CN109828565B - Control method for regression path of self-moving equipment - Google Patents
Control method for regression path of self-moving equipment Download PDFInfo
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- CN109828565B CN109828565B CN201910089590.2A CN201910089590A CN109828565B CN 109828565 B CN109828565 B CN 109828565B CN 201910089590 A CN201910089590 A CN 201910089590A CN 109828565 B CN109828565 B CN 109828565B
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- 238000004146 energy storage Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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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 control method of a regression path of self-moving equipment, wherein a working area of the self-moving equipment is defined by a boundary line, and the boundary line is connected with a regression base station to form a loop, and the method comprises the following steps: detecting whether the self-moving equipment needs to return to the regression base station; when the self-moving equipment needs to return to the regression base station, a control module controls the self-moving equipment to search a boundary line; after the self-moving equipment finds the boundary line, the control module controls the self-moving equipment to reversely walk along the boundary line for a preset distance; after the self-moving equipment reversely travels for a preset distance along the boundary line, the control module controls the self-moving equipment to turn around and travel along the regression direction of the boundary line until the self-moving equipment reaches the regression base station. The control method of the regression path provided by the invention can effectively avoid the possibility that the self-moving equipment is blocked on the regression base station.
Description
Technical Field
The invention relates to the field of mechanical control, in particular to a method for controlling a return path of self-moving equipment.
Background
With the rapid development of big data, cloud computing and artificial intelligence, self-moving devices have gradually entered various fields of human life and increasingly play more and more important roles. Generally, when the mobile device is finished or needs to be charged, the mobile device needs to return to the base station for management. One conventional solution is to lay a boundary line in the work area, along which the mobile device travels when returning.
The platform of the self-moving equipment integrates the technologies of motion control, multi-sensor integration, path planning and the like. In order to realize the predetermined function of the self-moving device, the path of the self-moving device needs to be planned in a full-area coverage mode, so that the path of the self-moving device completely covers all unobstructed areas in the working environment. According to different strategies, the whole-area coverage path planning can be divided into random path planning and non-random path planning.
As a self-moving device, the intelligent mower can automatically mow grass, so that great convenience is brought to the life of people. In the conventional intelligent mower system, in order to prevent the intelligent mower from running out of a working boundary area, a boundary line can be arranged around the working area and powered on, so that the intelligent mower can judge the boundary by detecting a magnetic field signal around current. When the intelligent mower needs to return to the charging base station for supplementing electric energy, the boundary line is searched first, the intelligent mower moves back to the charging base station along the boundary line after finding the boundary line, the machine is controlled by the control module to move across the boundary line, the intelligent mower can be approximately aligned with the base station, and therefore accurate butt joint is achieved.
For intelligent lawn mowers that employ random walk path planning, it is important to find the path and actions of the border wire and automatically follow the sideline back to the charging base station. Improper path and action can cause the intelligent mower to be stuck by a charging base station and not to automatically separate, finally causing the machine to stop and needing manual troubleshooting.
Disclosure of Invention
In view of the above, the present invention provides a new method for controlling a return path from a mobile device to solve the above problem.
According to an aspect of the present invention, there is provided a method for controlling a return path of an autonomous mobile device, the autonomous mobile device having an operating area defined by a boundary line, the boundary line being connected to a return base station to form a loop, the method including:
s1, detecting whether the self-moving equipment needs to return to the regression base station;
s2, when the self-moving equipment needs to return to the returning base station, the control module controls the self-moving equipment to search a boundary line;
s3, after finding the boundary line, the self-moving equipment is controlled by the control module to reversely walk along the boundary line for a preset distance;
and S4, after the self-moving equipment reversely travels for a preset distance along the boundary line, the control module controls the self-moving equipment to turn around and travel along the regression direction of the boundary line until the self-moving equipment reaches the regression base station.
Preferably, in step S3, the step of controlling the self-moving device to reversely walk along the boundary line by a preset distance by the control module includes:
the self-moving equipment finds the boundary line, and the control module controls the self-moving equipment to turn so that the traveling direction of the self-moving equipment is opposite to the returning direction;
and controlling the self-moving equipment to reversely walk along the boundary line for a preset distance.
Preferably, in step S3, the step of controlling the self-moving device to reversely walk along the boundary line by a preset distance by the control module includes:
the self-moving equipment finds the boundary line, and the control module controls the self-moving equipment to retreat;
the control module controls the self-moving equipment to retreat for a set distance and then stops retreating, and controls the self-moving equipment to turn and continue to advance for searching the boundary line;
the self-moving equipment finds the boundary line again, the control module controls the self-moving equipment to turn, the advancing direction of the self-moving equipment is opposite to the returning direction, and the self-moving equipment is controlled to reversely walk along the boundary line for a preset distance.
Preferably, the control module controls the self-moving device to turn, specifically, the control module controls the self-moving device to turn in a direction opposite to the returning direction.
Preferably, in step S1, it is determined whether the self-moving device needs to return to the return base station according to whether the power of the battery of the self-moving device is detected to be lower than a set threshold, or whether a preset working time is detected to be reached, or whether rainfall weather is detected.
Preferably, in step S2, when the self-moving device needs to return to the returning base station, the control module controls the self-moving device to continue to advance according to the current position and direction until the boundary line is found.
Preferably, the self-moving device comprises a body, a left boundary signal detection device and a right boundary signal detection device are arranged on the body at intervals and used for sensing boundary signals generated by the boundary lines, and the control module judges the position relationship between the self-moving device and the boundary lines according to the boundary signals detected by the left and right boundary signal detection devices.
Preferably, the left and right boundary signal detection devices are respectively arranged on the left and right sides of the center line of the body.
Preferably, when the boundary signals detected by the left and right boundary signal detection devices are both boundary internal signals, the control module controls the self-moving device to keep moving forward.
Preferably, when one of the boundary signals detected by the left and right boundary signal detection devices is an inner boundary signal and the other is an outer boundary signal, the control module determines that the self-moving device finds the boundary line.
Preferably, the returning direction is a counterclockwise direction, and the step of controlling the self-moving device to travel in the returning direction by the control module is to adjust the adjusting direction of the self-moving device according to the control module to keep the boundary signal detected by the left boundary signal detection device as an inner boundary signal and the boundary signal detected by the right boundary signal detection device as an outer boundary signal; and the step of controlling the self-moving equipment to reversely walk along the boundary line by the control module is to adjust the traveling direction of the self-moving equipment according to the control module so as to keep the boundary signal detected by the left boundary signal detection device as an out-boundary signal and the boundary signal detected by the right boundary signal detection device as an in-boundary signal.
Has the advantages that: according to the embodiment of the invention, the trouble that the self-moving equipment is clamped at the returning base station and manual contact with obstacles is required is avoided.
Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the invention and, together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of a regression path of a control method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a regression path of a control method according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of another regression path of the control method shown in FIG. 2.
Detailed Description
Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, procedures, components, and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present invention. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Example 1
Fig. 1 is a schematic diagram of a return path from a mobile device 100 according to an embodiment of the invention. The working area 500 of the self-moving device 100 provided by the present embodiment is defined by the boundary 300 connected to the regression base station 200, the boundary 300 is connected to the regression base station 200 to form a loop, and the self-moving device 100 moves and works in the working area 500 defined by the boundary 300. The control method of the regression path comprises the following steps:
s1, it is detected whether the self-moving device 100 needs to return to the returning base station 200. The autonomous mobile device 100 autonomously travels a random route in a specific work area 500, and performs mowing work on the work area 500 to which the autonomous mobile device has traveled.
In step S1, the detection of whether the self-moving device 100 needs to return to the returning base station 200 is performed in real time, and may be performed by periodically detecting whether the self-moving device 100 needs to return to the returning base station 200, or setting a trigger condition, and detecting whether the self-moving device 100 needs to return to the returning base station 200, that is, determining by detecting whether the trigger condition is satisfied. In this embodiment, when the detected battery voltage of the self-moving device 100 is lower than the program set value, it is determined that the self-moving device 100 needs to return to the return base station 200. In a preferred embodiment, the step of detecting whether the mobile device 100 needs to return to the returning base station 200 is determined according to whether a preset operation time is detected to be reached, and the preset operation time may be 3 hours, 2 hours, 1 hour, and the like. Or based on detecting the energy of the energy storage unit (e.g. when the electric quantity is lower than a preset value (preferably, when the voltage of the energy storage unit is lower than a preset voltage), triggering regression). In another preferred embodiment, the step of detecting whether the mobile device 100 needs to return to the return base station 200 is based on whether rainfall weather is detected, for example, in response to a rain sensor or the like.
S2, when the self-moving device 100 needs to return to the returning base station 200, the control module controls the self-moving device 100 to search the boundary line 300. In the case where it is determined in step S1 that the self-moving apparatus 100 needs to return to the return base station 200, the control module controls the auto-seek boundary line 300 of the self-moving apparatus 100. Specifically, the control module controls the mobile device 100 to continue to advance according to the current position and direction until the boundary line 300 is found.
S3, after the self-moving device 100 finds the boundary line 300, the control module controls the self-moving device 100 to walk along the boundary line 300 in the reverse direction for a preset distance. Specifically, the control module controls the self-moving device 100 to walk backward along the boundary line 300 for a preset distance in the direction b opposite to the return direction.
And S4, after the self-moving equipment 100 reversely walks along the boundary line 300 for a preset distance, the control module controls the self-moving equipment 100 to turn around and drive according to the regression direction a until the self-moving equipment reaches the regression base station 200. The self-moving device 100 initially finds the position of the boundary line 300, travels backward for a preset distance along the boundary line 300, turns around for 180 degrees, and travels in the return direction a until reaching the return base station 200, and performs charging or waits for the next operation.
In another embodiment, referring to fig. 1, in step S3, after the mobile device 100 returns to the initial position D1 and the boundary line 300 is found from the mobile device 100, the control module controls the mobile device 100 to turn to make the traveling direction of the mobile device opposite to the returning direction a, i.e. the direction b shown in the figure, and controls the mobile device 100 to travel a preset distance in the opposite direction (direction b) of the boundary line 300.
After the self-moving device 100 finds the boundary line 300, it may go right to the returning base station 200 to find the boundary line 300, and the self-moving device 100 cannot recognize that it is blocked by the returning base station 200, and always executes the instruction of walking along the boundary line, that is, the wheels are rotating, but the self-moving device 100 is not moving. Referring to fig. 1, in the method for controlling a return path provided by this embodiment, when the position D1 of the self-moving device 100 in fig. 1 is a return initial position and reaches the boundary line 300, that is, the position D2, the control module controls the self-moving device 100 to turn, adjusts the posture, makes the traveling direction of the automatic moving device be the direction b opposite to the return direction a, and controls the self-moving device 100 to travel a preset distance in the reverse direction along the boundary line 300 to reach the position D3. Here, the backward walking means a direction opposite to the returning direction a from the mobile device 100, that is, the illustrated direction b. The boundary line 300 connects with the returning base station 200 to form a loop, and allows the returning from the mobile device 100 to the returning base station 200 along the boundary line 300 in the returning direction a.
In step S4, please continue to refer to fig. 1, in this embodiment, the mobile device 100 travels a predetermined distance in a reverse direction along the boundary line 300 to reach the position D3, the control module controls the mobile device 100 to turn around, i.e., turn around 180 ° in situ, and then the control module controls the mobile device 100 to turn around to travel along the return direction a along the boundary line 300, pass through the position D4, and reach the return base station 200.
In another embodiment, referring to FIG. 2, similar to the previous embodiment, the differences are described in detail below. In the embodiment shown in fig. 2, the position D1 of the self-moving apparatus 100 is a returning initial position, and when the boundary line 300 is reached, that is, the position D2, the control module controls the self-moving apparatus 100 to retreat by a set distance and then stops the retreat, and then turns to continue searching for the boundary line 300, and finds the boundary line 300 again at the position D2', and the control module controls the self-moving apparatus 100 to turn to make the traveling direction of the self-moving apparatus opposite to the returning direction a, and controls the self-moving apparatus 100 to reversely walk along the boundary line 300 by a preset distance to reach the position D3. Fig. 3 shows a schematic diagram of a path just at the returning base station 200 when the returning path from the mobile device 100 finds the boundary line 300. The autonomous moving apparatus reaches the boundary line 300, i.e., the position D2, and the returning base station 200 is located right at the position D2, the control module controls the autonomous moving apparatus 100 to reverse, then turn, and re-search for the boundary line 300 to reach the position D2', and like the above-mentioned control method, the control module controls the autonomous moving apparatus 100 to turn, adjust the direction b so that the traveling direction of the autonomous moving apparatus is opposite to the returning direction a, and controls the autonomous moving apparatus 100 to reversely travel along the boundary line 300 for a preset distance to reach the position D3. This return path avoids the trouble of requiring manual contact with obstacles since the mobile device 100 is stuck at the return base station 200. Specifically, since the mobile device 100 has found the boundary line 300 again at the position D2', the control module controls the mobile device 100 to turn in the direction opposite to the return direction a.
As described above, in the path regression method from the mobile device 100, the signal regresses along the boundary line 300 when the signal regresses from the mobile device 100. The self-moving apparatus 100 includes a body provided with a boundary signal detecting device for sensing a boundary signal generated from the boundary line 300. Specifically, the boundary signal detection device includes a left boundary signal detection device 101 and a right boundary signal detection device 101 'disposed at an interval on the body, and the control module determines the position relationship between the mobile device 100 and the boundary line 300 according to the boundary signals detected (101, 101') by the left and right boundary signal detection devices. Here, the positional relationship includes the position of the self-moving apparatus 100 within the boundary line 300 or outside the boundary line 300, that is, whether the self-moving apparatus 100 is within the operating region 500 or outside the operating region 500, and the relationship of the traveling direction of the self-moving apparatus 100 and the return direction a of the return base station 200.
Specifically, left and right boundary signal detecting means (101, 101') are provided on the left and right sides of the center line of the body of the mobile device 100, respectively. The boundary line detecting means receives an in-boundary line signal when within the boundary line 300, receives an out-boundary line signal when outside the boundary line 300, the in-boundary line signal and the out-boundary line signal having different polarities, and the self-moving apparatus 100 determines whether the self-moving apparatus finds the boundary line 300 or not according to the polarities of the boundary signals detected by the left and right boundary signal detecting means (101, 101'), and whether the traveling direction of the self-moving apparatus 100 is the same as or opposite to the returning direction a. Specifically, when the polarities of the boundary signals detected by the left and right boundary signal detecting means are opposite, it is determined that the self-moving apparatus 100 has reached the boundary line 300. That is, when one of the boundary signals detected by the left and right boundary signal detecting means is an inner boundary signal and the other is an outer boundary signal, the control module determines that the boundary line 300 is found from the mobile device 100. When the boundary signals detected by the left and right boundary signal detection devices are both boundary internal signals, the control module determines that the mobile device 100 is in the working area 500, and controls the mobile device 100 to keep moving forward.
In this embodiment, the returning base station 200 allows the self-mobile device 100 to return counterclockwise, that is, the returning direction a is counterclockwise. The specific steps of the control module controlling the self-moving device 100 to reversely walk along the boundary line 300 for the preset distance are as follows: when the left boundary line detection device receives a signal outside the boundary line 300 and the right boundary line detection device receives a signal inside the boundary line 300, the self-moving device 100 travels in a direction opposite to the return direction a, and the control module controls the automatic traveling device to start traveling in the reverse direction along the boundary line 300 and adjust the rotation speed of the two rear wheels at any time, so that the left boundary line detection device keeps receiving the signal outside the boundary line 300 and the right boundary line detection device keeps receiving the signal inside the boundary line 300. After keeping the state and walking reversely for the preset distance, the mobile device 100 reaches the position D3, the control module controls the mobile device 100 to turn around, namely turn 180 degrees in situ, walk clockwise along the boundary line 300, namely walk along the return direction a, and adjust the rotating speed of the two rear wheels at any time, so that the right boundary line detection device keeps receiving the signal outside the boundary line 300, and the left boundary line detection device keeps receiving the signal inside the boundary line 300. The self-moving device 100 keeps walking along the boundary line 300 until reaching the returning base station 200.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Before describing in detail embodiments that are in accordance with the present invention, it should be observed that the embodiments reside primarily in combinations of steps and system components related to a method and system for regressing path control from a mobile device 100. Accordingly, the system components and method steps have been represented where appropriate by conventional symbols in the drawings, showing only those details that are pertinent to understanding the embodiments of the present invention so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.
For purposes of the present disclosure, the term "self-moving device 100" is defined broadly to include any device, apparatus or system having independent operation, including but not limited to a smart lawn mower or the like. When the mobile device 100 is an intelligent lawn mower, it includes a mowing motor for driving the mowing tool to move, a driving motor for driving the mowing tool to move, and an energy storage unit (rechargeable lithium battery, fuel cell, etc.) for supplying driving energy to the motor. Furthermore, the term "regression base station 200" is also broadly defined, including but not limited to charging stations or rest stations. In addition, the term "boundary line 300" includes, but is not limited to, a conductive line.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.
Claims (10)
1. A method for controlling a return path of an autonomous mobile device, the autonomous mobile device having an operating area defined by a boundary line, the boundary line being connected to a return base station to form a loop, the method comprising:
s1, detecting whether the self-moving equipment needs to return to the regression base station;
s2, when the self-moving equipment needs to return to the returning base station, the control module controls the self-moving equipment to search a boundary line;
s3, after finding the boundary line, the self-moving equipment is controlled by the control module to reversely walk along the boundary line for a preset distance;
and S4, after the self-moving equipment reversely walks for a preset distance along the boundary line, the control module controls the self-moving equipment to turn in place by 180 degrees and to run along the regression direction of the boundary line until the self-moving equipment reaches the regression base station.
2. The control method according to claim 1, wherein the step of the control module controlling the self-moving apparatus to reversely walk along the boundary line by a preset distance in step S3 includes:
the self-moving equipment finds the boundary line, and the control module controls the self-moving equipment to turn so that the traveling direction of the self-moving equipment is opposite to the returning direction;
and controlling the self-moving equipment to reversely walk along the boundary line for a preset distance.
3. The control method according to claim 1, wherein the step of the control module controlling the self-moving apparatus to reversely walk along the boundary line by a preset distance in step S3 includes:
the self-moving equipment finds the boundary line, and the control module controls the self-moving equipment to retreat;
the control module controls the self-moving equipment to retreat for a set distance and then stops retreating, and controls the self-moving equipment to turn and continue to advance for searching the boundary line;
the self-moving equipment finds the boundary line again, the control module controls the self-moving equipment to turn, the advancing direction of the self-moving equipment is opposite to the returning direction, and the self-moving equipment is controlled to reversely walk along the boundary line for a preset distance.
4. The control method according to claim 3, wherein the control module controls the autonomous moving device to turn, in particular, the control module controls the autonomous moving device to turn in a direction opposite to the return direction.
5. The control method according to claim 1, characterized in that: in step S1, it is determined whether the self-moving device needs to return to the return base station according to whether the power of the battery of the self-moving device is detected to be lower than a set threshold, whether a preset working time is reached, or whether rainfall weather is detected.
6. The control method according to claim 1, characterized in that: in step S2, when the self-moving device needs to return to the returning base station, the control module controls the self-moving device to continue to advance according to the current position and direction until the boundary line is found.
7. The control method according to claim 1, characterized in that: the self-moving equipment comprises a machine body, wherein a left boundary signal detection device and a right boundary signal detection device are arranged on the machine body at intervals and used for sensing boundary signals generated by the boundary lines, and the control module judges the position relation between the self-moving equipment and the boundary lines according to the boundary signals detected by the left boundary signal detection device and the right boundary signal detection device.
8. The control method according to claim 7, characterized in that: and when the boundary signals detected by the left and right boundary signal detection devices are boundary internal signals, the control module controls the self-moving equipment to keep moving forward.
9. The control method according to claim 7, characterized in that: when one of the boundary signals detected by the left and right boundary signal detection devices is an inner boundary signal and the other is an outer boundary signal, the control module judges that the self-moving equipment finds the boundary line.
10. The control method according to claim 7, characterized in that: the step of controlling the self-moving equipment to travel in the return direction by the control module is to adjust the adjustment direction of the self-moving equipment according to the control module so as to keep the boundary signal detected by the left boundary signal detection device as an inner boundary signal and the boundary signal detected by the right boundary signal detection device as an outer boundary signal; and the step of controlling the self-moving equipment to reversely walk along the boundary line by the control module is to adjust the traveling direction of the self-moving equipment according to the control module so as to keep the boundary signal detected by the left boundary signal detection device as an out-boundary signal and the boundary signal detected by the right boundary signal detection device as an in-boundary signal.
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| WO2021244594A1 (en) * | 2020-06-03 | 2021-12-09 | 格力博(江苏)股份有限公司 | Automatic lawn mower and path planning method, system, and device thereof |
| CN113835424A (en) * | 2020-06-23 | 2021-12-24 | 莱克电气绿能科技(苏州)有限公司 | Automatic walking equipment, system, regression control method and device |
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