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

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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
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China
Prior art keywords
boundary line
mobile device
module
signal
automatic
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CN201880005871.9A
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CN110392870B (zh
Inventor
达维德·多尔夫
伊曼纽尔·康蒂
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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    • 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

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  • 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)

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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

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

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

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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
CN114578803A (zh) * 2020-11-30 2022-06-03 莱克电气绿能科技(苏州)有限公司 自动行走设备及其回归控制方法

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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
CN113050620B (zh) * 2019-12-26 2024-06-18 南京泉峰科技有限公司 自驱动设备系统及其边界线断线检测方法

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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
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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

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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
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Cited By (4)

* 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
CN114578803A (zh) * 2020-11-30 2022-06-03 莱克电气绿能科技(苏州)有限公司 自动行走设备及其回归控制方法
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
EP3712738A1 (en) 2020-09-23
US20200278691A1 (en) 2020-09-03
US11300975B2 (en) 2022-04-12
WO2019096260A1 (zh) 2019-05-23
EP3712738A4 (en) 2021-09-15
EP3712738B1 (en) 2022-10-26
CN110392870B (zh) 2023-11-10

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