CN111796598A - Automatic walking equipment, control method and system thereof and storage medium - Google Patents
Automatic walking equipment, control method and system thereof and storage medium Download PDFInfo
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- CN111796598A CN111796598A CN202010687149.7A CN202010687149A CN111796598A CN 111796598 A CN111796598 A CN 111796598A CN 202010687149 A CN202010687149 A CN 202010687149A CN 111796598 A CN111796598 A CN 111796598A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004590 computer program Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000003203 everyday effect Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 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, 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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention provides automatic walking equipment, a control method and a system thereof and a storage medium, wherein the control method comprises the following steps: confirming whether the working area comprises at least two sub-working areas which are communicated by a channel and are separated by the channel; if yes, calculating the range of each sub-working area; distributing preset working time of each sub-working area according to the range of each sub-working area; and controlling the automatic walking equipment to walk and work in the sub-working area according to the preset working time. The range of the working area is calculated and compared, so that the preset working time of each sub-working area is calculated, the working time of the working area is uniformly distributed, the automatic walking equipment is controlled to walk and work according to the preset working time, all working intervals can be traversed by the automatic walking equipment in the working process, repeated traversal cannot be caused, and the traversal uniformity of the sub-working areas at two ends of the channel is ensured.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to automatic walking equipment, a control method and a control system thereof and a storage medium.
Background
With the continuous progress of computer technology and artificial intelligence technology, the automatic walking equipment and the automatic walking system of the intelligent robot have slowly entered the lives of people, such as an intelligent sweeping robot, an intelligent mowing robot and the like. Generally, such an intelligent robot is small in size, integrates a sensing device, a driving device, a battery and the like, does not need manual operation, and can travel and work in a specified area. And when the electric quantity of the battery is insufficient, the battery can automatically return to the charging station, is in butt joint with the charging station and is charged, and continues to move and work after charging is finished.
In the prior art, a mowing robot usually traverses a lawn in multiple random modes, and can basically cover a lawn area comprehensively after traversing in the multiple random modes. However, the traversal method is inefficient, requires multiple traversals to fully cover, and may cause uneven traversal. Moreover, because the shapes of the lawn areas are different, a lot of obstacles exist in the lawn, and if a narrow channel exists in the lawn, the traversing times of the robot in the lawn area where the charging station is located are far more than those in the lawn area on the other side of the narrow channel, so that serious uneven traversing is caused.
Therefore, it is necessary to design an automatic walking apparatus, a control method and system thereof, and a storage medium, which can make traversal more uniform in a lawn area having a narrow passage.
Disclosure of Invention
In order to solve one of the above problems, the present invention provides a control method for an automatic walking device, including:
confirming whether the working area comprises at least two sub-working areas which are communicated by a channel and are separated by the channel;
if yes, calculating the range of each sub-working area;
distributing preset working time of each sub-working area according to the range of each sub-working area;
and controlling the automatic walking equipment to walk and work in the sub-working area according to the preset working time.
As a further improvement of the present invention, the step of "confirming whether the working area includes at least two sub-working areas which are communicated by the channel and are separated by the channel" includes:
controlling automatic walking equipment to walk along the edge of a working area, and detecting a beacon in the walking process, wherein the beacon is arranged in a channel or near the channel in advance;
and if the beacon is detected, judging that the working area comprises at least two sub-working areas which are communicated by the channel and are separated by the channel.
As a further improvement of the present invention, the control method further includes: and controlling the automatic walking equipment to detect the beacon in the working process of the current sub-working area according to the preset working time of the current sub-working area, and returning to the current sub-working area after the beacon is detected.
As a further improvement of the present invention, the step of determining that the working area includes a plurality of sub-working areas which are communicated by the channel and are separated by the channel if the beacon is detected includes:
if the same beacon is detected twice, marking the channel where the two beacons are located as the same channel.
As a further improvement of the present invention, the step of "confirming whether the working area includes at least two sub-working areas which are communicated by the channel and are separated by the channel" includes before:
and acquiring information of at least two sub-working areas which are communicated by the channel and are separated by the channel in the working area through human-computer interaction.
As a further refinement of the present invention, the step of "allocating predetermined operating times of the respective sub-operating regions according to the ranges of the respective sub-operating regions" includes:
calculating the area proportion among the sub-working areas;
acquiring the total working time of the automatic walking equipment in unit time;
and distributing the total working time according to the area proportion to form preset working time.
As a further improvement of the present invention, the step of "controlling the automatic traveling apparatus to travel and operate in the sub-work area according to the predetermined operation time" includes:
controlling the automatic walking equipment to walk in the same sub-working area and work until the preset working time in the sub-working area is finished;
controlling the automatic walking equipment to pass through the channel to reach the other sub-working area;
and controlling the automatic walking device to walk in the other sub-working area and work until the preset working time in the other sub-working area is finished.
In order to solve one of the above problems, the present invention further provides an automatic walking device, including a body, a walking module, a power module, a memory and a processor, which are arranged in the body, wherein the memory stores a computer program capable of running on the processor, and the automatic walking device further includes a beacon detection device arranged on the body; the steps of the control method of the automatic walking device as described above can be implemented by the processor when the computer program is executed.
In order to solve one of the above problems, the present invention further provides an automatic traveling system, including a charging station, and the system further includes the automatic traveling device described above, where the automatic traveling device starts to operate from the charging station and returns to the charging station when the operation is completed or charging is required.
In order to solve one of the above problems, the present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, can implement the steps in the control method of an automatic walking device as described above.
Compared with the prior art, the invention provides automatic walking equipment, a control method and a control system thereof and a storage medium, wherein the working area range is calculated and compared, so that the preset working time of each sub-working area is calculated, the working time of the working area is uniformly distributed, and the automatic walking equipment is controlled to walk and work according to the preset working time, so that the automatic walking equipment can traverse all working intervals in work, repeated traversal cannot be caused, and the traversal uniformity of the sub-working areas at two ends of a channel is ensured.
Drawings
FIG. 1 is a schematic view of an automated walking system in one embodiment of the present invention;
FIG. 2(a) is a schematic view of an automated walking system in another embodiment of the present invention;
FIG. 2(b) is a schematic view of an automated walking system in another embodiment of the present invention;
fig. 3 is a flowchart illustrating a control method of the automatic walking apparatus.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the various illustrations of the present application, certain dimensions of structures or portions may be exaggerated relative to other structures or portions for ease of illustration and, thus, are provided to illustrate only the basic structure of the subject matter of the present application.
The automatic walking device 1 of the present invention may be an automatic mower, or an automatic dust collector, a snow sweeper, a golf course ball picker, etc., which automatically walks in the working area 100 to perform the work of mowing, dust collecting, snow sweeping, ball picking, etc., in the specific example of the present invention, the automatic walking device 1 is taken as an example of a mower for specific explanation, and correspondingly, the working area 100 may be a lawn. Of course, the automatic walking device 1 is not limited to a lawnmower, a vacuum cleaner, and the like, and may be other devices such as a spraying device, a monitoring device, and the like suitable for unattended operation.
As shown in fig. 1 to 3, in the present invention, there is provided a control method of an automatic walking apparatus 1, the control method including:
confirming whether the working area 100 includes at least two sub-working areas 22 communicated by the passage 21 and spaced apart by the passage 21;
if yes, calculating the range of each sub-working area 22;
allocating a predetermined operating time of each sub-operating region 22 according to the range of each sub-operating region 22;
and controlling the automatic walking device 1 to walk and work in the sub-work area 22 according to the preset work time.
Since the automatic traveling apparatus 1 travels in the work area 100 where the passage 21 is provided, the automatic traveling apparatus 1 easily performs the repetitive traversal in the sub-work area 22 at one end of the passage 21. Therefore, in the present invention, the ranges of the working areas 100 are calculated and compared, so as to calculate the predetermined working time of each sub-working area 22, uniformly distribute the working time of the working areas 100, and control the automatic traveling device 1 to travel and work according to the predetermined working time, so that it is ensured that the automatic traveling device 1 can traverse all working intervals during work, and no repeated traversal is caused, and the traversal uniformity of the sub-working areas 22 at both ends of the channel 21 is ensured. The range of the sub-working area 22 can be represented by its area, perimeter, diagonal, etc., and all can achieve the purpose of the present invention.
As shown in fig. 1 to 2, the working area 100 includes sub-working areas 22 and a passage 21 connected between the sub-working areas 22.
Two embodiments are provided to confirm whether the passage 21 is provided in the working area 100.
In the first embodiment, the step "confirming whether the working area 100 includes at least two sub-working areas 22 communicated by the passage 21 and spaced apart by the passage 21" includes:
controlling the automatic walking device 1 to walk along the edge of the working area 100, and detecting a beacon 211 in the walking process, wherein the beacon 211 is arranged in the channel 21 or near the channel 21 in advance;
if the beacon 211 is detected, it is determined that the working area 100 includes at least two sub-working areas 22 connected by a channel 21 and separated by the channel 21.
If the working area 100 is as shown in fig. 1, a narrow passage 21 is shown in fig. 1, and two sub-working areas 22 are connected to two ends of the narrow passage 21. A beacon 211 is provided within or near the area of the channel 21, such as beacon 211 is provided within, on the edge of, or adjacent to the channel 21. If the automatic walking device 1 walks along the edge of the working area 100, the beacon 211 is inevitably detected, and it can be determined that the channel 21 is arranged in the working area 100, and the working area 100 includes at least two sub-working areas 22 which are communicated by the channel 21 and are separated by the channel 21. And in a subsequent process, in a specific embodiment, an electronic map of the working area 100 may be drawn by the automatic walking device 1 walking along the edge of the working area 100, and the position of the passage 21 may be marked on the electronic map.
In addition, in actual operation, the automatic walking device 1 will always walk in the sub-work area 22 within the preset work time of the current sub-work area 22, and will not go to other sub-work areas 22. Therefore, the control method further includes:
and controlling the automatic walking device 1 to detect the beacon 211 in the process of working in the current sub-working area 22 according to the preset working time of the current sub-working area 22 in which the automatic walking device is positioned, and returning to the current sub-working area 22 after detecting the beacon 211.
Thus, it is possible to ensure that the automatic walking device 1 always operates in the current sub-work area 22 within the predetermined operation time of the current sub-work area 22, and does not go to other sub-work areas 22.
Of course, if a plurality of channels 21 are provided in the work area 100, the beacons 211 are detected twice or more while the automatic walking device 1 walks along the edge, and the order of detecting the beacons 211 is also different. As shown in fig. 2(a), the self-propelled device 1 travels from the charging station 3 along the edge and passes through the points a, b, c, and d, respectively, and then it can be seen that it passes through the same channel 21 for the first time and the fourth time, and passes through the same channel 21 for the second time and the third time. On the other hand, if the automatic traveling apparatus 1 travels from the charging station 3 along the edge and passes through the points a, b, c, and d, respectively, as shown in fig. 2(b), the first and second passes through the same passage 21, and the third and fourth passes through the same passage 21. If the information represented by the beacon 211 is the same, the recognition of the channel 21 by the automatic walking device 1 is affected.
The step "if the beacon 211 is detected, determining that the channel 21 is provided in the working area 100" includes:
if the same beacon 211 is detected twice, the channel 21 where the beacons 211 of the two times are located is marked as the same channel 21.
Since the beacons 211 may have different kinds or contain different information, the same beacon 211, i.e., the representative beacon 211, has the same kind or contains the same identification information, and the different beacons 211, i.e., the representative beacons 211, have different kinds or contain different identification information.
Therefore, different beacons 211 are arranged in or near the areas of different channels 21, and the automatic walking device 1 can detect these beacons 211 and acquire corresponding categories or identification information in the process of walking along the edge, so that it can be determined whether the channels 21 passing through before and after are the same channel 21. The same channel 21 is marked as the channel 21 where the beacon 211 having the same identification information or the same kind is located.
The beacon 211 may be at least one of an RFID, a color code, a two-dimensional code, or a magnetic nail. Wherein, RFID, color code and two-dimensional code all can set up different identification information. And the magnetic pin may not be provided with the identification information, the automatic walking device 1 may perform the magnetic pin identification and map the work area 100. Or, if there are two channels 21, one channel 21 is provided with a magnetic nail, and the other channel 21 is provided with an RFID or color code or two-dimensional code, etc., the purpose of the present invention can be achieved as well.
Alternatively, in the second embodiment, the step "confirming whether the working area 100 includes at least two sub-working areas 22 communicated by the channel 21 and spaced apart by the channel 21" includes:
information of at least two sub-working areas 22 which are communicated by a passage 21 and are separated by the passage 21 in the working area 100 is obtained through man-machine interaction.
Then, the user may interact with the automatic walking device 1 directly on the human-machine interface of the automatic walking device 1 or the corresponding APP, so as to set the channel 21 in the work area 100 by the user, and may further mark the position of the channel 21 on the map after establishing the map of the work area 100.
Further, the step of "allocating the predetermined operation time of each sub-operation region 22 according to the range of each sub-operation region 22" includes:
calculating the area ratio between the sub-working regions 22;
acquiring the total working time of the automatic walking equipment 1 in unit time;
and distributing the total working time according to the area proportion to form preset working time.
In the present invention, in order to make the traversal uniform, the predetermined operation time of each sub-operation region 22 is allocated according to the area ratio of each sub-operation region 22. Specifically, in the present embodiment, the ratio between the predetermined operation times of the respective sub-operation regions 22 is matched with the corresponding area ratio.
For example, in fig. 1, the area ratio between the first sub-operation region 221 and the second sub-operation region 222 is 5.5: 4.5, the automatic walking device 1 needs to walk and work in the first sub-work area 221 in 55% of the total work duration in unit time, and walk and work in the second sub-work area 222 in 45% of the total work duration in unit time. If the unit time is 4 days, and the automatic walking device 1 operates in cycles of charging for 1 hour and operating for 1 hour every day, and five cycles are repeated every day, the operation time of the automatic walking device 1 is 5 hours every day, and the total operation time within 4 days is 20 hours. As described above, the predetermined operating time allocated to the first sub-operating region 221 by the automatic walking device 1 is 11 hours, and the predetermined operating time allocated to the second sub-operating region 222 is 9 hours.
Then, the daily work hours may be further allocated according to the predetermined work hours. For example, the predetermined operating time of the first sub-operating region 221 for the four days may be allocated as 4h, 2h, 3h, and the predetermined operating time of the second sub-operating region 222 for the four days may be allocated as 1h, 3h, 2 h. Of course, if the distribution is performed in other manners, the object of the present invention can be achieved as long as the total working duration of each sub-working area 22 in the four days can be guaranteed to reach the standard, and the working duration of each day can also reach 5 h.
Of course, the unit time may be one day, one week, one month, etc.
Further, the step of "controlling the automatic traveling apparatus 1 to travel and operate within the sub-operation area 22 according to the predetermined operation time" includes:
controlling the automatic walking device 1 to walk and work in the same sub-working area 22 until the preset working time in the sub-working area 22 is finished;
controlling the automatic walking device 1 to pass through the channel 21 to reach the other sub-working area 22;
the automatic walking device 1 is controlled to walk and work in the other sub-work area 22 until the predetermined work time in the other sub-work area 22 is completed.
That is, also in fig. 1 as an example, the automatic walking device 1 is operated in the first sub-operation area 221 after being charged, and is directly operated for 4 hours in the first day. After the work of the first sub-work area 221 is completed, it passes through the channel 21, reaches the second sub-work area 222, and continues to work for 1 h. Similarly, the second to fourth days are also similar.
Of course, the object of the present invention can also be achieved if the automatic traveling device 1 operates in one sub-working area 22 in one unit time, and does not pass through the passage 21 to operate in another sub-working area 22 until the predetermined operating time of the sub-working area 22 is completed.
The invention also provides automatic walking equipment 1, which comprises a body, a walking module, a power supply module, a memory and a processor, wherein the memory and the processor are arranged in the body, the memory stores a computer program which can run on the processor, and the automatic walking equipment 1 further comprises a beacon detection device arranged on the body; the steps of the control method of the automatic walking device 1 as described above can be implemented by the processor when executing the computer program. As described above, the body of the automatic walking device 1 is provided with the beacon detection device, so that the beacon 211 can be detected during the course of traveling along the edge, and information such as the channel 21 and the map can be further obtained.
The invention also provides an automatic traveling system which comprises a charging station 3 and the automatic traveling equipment 1, wherein the automatic traveling equipment 1 starts to work from the charging station 3 and returns to the charging station 3 when the work is finished or the charging is needed.
Also, the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, can implement the steps in the control method of the automatic walking device 1 as described above. That is, the processor, when executing the computer program, may implement the steps of the control method of any one of the embodiments of the automatic walking device 1 as described above.
In summary, in the present invention, a map and a range of a working area 100 are calculated and compared, so as to calculate a predetermined working time of each sub-working area 22 at two ends of a channel 21, uniformly distribute the working time of the working area 100, and control the automatic walking device 1 to walk and work according to the predetermined working time, thereby ensuring that the automatic walking device 1 can traverse all working intervals during work, and not causing repeated traversal, and ensuring the traversal uniformity of the sub-working areas 22 at two ends of the channel 21.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. A control method of an automatic walking device, characterized by comprising:
confirming whether the working area comprises at least two sub-working areas which are communicated by a channel and are separated by the channel;
if yes, calculating the range of each sub-working area;
distributing preset working time of each sub-working area according to the range of each sub-working area;
and controlling the automatic walking equipment to walk and work in the sub-working area according to the preset working time.
2. The control method of an automatic walking device according to claim 1, wherein the step of "confirming whether the working area includes at least two sub-working areas which are communicated by a passage and spaced apart by said passage" comprises:
controlling automatic walking equipment to walk along the edge of a working area, and detecting a beacon in the walking process, wherein the beacon is arranged in a channel or near the channel in advance;
and if the beacon is detected, judging that the working area comprises at least two sub-working areas which are communicated by the channel and are separated by the channel.
3. The control method of an automatic walking apparatus according to claim 2, characterized in that said control method further comprises:
and controlling the automatic walking equipment to detect the beacon in the working process of the current sub-working area according to the preset working time of the current sub-working area, and returning to the current sub-working area after the beacon is detected.
4. The control method of the automatic walking device according to claim 2, wherein the step of determining that the working area includes a plurality of sub-working areas which are connected by channels and are separated by the channels if the beacon is detected comprises:
if the same beacon is detected twice, marking the channel where the two beacons are located as the same channel.
5. The control method of the automatic walking device according to claim 1, wherein the step of "confirming whether the working area includes at least two sub working areas which are communicated by a channel and are separated by the channel" comprises:
and acquiring information of at least two sub-working areas which are communicated by the channel and are separated by the channel in the working area through human-computer interaction.
6. The control method of an automatic walking device according to claim 1, wherein the step of "assigning the predetermined working time of each sub-working area according to the range of each sub-working area" comprises:
calculating the area proportion among the sub-working areas;
acquiring the total working time of the automatic walking equipment in unit time;
and distributing the total working time according to the area proportion to form preset working time.
7. The control method of the automatic traveling apparatus according to claim 1, wherein the step of controlling the automatic traveling apparatus to travel and operate within the sub-operation area according to the predetermined operation time comprises:
controlling the automatic walking equipment to walk in the same sub-working area and work until the preset working time in the sub-working area is finished;
controlling the automatic walking equipment to pass through the channel to reach the other sub-working area;
and controlling the automatic walking device to walk in the other sub-working area and work until the preset working time in the other sub-working area is finished.
8. An automatic walking device comprises a body, a walking module, a power supply module, a memory and a processor, wherein the memory and the processor are arranged in the body; the steps of the control method of the automatic walking device of any one of claims 1 to 7 can be implemented when said processor executes said computer program.
9. An automated walking system comprising a charging station, characterized in that the system further comprises the automated walking device of claim 8, starting from the charging station and starting to work, and returning to the charging station when work is completed or charging is required.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps in the control method of an automatic walking device according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010687149.7A CN111796598A (en) | 2020-07-16 | 2020-07-16 | Automatic walking equipment, control method and system thereof and storage medium |
| PCT/CN2020/123231 WO2022011876A1 (en) | 2020-07-16 | 2020-10-23 | Automatic traveling apparatus, control method for same, system, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010687149.7A CN111796598A (en) | 2020-07-16 | 2020-07-16 | Automatic walking equipment, control method and system thereof and storage medium |
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| CN111796598A true CN111796598A (en) | 2020-10-20 |
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| CN202010687149.7A Pending CN111796598A (en) | 2020-07-16 | 2020-07-16 | Automatic walking equipment, control method and system thereof and storage medium |
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| WO (1) | WO2022011876A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022011876A1 (en) * | 2020-07-16 | 2022-01-20 | 苏州科瓴精密机械科技有限公司 | Automatic traveling apparatus, control method for same, system, and storage medium |
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- 2020-10-23 WO PCT/CN2020/123231 patent/WO2022011876A1/en active Application Filing
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| US20080183349A1 (en) * | 2006-12-06 | 2008-07-31 | F Robotics Acquisitions Ltd. | Autonomous Robot |
| US20110295447A1 (en) * | 2010-05-25 | 2011-12-01 | Hung Shih-Che | Direction device and operation system utilizing the same |
| CN104460663A (en) * | 2013-09-23 | 2015-03-25 | 科沃斯机器人科技(苏州)有限公司 | Method for controlling cleaning robot through smart phone |
| CN111198559A (en) * | 2018-10-31 | 2020-05-26 | 苏州科瓴精密机械科技有限公司 | Control method and system of walking robot |
| CN111198557A (en) * | 2018-10-31 | 2020-05-26 | 苏州科瓴精密机械科技有限公司 | Control method and control system for walking robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022011876A1 (en) * | 2020-07-16 | 2022-01-20 | 苏州科瓴精密机械科技有限公司 | Automatic traveling apparatus, control method for same, system, and storage medium |
Also Published As
| Publication number | Publication date |
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| WO2022011876A1 (en) | 2022-01-20 |
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