.Specifically, control module control from mobile device 100 along with return direction phase
Anti- direction b, along the reversed walking pre-determined distance in boundary line 300.
S4: it is described from mobile device 100 after the boundary line 300 reversely walking pre-determined distance, the control module
Control is described to turn around from mobile device 100 according to direction a traveling is returned, until reaching the recurrence base station 200.From mobile device
100 in the position for initially finding boundary line 300, and along the reversed walking pre-determined distance in boundary line 300, then turn around 180 degree, according to returning
Return direction a to travel, returns base station 200 until reaching, charged or waited next task.
In another embodiment, attached drawing 1 is referred to, step S3 is specifically, return initial position from mobile device 100
D1, after finding boundary line 300 from mobile device 100, control module control is turned to from mobile device 100, is made to automatically move and is set
Standby direction of travel and recurrence direction a is on the contrary, illustrate direction b, and control anti-along the boundary line 300 from mobile device 100
To (direction b) walking pre-determined distance.
In step s3, after finding boundary line 300 from mobile device 100, it is possible to just go to and return on base station 200
Boundary line 300 is just found, is not identified at this time from mobile device 100 and oneself is returned base station 200 and blocked, but always
It executes along sideline travel commands, i.e. wheel is rotating, but there is no move from mobile device 100.Provided by the present embodiment
Return path control method from the position D1 of mobile device 100 to return initial position in Fig. 1, reaches side referring to Figure 1
At boundary line 300, that is, it is located at position D2, control module control is turned to from mobile device 100, adjusts posture, makes described automatically move
The direction of travel of equipment is direction b and the recurrence direction a on the contrary, and controlling from mobile device 100 along the reversed row in boundary line 300
Walk pre-determined distance, in-position D3.Here, reversed walking refers to the recurrence direction a from mobile device 100 on the contrary, illustrating
Direction b.Boundary line 300 connect the circuit formed with base station 200 is returned, and permission is pressed back from mobile device 100 along boundary line 300
Return direction a to be back to and returns base station 200.
In step s 4, please continue to refer to Fig. 1, in this embodiment, from mobile device 100 along the reversed row in boundary line 300
Walk pre-determined distance, at the D3 of in-position, control module control is turned around from mobile device 100, i.e. 180 ° of pivot stud, is then controlled
Module control turns around to return a traveling in direction along boundary line 300 from mobile device 100, by position D4, returns base station until reaching
200。
In another embodiment, attached drawing 2 is referred to, similar with above-described embodiment, difference is specifically retouched below
It states.From the position D1 of mobile device 100 to return initial position in embodiment shown in Fig. 2, reach at boundary line 300,
It is located at position D2, control module control stops retreating, then turns to continue to seek after retreating set distance from mobile device 100
Boundary line 300 is looked for, boundary line 300 is picked up at the D2 ' of position, control module control is turned to from mobile device 100, is made described
The direction of travel and recurrence direction a of automatic mobile device are on the contrary, and control described reversed along boundary line 300 from mobile device 100
Walking pre-determined distance, in-position D3.Fig. 3 shows and is placed exactly in when finding boundary line 300 from 100 return path of mobile device
Return the path schematic diagram at base station 200.Automatic running device reaches at boundary line 300, i.e. at position D2, and returns base station
200 are placed exactly at the D2 of position, and control module control is fallen back from mobile device 100, is then turned to, and find boundary line 300 again,
Reach position D2 ', identical as above-mentioned control method, control module will be controlled from mobile device 100 and be turned to, and is adjusted to direction b, is made
The direction of travel and recurrence direction a of automatic mobile device are on the contrary, and control described reversed along boundary line 300 from mobile device 100
Walking pre-determined distance, in-position D3.This return path is avoided to be stuck in from mobile device 100 and be returned at base station 200, and is needed
Want the trouble of human contact's obstacle.Specifically, picking up boundary line 300 at the D2 ' of position from mobile device 100, mould is controlled
Block control is from mobile device 100 to the directional steering opposite with the recurrence direction a.
More than, from the path homing method of mobile device 100, returned from mobile device 100 when returning along boundary line 300
Signal is returned to return.Include fuselage from mobile device 100, sideband signal detection device is provided on the fuselage, for sensing side
The sideband signal that boundary line 300 generates.Specifically, sideband signal detection device includes the spaced left side sector signal on fuselage
Detection device 101 and right margin signal supervisory instrument 101 ', control module are detected according to left and right sideband signal detection device
The sideband signal of (101,101 ') judges the positional relationship from mobile device 100 and boundary line 300.Here positional relationship includes certainly
Mobile device 100 is located in boundary line 300 or is located at outside boundary line 300, i.e., is located at working region 500 from mobile device 100
Outside interior or working region 500, which further includes from the direction of travel of mobile device 100 and returning for recurrence base station 200
Return the relationship of direction a.
Specifically, left and right sideband signal detection device (101,101 ') is separately positioned on from the fuselage of mobile device 100
The left and right sides of line.Signal in boundary line is received when boundary line detector is in boundary line 300, when boundary line detector
Boundary line external signal is received when boundary line 300 is outer, signal is different from the polarity of boundary line external signal in boundary line, from movement
The polarity judgement for the sideband signal that equipment 100 is detected according to left and right sideband signal detection device (101,101 ') automatically moves
Whether whether equipment finds boundary line 300, and identical or opposite from the direction of travel and recurrence direction a of mobile device 100.Tool
Body, when the sideband signal polarity that left and right sideband signal detection device detects is opposite, judge from mobile device 100
Reach boundary line 300.I.e. when one of them of the sideband signal of the left and right sideband signal detection device detection is boundary
Interior signal, when another one are boundary external signal, control module judges to find the boundary line 300 from mobile device 100.When
When the sideband signal of left and right sideband signal detection device detection is signal in boundary, control module judges from mobile device 100
In working region 500, and controls from mobile device 100 and keep advancing.
In the present embodiment, returning base station 200 allows to return from mobile device 100 along counterclockwise, i.e., recurrence direction a is the inverse time
Needle direction.The specific steps of the control module control pre-determined distance of reversely walking from mobile device 100 along boundary line 300 are as follows:
When left margin line detector is received in 300 external signal of boundary line, and right margin line detector is received in boundary line
It from mobile device 100 is walked along the opposite direction recurrence direction a, control module control automatically walk is set in 300 when signal
It is standby to start reversely to walk along boundary line 300, and the revolving speed of two rear-wheels is adjusted at any time, so that the holding of left margin line detector connects
It receives in 300 external signal of boundary line, and the holding of right margin line detector receives the signal in boundary line 300.Keep this shape
State is reversely walked after pre-determined distance, in-position D3, and control module control is turned around from mobile device 100, i.e. 180 ° of pivot turn,
It walks clockwise along boundary line 300, i.e., along recurrence direction a walking, and the revolving speed of two rear-wheels is adjusted at any time, so that the right boundary line
Detection device holding is received in 300 external signal of boundary line, and the holding of left margin line detector receives in boundary line 300
Signal.It keeps this state to walk along boundary line 300 from mobile device 100, returns base station 200 until arriving at.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, and
It is not used in the restriction present invention.
Before embodiment according to the present invention is described in detail, it should be noted that, the embodiment essentially consists in and oneself
The combination of 100 return path control method of mobile device step and the system component related to system.Therefore, said system component
It has been showed in position by ordinary symbol in the accompanying drawings with method and step, and has merely illustrated and understand this
The related details of the embodiment of invention, in order to avoid because apparent for having benefited from those of ordinary skill in the art of the invention
Those of details obscured the disclosure.
For the purpose of disclosure of the invention, term " from mobile device 100 " is generalized definition, including any with only
Device, equipment or the system of vertical work, including but not limited to intelligent grass-removing etc..It is intelligent grass-removing from mobile device 100
When, it includes the mowing motors of driving mowing action of tool, and the drive motor for driving it to move, and provide driving energy to motor
The energy-storage units (rechargeable lithium battery, fuel cell etc.) of amount.In addition, term " returning base station 200 " is also generalized definition, packet
Include but be not limited to charging station or rest station.In addition, term " boundary line 300 " includes but is not limited to conducting wire.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
It cans understand the content of the present invention and implement it accordingly, it is not intended to limit the scope of the present invention.It is all to lead according to the present invention
The modification for wanting the Spirit Essence of technical solution to be done, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of control method from mobile device return path, described to be defined from the working region of mobile device by boundary line,
The boundary line and recurrence base station are joined to form primary Ioops, which is characterized in that the described method includes:
S1: whether detection is described needs to return the recurrence base station from mobile device；
S2: when it is described need to return the recurrence base station from mobile device when, control module control is described to be found from mobile device
Boundary line；
S3: it is described find boundary line from mobile device after, the control module control it is described from mobile device along the boundary
Line is reversely walked pre-determined distance；
S4: it is described reversely walk pre-determined distance along the boundary line from mobile device after, the control module control it is described from
Mobile device turns around to return direction running along the boundary line, until reaching the recurrence base station.
2. control method according to claim 1, which is characterized in that in step s3, described in the control module control
The step of reversely walking pre-determined distance along the boundary line from mobile device include:
Described to find the boundary line from mobile device, the control module control is described to be turned to from mobile device, make it is described from
The direction of travel of dynamic mobile device is contrary with the recurrence；
Control is described reversely to walk pre-determined distance from mobile device along the boundary line.
3. control method according to claim 1, which is characterized in that in step s3, described in the control module control
The step of reversely walking pre-determined distance along the boundary line from mobile device include:
Described to find the boundary line from mobile device, the control module control is described to be retreated from mobile device；
Stop retreating after the control module control retrogressing set distance from mobile device, the control module controls institute
It states to turn to and move on from mobile device and finds the boundary line；
It is described from the boundary line is found described in mobile device again from mobile device, the control module control is described from mobile
Equipment turns to, and it is contrary with the recurrence to make the direction of travel of the automatic mobile device, and controls described from mobile device
It reversely walks pre-determined distance along the boundary line.
4. control method according to claim 3, which is characterized in that the control module control is described to be turned from mobile device
To the step of, specifically control module control is described returns contrary directional steering from mobile device to described.
5. control method according to claim 1, it is characterised in that: in step sl, detection is described to be from mobile device
It is no to need to return the recurrence base station, it is according to whether detecting the electricity of the battery from mobile device lower than setting threshold
Value, or, if it detects that preset operating time has reached, or whether detects that rainy weather is judged.
6. control method according to claim 1, it is characterised in that: in step s 2, needed when described from mobile device
When returning to the recurrence base station, control module control is described continue according to current position and direction from mobile device before
Into until finding the boundary line.
7. control method according to claim 1, it is characterised in that: it is described from mobile device include fuselage, the fuselage
On be arranged at intervals with left margin signal supervisory instrument and right margin signal supervisory instrument, the side generated for sensing the boundary line
Sector signal, the control module are described certainly according to the sideband signal judgement that the left and right sideband signal detection device detects
The positional relationship of mobile device and the boundary line.
8. control method according to claim 7, it is characterised in that: when the left and right sideband signal detection device detects
Sideband signal when being signal in boundary, the control module control is described to keep advancing from mobile device.
9. control method according to claim 7, it is characterised in that: when the left and right sideband signal detection device detects
One of them of the sideband signal be signal in boundary, when another one are boundary external signal, the control module is sentenced
The boundary line is found from mobile device described in disconnected.
10. control method according to claim 7, it is characterised in that: the recurrence direction is the counterclockwise control
The control of molding block it is described from mobile device according to direction running is returned the step of, be described from moving according to control module adjustment
Dynamic equipment adjustment direction, to keep the sideband signal of the left margin signal supervisory instrument detection as signal in boundary, institute
The sideband signal for stating the detection of right margin signal supervisory instrument is boundary external signal；The control module control is described from mobile
The step of equipment is reversely walked along the boundary line is described from the traveling side of mobile device according to control module adjustment
To, to keep the sideband signal of the left margin signal supervisory instrument detection as boundary external signal, the right sector signal
The sideband signal of detection device detection is signal in boundary.
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| CN201910089590.2A CN109828565B (en) | 2019-01-30 | 2019-01-30 | Control method for regression path of self-moving equipment |
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| CN111090284A (en) * | 2019-12-23 | 2020-05-01 | 南京苏美达智能技术有限公司 | Method for returning from traveling equipment to base station and self-traveling equipment |
| CN111904335A (en) * | 2020-08-01 | 2020-11-10 | 尚科宁家(中国)科技有限公司 | Cleaning robot and control method thereof |
| CN112147886A (en) * | 2019-06-27 | 2020-12-29 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| WO2021012525A1 (en) * | 2019-07-24 | 2021-01-28 | 苏州宝时得电动工具有限公司 | Method for controlling automatic locomotion device to return to station, and automatic locomotion device |
| CN112445221A (en) * | 2019-09-04 | 2021-03-05 | 宝时得科技（中国）有限公司 | Automatic working system and regression method |
| CN112731934A (en) * | 2020-12-23 | 2021-04-30 | 南京苏美达智能技术有限公司 | Method for intelligent mower to quickly return to charging station based on region segmentation |
| WO2021114989A1 (en) * | 2019-12-13 | 2021-06-17 | 苏州宝时得电动工具有限公司 | Autonomous robot and control method thereof, and computer storage medium |
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