CN110392870A - 自移动设备及其工作系统、识别方法、工作方法 - Google Patents

自移动设备及其工作系统、识别方法、工作方法 Download PDF

Info

Publication number
CN110392870A
CN110392870A CN201880005871.9A CN201880005871A CN110392870A CN 110392870 A CN110392870 A CN 110392870A CN 201880005871 A CN201880005871 A CN 201880005871A CN 110392870 A CN110392870 A CN 110392870A
Authority
CN
China
Prior art keywords
boundary line
mobile device
module
signal
automatic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201880005871.9A
Other languages
English (en)
Other versions
CN110392870B (zh
Inventor
达维德·多尔夫
伊曼纽尔·康蒂
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of CN110392870A publication Critical patent/CN110392870A/zh
Application granted granted Critical
Publication of CN110392870B publication Critical patent/CN110392870B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

一种在边界线(2)限定的工作区域(23)内移动的自移动设备(1)，其包括用于检测边界线信号的信号检测装置(11)、坐标获取模块及控制模块，控制模块包括预设的程序模块及处理模块，当信号检测装置(11)未检测到边界线信号时，自移动设备通过将坐标获取模块获取的位置坐标输入程序模块，得出自移动设备(1)是否在边界线(2)内的第一判断结果，处理模块根据所述第一判断结果控制自移动设备移动和工作；当信号检测装置(11)检测到边界线信号时，自移动设备(1)通过将所述信号检测装置(11)获取的边界线信号输入程序模块，得出自移动设备是否在边界线(2)内的第二判断结果，处理模块根据第二判断结果控制自移动设备(1)移动和工作。

Description

PCT国内申请，说明书已公开。

Claims (25)

  1. PCT国内申请，权利要求书已公开。
CN201880005871.9A 2017-11-16 2018-11-16 自移动设备及其工作系统、识别方法、工作方法 Active CN110392870B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201711138169 2017-11-16
CN2017111381693 2017-11-16
PCT/CN2018/115944 WO2019096260A1 (zh) 2017-11-16 2018-11-16 自移动设备及其工作系统、识别方法、工作方法

Publications (2)

Publication Number Publication Date
CN110392870A true CN110392870A (zh) 2019-10-29
CN110392870B CN110392870B (zh) 2023-11-10

Family

ID=66538895

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880005871.9A Active CN110392870B (zh) 2017-11-16 2018-11-16 自移动设备及其工作系统、识别方法、工作方法

Country Status (4)

Country Link
US (1) US11300975B2 (zh)
EP (1) EP3712738B1 (zh)
CN (1) CN110392870B (zh)
WO (1) WO2019096260A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112462767A (zh) * 2020-11-24 2021-03-09 苏州大可机械有限公司 检测边界线的断点位置的方法、装置及自行走设备
CN112699700A (zh) * 2020-12-15 2021-04-23 福建汉特云智能科技有限公司 一种基于射频技术的智能机器人定位系统及方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112578775A (zh) * 2019-09-12 2021-03-30 苏州宝时得电动工具有限公司 一种自动工作系统及其控制方法
CN112743534B (zh) * 2019-10-29 2022-09-06 苏州宝时得电动工具有限公司 自主机器人及其移动控制方法、装置和存储介质
CN113050620A (zh) * 2019-12-26 2021-06-29 南京德朔实业有限公司 自驱动设备系统及其边界线断线检测方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6025832A (en) * 1995-09-29 2000-02-15 Kabushiki Kaisha Toshiba Signal generating apparatus, signal inputting apparatus and force-electricity transducing apparatus
CN106292652A (zh) * 2015-05-14 2017-01-04 苏州宝时得电动工具有限公司 自动工作系统、自动工作设备及其识别出发位置的方法
CN107239074A (zh) * 2016-03-29 2017-10-10 苏州宝时得电动工具有限公司 自动工作系统及其工作区域的地图建立方法
CN107291077A (zh) * 2016-04-12 2017-10-24 苏州宝时得电动工具有限公司 自动工作系统，自移动设备及其控制方法
CN107305391A (zh) * 2016-04-21 2017-10-31 苏州宝时得电动工具有限公司 自动工作系统及其控制方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL113913A (en) * 1995-05-30 2000-02-29 Friendly Machines Ltd Navigation method and system
US5944132A (en) * 1995-07-20 1999-08-31 Golfpro International, Inc. Method and apparatus for controlling robotic golf caddy apparatus
US8706297B2 (en) * 2009-06-18 2014-04-22 Michael Todd Letsky Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same
US8838291B2 (en) * 2010-07-07 2014-09-16 Husqvarna Ab Communication and safety device for boundary aided systems
CN101916110B (zh) * 2010-08-11 2012-05-23 方正 一种清扫机器人和清扫机器人的行走控制方法
CN103197672A (zh) * 2012-01-05 2013-07-10 苏州宝时得电动工具有限公司 边界信号识别方法及其边界系统
CN103324191A (zh) * 2012-03-23 2013-09-25 苏州宝时得电动工具有限公司 控制方法及执行该控制方法的控制系统
JP5973608B1 (ja) * 2015-03-27 2016-08-23 本田技研工業株式会社 無人作業車の制御装置
CN106485876A (zh) * 2015-08-26 2017-03-08 苏州宝时得电动工具有限公司 虚拟边界实时自动识别的方法及系统
EP3452880A1 (en) * 2016-05-06 2019-03-13 MTD Products Inc. Autonomous mower navigation system and method
CN106325271A (zh) * 2016-08-19 2017-01-11 深圳市银星智能科技股份有限公司 智能割草装置及智能割草装置定位方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6025832A (en) * 1995-09-29 2000-02-15 Kabushiki Kaisha Toshiba Signal generating apparatus, signal inputting apparatus and force-electricity transducing apparatus
CN106292652A (zh) * 2015-05-14 2017-01-04 苏州宝时得电动工具有限公司 自动工作系统、自动工作设备及其识别出发位置的方法
CN107239074A (zh) * 2016-03-29 2017-10-10 苏州宝时得电动工具有限公司 自动工作系统及其工作区域的地图建立方法
CN107291077A (zh) * 2016-04-12 2017-10-24 苏州宝时得电动工具有限公司 自动工作系统，自移动设备及其控制方法
CN107305391A (zh) * 2016-04-21 2017-10-31 苏州宝时得电动工具有限公司 自动工作系统及其控制方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112462767A (zh) * 2020-11-24 2021-03-09 苏州大可机械有限公司 检测边界线的断点位置的方法、装置及自行走设备
CN112699700A (zh) * 2020-12-15 2021-04-23 福建汉特云智能科技有限公司 一种基于射频技术的智能机器人定位系统及方法
CN112699700B (zh) * 2020-12-15 2022-08-19 福建汉特云智能科技有限公司 一种基于射频技术的智能机器人定位系统及方法

Also Published As

Publication number Publication date
CN110392870B (zh) 2023-11-10
EP3712738A4 (en) 2021-09-15
WO2019096260A1 (zh) 2019-05-23
EP3712738A1 (en) 2020-09-23
EP3712738B1 (en) 2022-10-26
US11300975B2 (en) 2022-04-12
US20200278691A1 (en) 2020-09-03

Similar Documents

Publication Publication Date Title
CN110392870A (zh) 自移动设备及其工作系统、识别方法、工作方法
US11442448B2 (en) Self-moving device, method for providing alarm about positioning fault in same, self-moving device, and automatic working system
CN102811604B (zh) 用于将机器人园林工具引导至预定位置的方法和系统
CN102844722A (zh) 利用多个信号以一距离跟随引线的机器人园艺工具
US20210294348A1 (en) Self-moving device, automatic working system, and control method therefor
WO2018196806A1 (zh) 终端及其控制方法
CN111146826A (zh) 自移动设备、无线充电站、自动工作系统及其充电方法
CN103596635A (zh) 一种终端中无线保真器件的控制方法、装置及终端
CN104849695A (zh) 一种局部放电设备的定位方法及系统
CN104090571A (zh) 智能探测小车
CN109566065A (zh) 智能草坪护理机器人系统及其浇水方法
CN107229290B (zh) 无人机搜救系统及方法
US20230337577A1 (en) Automatic operation system
CN106383458A (zh) 一种电器设备的通用无线控制方法及系统
CN106707303A (zh) 一种穿戴式设备
CN103513752A (zh) 一种手势操作的方法、装置及系统
WO2019158090A1 (zh) 自动工作系统、自移动设备及其控制方法
WO2020256619A1 (en) Control signal sensing for a robotic working tool
US20220000018A1 (en) Marking of Features for a Robotic Lawnmower
US20230341868A1 (en) Mobile signal generator for a robotic working tool
CN110850858B (zh) 自移动设备和自移动设备的工作方法
CN114680741B (zh) 扫地控制方法、装置、存储介质及扫地机器人
CN109212468A (zh) 移动装置的方向定位系统及方法
CN115840440A (zh) 自移动机器人控制方法、装置、设备及可读存储介质
CN104699087A (zh) 一种障碍物检测系统

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant