CN114510013A - Walking method and equipment of automatic walking equipment - Google Patents
Walking method and equipment of automatic walking equipment Download PDFInfo
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- CN114510013A CN114510013A CN202011147804.6A CN202011147804A CN114510013A CN 114510013 A CN114510013 A CN 114510013A CN 202011147804 A CN202011147804 A CN 202011147804A CN 114510013 A CN114510013 A CN 114510013A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000002457 bidirectional effect Effects 0.000 claims description 12
- 239000003550 marker Substances 0.000 claims description 5
- 239000000575 pesticide Substances 0.000 claims description 4
- 230000007480 spreading Effects 0.000 claims description 4
- 238000009331 sowing Methods 0.000 claims 1
- 241000196324 Embryophyta Species 0.000 description 16
- 230000000903 blocking effect Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 5
- 230000012447 hatching Effects 0.000 description 4
- 238000010899 nucleation Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 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
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Abstract
The application provides a walking method and equipment of automatic walking equipment, automatic walking equipment is including carrying out the work subassembly that corresponds work content, the work subassembly sets up the central axis one side of automatic walking equipment, its characterized in that, the walking method includes: setting boundary lines including a first boundary line along which the automatic traveling apparatus performs a two-way traveling operation in a predetermined work area, wherein the two-way traveling operation causes the automatic traveling apparatus to travel along the first boundary line in a first direction and a second direction opposite to the first direction, respectively, and to execute the corresponding work content. By adopting the technical scheme, the automatic walking equipment performs corresponding operation twice along the first boundary line in the first direction and the second direction opposite to the first direction, and can perform corresponding operation on the area close to the boundary line well.
Description
Technical Field
The application belongs to the field of automatic walking equipment, and particularly relates to a walking method and equipment of the automatic walking equipment.
Background
The automatic walking equipment is intelligent equipment capable of automatically maintaining the state of outdoor vegetation such as gardens, grasslands and the like, and can reduce a large amount of human resources.
The automatic walking equipment moves along a pre-planned path in an area surrounded by the boundary line or moves randomly in the area, and when the boundary line is detected in the walking process, the automatic walking equipment automatically moves back to the boundary line, so that a mowing blind area is caused in the area close to the boundary line. Particularly, if the area to be cut by the automatic walking device exists in a narrow channel, the automatic walking device may not only be able to completely clean the area to be cut due to the backspacing walking or random walking executed by the boundary line detection, but also even cause the problems of jamming, stopping and the like in the channel.
Disclosure of Invention
The application aims to provide a walking method and equipment of automatic walking equipment, so that the automatic walking equipment can pass through a narrow passage and perform corresponding operation in the narrow passage.
The application provides a walking method of automatic walking equipment, automatic walking equipment is including carrying out the work subassembly that corresponds work content, the work subassembly sets up central axis one side of automatic walking equipment, its characterized in that, the walking method includes:
setting boundary lines including a first boundary line within a predetermined work area, the automatic traveling apparatus performing a bidirectional traveling operation along the first boundary line,
wherein the bidirectional walking operation causes the automatic walking device to walk along the first boundary line in a first direction and a second direction opposite to the first direction, respectively, and to execute the corresponding work content.
Preferably, a first mark and a second mark are provided on the first boundary line, and the automatic walking apparatus performs the bidirectional walking operation between the first mark and the second mark along the first boundary line.
Preferably, the automatic walking device walks in a first direction along the first boundary line and executes the corresponding work content when detecting the first mark; the automatic walking device walks in a second direction opposite to the first direction along the first boundary line and executes the corresponding work content when detecting a second mark.
Preferably, the first borderline comprises a first and a second oppositely arranged sub-borderline,
if the automatic walking equipment moves along the boundary line in the first direction, the working component of the automatic walking equipment executes corresponding working content on the outer side of an area enclosed by the first sub-boundary line and the second sub-boundary line;
preferably, if the automatic traveling apparatus travels along the boundary line in the second direction, the working component of the automatic traveling apparatus executes corresponding working content inside an area surrounded by the first sub-boundary line and the second sub-boundary line.
Preferably, a distance between the first sub-boundary line and the second sub-boundary line has a portion smaller than a width of the automatic walking device.
Preferably, the distance between the first sub-borderline and the second sub-borderline is less than or equal to 2 meters.
Preferably, the walking method further comprises:
and the automatic walking equipment walks in an area surrounded by the first boundary line and executes the corresponding work content.
Preferably, the automatic walking device is an intelligent automatic walking device, and when walking in the area surrounded by the first boundary line, the automatic walking device plans a walking path.
Preferably, the corresponding work content includes: at least one of mowing, seeding, pesticide spreading and watering.
The present application further provides an automatic traveling apparatus, which employs the traveling method according to any one of the above technical solutions, and sets a boundary line in a predetermined working area, where the boundary line includes a first boundary line, and the automatic traveling apparatus includes:
and the walking control module controls the automatic walking equipment to execute bidirectional walking operation along the first boundary line, and the bidirectional walking operation enables the automatic walking equipment to walk along the first boundary line in a first direction and a second direction opposite to the first direction respectively and execute the corresponding work content.
Preferably, a first mark and a second mark are provided on the first boundary line, and the automatic walking apparatus performs a bidirectional walking operation between the first mark and the second mark along the first boundary line.
Preferably, the automatic walking device walks in a first direction along the first boundary line and executes the corresponding work content when detecting the first mark; the automatic walking device walks in a second direction opposite to the first direction along the first boundary line and executes the corresponding work content when detecting a second mark.
Preferably, the first boundary line comprises a first sub-boundary line and a second sub-boundary line which are oppositely arranged, the walking control module comprises a first walking control module,
the first walking control module enables the automatic walking device to travel along the first boundary line in the first direction, and the working component of the automatic walking device executes corresponding working content on the outer side of an area enclosed by the first sub-boundary line and the second sub-boundary line;
preferably, the walking control module comprises a second walking control module,
the second walking control module controls the automatic walking device to travel along the first boundary line in the second direction, and the working component of the automatic walking device executes corresponding working content on the inner side of an area enclosed by the first sub-boundary line and the second sub-boundary line.
By adopting the technical scheme, the automatic walking equipment can execute corresponding operation twice along the first boundary line in the first direction and the second direction opposite to the first direction, and can better execute corresponding operation on the working area close to the boundary line.
Drawings
Fig. 1 is a schematic view illustrating a predetermined work area of a walking method of an automatic walking apparatus according to a first embodiment of the present application.
Fig. 2 is a partially enlarged schematic view illustrating the traveling of the automatic walking device in the first direction according to the first embodiment of the present application.
Fig. 3 is a partially enlarged schematic view illustrating the traveling of the automatic walking device in the second direction according to the first embodiment of the present application.
Fig. 4 is a schematic view showing a mowing width of the automated walking device traveling in the first direction and the second direction according to the first embodiment of the present application.
Fig. 5 shows a schematic view of the automatic walking device traveling in the first direction according to the second embodiment of the present application.
Fig. 6 shows a schematic view of the automatic walking device traveling in the first direction according to the second embodiment of the present application.
Fig. 7 shows a schematic view of the automatic walking device traveling in the second direction according to the second embodiment of the present application.
Description of the reference numerals
A first region
B second region
C third region
D obstacle
1 boundary line 11, blocking part 12, first boundary line 121, first sub-boundary line 122, second sub-boundary line 13, and second boundary line
2 automatic walking equipment 21 cutting device.
Detailed Description
In order to more clearly illustrate the above objects, features and advantages of the present application, a detailed description of the present application is provided in this section in conjunction with the accompanying drawings. This application is capable of embodiments in addition to those described herein, and is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this application pertains and which fall within the limits of the appended claims. The protection scope of the present application shall be subject to the claims.
As shown in fig. 1 to 7, the present application provides a walking method for an automatic walking device, which is particularly suitable for a case where a narrow passage exists in a predetermined working area, a traveling path can be planned by the automatic walking device 2, and the automatic walking device 2 is an intelligent automatic walking device. The automatic walking equipment can be a mower, a seeder, a pesticide spreading machine, a watering machine and the like, and the automatic walking equipment is provided with a working assembly for executing corresponding operations of mowing, seeding, pesticide spreading, watering and the like. The following description will be given taking an example in which the self-propelled device is a lawnmower.
(first embodiment)
As shown in fig. 1 to 4, the predetermined operating region includes a first region a, a second region B, and a third region C, the first region a and the second region B are connected, and the first region a and the third region C are connected. That is, the second region B and the third region C are connected by the first region a. The width of the second area B and the width of the third area C are both greater than the width of the first area a, which is a narrow passage connecting the second area B and the third area C, for example, the width of the first area a is less than or equal to 2 meters.
As shown in fig. 1, a boundary line 1 is defined within a predetermined working area, and the boundary line 1 may form a substantially closed loop shape. The boundary line 1 includes a first boundary line 12 extending in the longitudinal direction of the first zone a and a second boundary line 13 positioned between the second zone B and the third zone C, and the boundary line 1 is positioned as close as possible to the boundary of the predetermined working area, so that the automatic traveling device 2 can perform a mowing operation on the edge position of the predetermined working area when traveling along the boundary line 1 and performing the mowing operation.
As shown in fig. 2 and 3, the bottom of the automatic walking device 2 is provided with a cutting means 21, and the cutting means 21 includes a cutting member for cutting vegetation. The cutting element may be a metal cutting blade, a stone cutting blade, a nylon rope, a wire rope, etc., and vegetation may be cut by the rotation or reciprocation of the cutting element. The diameter of rotation or working width of the cutting element is the mowing width of the self-propelled device in a single travel. In fig. 2 and 3, the mowing width of the automatic walking device 2 is schematically indicated with hatching.
The cutting device 21 may be at least partially offset to one side of a central axis of the autonomous traveling apparatus 2, the central axis being a center line of the autonomous traveling apparatus 2 in the width direction, so that the mowing area of the autonomous traveling apparatus 2 is offset with respect to the center of the autonomous traveling apparatus 2 in the width direction. For example, when the autonomous moving apparatus 2 travels along the boundary line 1, the cutting device 21 is at least partially offset to one side of the boundary line 1, so that the cutting device 21 can cut mainly or mostly plants on one side of the boundary line 1 and less or hardly cut plants on the other side of the boundary line 1.
In one possible embodiment, the cutting device 21 is provided on one side, for example, the left or right side, of the center in the width direction of the automatic traveling apparatus 2, and the automatic traveling apparatus 2 is symmetrical in outer shape dimension with respect to the width direction. The edge of the mowing area may coincide with the center in the width direction of the self-propelled traveling apparatus 2.
The automatic traveling apparatus 2 is provided with a boundary line sensor capable of sensing a boundary line.
The boundary line sensors may include a first boundary line sensor and a second boundary line sensor, which are respectively disposed at left and right sides of a central axis line of the automatic traveling apparatus 2. For example, the first boundary line sensor and the second boundary line sensor may be provided symmetrically with respect to the center axis of the autonomous traveling apparatus 2, and by keeping both the first boundary line sensor and the second boundary line sensor at the same distance from the boundary line 1, the center axis of the autonomous traveling apparatus 2 may be made to travel along the boundary line 1 while coinciding with the boundary line 1.
The boundary line 1 may be a straight line, a curved line or a combination of bending lines.
The automatic walking device 2 includes a walking control module that can control the automatic walking device 2 to perform a bidirectional walking operation along the first boundary line 12. The walking control module can control the walking control module, the walking control module comprises a first walking control module and a second walking control module, and the first walking control module and the second walking control module can be independent or integrated. The first travel control module may control the automatic traveling apparatus 2 to travel along the first boundary line 12 in the first direction. The second travel control module controls the automatic traveling apparatus 2 to travel along the first boundary line 12 in the second direction.
As shown in fig. 2 and 3, the width of the first area a is greater than twice the mowing width of the automatic walking device 2, and the first boundary line 12 includes a first sub-boundary line 121 near one side of the first area a and a second sub-boundary line 122 near the other side of the first area a, and the first boundary line 12 passes twice in the first area a. The automatic walking device 2 follows the travel path of the first boundary line 12, so that the automatic walking device 2 travels bidirectionally along at least one of the first sub-boundary line 121 and the second sub-boundary line 122 and performs a mowing operation.
As shown in fig. 1, the boundary line 1 forms a blocking portion 11 at a connecting portion of the first area a and the second area B, and the boundary line 1 also forms a blocking portion 11 at a connecting portion of the first area a and the third area C. The blocking portion 11 may be a boundary line extending substantially perpendicular to the width direction of the first region a in the second region B, or a convex portion protruding in a direction substantially perpendicular to the width direction of the first region a in the second region B. The blocking portion 11 makes the distance between the first boundary lines 12 in the width direction of the first area a smaller than the distance between the two boundary line sensors of the automatic traveling apparatus 2. I.e. the distance between the first borderline 121 and the second borderline 122 has a portion smaller than the width of the autonomous walking device. When the automatic traveling apparatus 2 travels within the second area B surrounded by the second boundary line 13 in a mode avoiding the boundary line 1, the blocking portion 11 can prevent the automatic traveling apparatus 2 from entering the first area a.
The boundary line 1 forms a blocking portion 11 at a connecting portion of the first region a and the third region C. The blocking part 11 may be a boundary line extending substantially perpendicular to the width direction of the first region a in the third region C, or a protruding part protruding in a direction substantially perpendicular to the width direction of the first region a in the third region C. The blocking portion 11 makes the distance between the first boundary lines 12 in the width direction of the first area a smaller than the distance between the two boundary line sensors of the automatic traveling apparatus 2. When the automatic traveling apparatus 2 travels within the third area C surrounded by the second boundary line 13 in a mode of cutting grass while avoiding the boundary line 1, the blocking portion 11 can prevent the automatic traveling apparatus 2 from entering the first area a.
A mowing method using the self-propelled device will be described with reference to fig. 2 to 4.
(borderline internal cutting step/off borderline cutting step)
In the second area B and the third area C, the automatic walking device 2 performs mowing operation in the area surrounded by the second boundary line 13, and cuts the plants in the second area B and the third area C. When the borderline internal cutting step is performed, the two borderline sensors of the autonomous traveling apparatus 2 can detect the borderline 1, and the autonomous traveling apparatus 2 can keep the area surrounded by the borderline 1 while avoiding the borderline 1.
It can be understood that, when the borderline internal cutting step is performed, the automatic walking device 2 may randomly travel within the area enclosed by the borderline 1, or may travel according to a certain path according to a planned or preset rule. Under the condition that the automatic traveling device 2 travels randomly, the blocking portion 11 may prevent the automatic traveling device 2 from entering the first area a, thereby preventing the automatic traveling device 2 from failing to pass through the narrow first area a and even from being jammed and stopped.
(cutting along the boundary line)
The traveling device 2 travels along the boundary line 1 in the first direction and performs a mowing operation, and the cutting device 21 is operated to cut a plant located on one side of the boundary line. As shown in fig. 2, for example, the self-propelled apparatus 2 travels in the counterclockwise direction, and the cutting device 21 offset to the right of the self-propelled apparatus 2 cuts the plants near the boundary line 1 and outside the area enclosed by the boundary line 1.
Then, the automatic walking device travels along the boundary line along a second direction, which is opposite to the first direction, and the cutting means operates to cut the plants located at the other side of the boundary line. As shown in fig. 3, for example, the autonomous traveling apparatus 2 travels in a clockwise direction, and the cutting device 21 offset to the right of the autonomous traveling apparatus 2 cuts the plants near the boundary line 1 and within the area enclosed by the boundary line 1.
When the boundary line cutting step is performed, the boundary line 1 is located between the two boundary line sensors of the automatic traveling apparatus 2, and the automatic traveling apparatus 2 can be caused to travel along the boundary line 1 to cut the plants near the boundary line 1.
By travelling along the boundary line 1 in the first direction and the second direction, it is possible to cut clean the plants located in the narrow passage. The automatic walking device 2 may automatically reverse the walking in the second direction after walking in the first direction for a preset period of time, for example, 30 minutes. Or the automatic walking device 2 may be provided with a control button that is operated by the user to select or change the walking direction of the automatic walking device 2.
The boundary line 1 may be provided with a marking position, which may be a signal emitter such as a magnet, at a connection portion of the first area a and the third area C, and the automatic walking device 2 may be provided with a signal receiver such as a magnetic sensor. When the automatic traveling apparatus 2 detects the mark position, the automatic traveling apparatus 2 travels in the first direction along the first boundary line 12 and executes the corresponding work content. The automatic traveling apparatus 2 completes traveling in the first direction, and the automatic traveling apparatus 2 travels in the second direction opposite to the first direction along the first boundary line 12 and executes the corresponding work content. It is possible to judge whether the automatic traveling apparatus 2 completes traveling in the first direction by setting another marker position. When the magnetic force sensor detects the magnet again, it can be considered that the first-direction walking is completed, and the automatic walking device 2 can change the traveling direction.
The traveling direction of the automatic traveling apparatus 2 is changed at the entrance into the first area a as a narrow passage, so that the automatic traveling apparatus 2 can change the traveling direction without traveling a complete turn around the work area along the boundary line 1 and perform a mowing operation.
As shown in fig. 3, in the first area a, the distance between the first sub-boundary line 121 and the second sub-boundary line 122 is less than or equal to twice the mowing width of the self-propelled traveling apparatus, and when the self-propelled traveling apparatus 2 travels along the boundary line 1 and cuts, the mowing areas of the self-propelled apparatus 2 can be partially overlapped or connected. By controlling the distance between the borderlines 1, the formation of partially overlapping portions can avoid situations where the transition portion of the mowing area is cut unclean.
The plants of the second and third areas B and C can be cut and cleaned by the automatic traveling apparatus through the borderline inside cutting step, and the plants of the edge portions of the first and second and third areas a and C can be cut and cleaned by the automatic traveling apparatus through the borderline cutting step. The sequence of the boundary line internal cutting step and the boundary line-following cutting step is not limited in the present application, and the boundary line internal cutting step may be performed first and then the boundary line-following cutting step, or the boundary line-following cutting step may be performed first and then the boundary line internal cutting step.
In one possible embodiment, when the autonomous traveling apparatus travels in the first direction and in the second direction, the distances between the two boundary line sensors and the boundary line are changed when traveling in the first direction and in the second direction, so that the mowing widths when traveling in the two directions partially overlap. By providing overlapping portions of the sections, the situation of incomplete cutting of the transition portion of the mowing area when travelling in both directions can be avoided.
Although in the above-described embodiment, the boundary line coincides with the central axis of the automatic traveling apparatus when the automatic traveling apparatus travels in the first direction and the second direction, the present invention is not limited thereto, and the boundary line may be located at different positions of the body of the automatic traveling apparatus when the automatic traveling apparatus travels in the first direction and the second direction.
As shown in fig. 4, it can be understood that when the self-propelled device 2 performs the cutting work by traveling once along the boundary line 1 in the first direction and once through the first area a in the second direction along the boundary line 1, an area of 4 times the mowing width of the cutting apparatus 21 in the first area a can be cut.
In a possible embodiment, the cutting area can be increased by the automatic walking device 2 travelling along the borderline 1 a plurality of times in the first direction and along the borderline 1 a plurality of times in the second direction, each time positioning the body of the automatic walking device 2 at a different position of the borderline 1. For example, when the traveling apparatus 2 travels along the boundary line 1 for the first time, the boundary line 1 is positioned on the left side of the traveling apparatus 2, and when the traveling apparatus 2 travels in the same direction along the boundary line 1 for the second time, the boundary line 1 is positioned on the right side of the traveling apparatus, so that the width of the mowing area can be increased. In this case, the width of cutting for the first area a is not limited to 4 times the mowing width of the cutting device 21.
(second embodiment)
As shown in fig. 5 to 7, an obstacle D is provided in a second area B of the predetermined working area, for example, an obstacle D such as a house is provided in the second area B enclosed by the enclosure, and a narrow passage as a first area a having a width of, for example, 2 m or less is formed between the enclosure and the obstacle D. A boundary line 1 is defined in the predetermined operating region, and the boundary line 1 forms a substantially closed loop shape, and the boundary line 1 passes once in the first region a.
As shown in fig. 5 to 7, when the width of the first area a is less than or equal to 2 times the mowing width of the automatic traveling apparatus 2, the first boundary line 12 in the first area a is provided in a single line and is located at a position close to the middle in the width direction of the first area a.
A mowing method using the self-propelled apparatus is explained with reference to fig. 5 to 7.
(borderline internal cutting step)
In the second area B, the automatic traveling apparatus 2 travels in the area surrounded by the boundary line 1, and cuts the plants in the second area B. In the borderline internal cutting step, the two borderline sensors of the automatic traveling apparatus 2 can detect the borderline 1, and the automatic traveling apparatus 2 is kept within the area surrounded by the borderline 1.
(cutting along the boundary line)
The automatic walking device 2 travels along the boundary line 1 in the first direction, and the cutting means 21 operates to cut the plants located at one side of the boundary line. As shown in fig. 5 and 6, for example, the self-propelled device 2 travels in the counterclockwise direction, and the cutting device 21 offset to the right of the self-propelled device 2 cuts the vegetation near the boundary line 1 and outside the area enclosed by the boundary line 1. The cut area at the first area a when the automatic walking device 2 travels in the first direction is schematically indicated by hatching in fig. 5, and the uncut area at the first area a when the automatic walking device 2 travels in the first direction is schematically indicated by hatching in fig. 6.
Then, the automatic walking device travels along the boundary line 1 in a second direction, which is opposite to the first direction, and the cutting means operates to cut the plants located at the other side of the boundary line. As shown in fig. 7, for example, the autonomous traveling apparatus 2 travels in a clockwise direction, and the cutting device 21 offset to the right of the autonomous traveling apparatus 2 cuts the plants near the boundary line 1 and within the area enclosed by the boundary line 1. The area that has been cut at the first area a when the automatic walking device 2 travels in the second direction is schematically marked with hatching in fig. 7.
When the boundary line cutting step is performed, the boundary line 1 is located between the two boundary line sensors of the automatic traveling apparatus 2, and the automatic traveling apparatus 2 can be caused to travel along the boundary line 1 to cut the plants near the boundary line 1.
At both ends of the first area a, the boundary line 1 may be provided with a marker position, which may be a signal emitter such as a magnet, and the automatic traveling apparatus 2 is provided with a signal receiver such as a magnetic sensor. When the automatic traveling apparatus 2 detects the mark position, the automatic traveling apparatus 2 travels in the first direction along the first boundary line 12 and executes the corresponding work content. The automatic traveling apparatus 2 completes traveling in the first direction, and the automatic traveling apparatus 2 travels in the second direction opposite to the first direction along the first boundary line 12 and executes the corresponding work content. It is possible to judge whether the automatic traveling apparatus 2 completes traveling in the first direction by setting another marker position.
When the automatic traveling apparatus 2 enters the first area a, the magnetic force sensor detects the magnet, and the automatic traveling apparatus 2 travels in the first direction along the first boundary line 12 and executes the corresponding work content. When the automatic traveling apparatus 2 is about to leave the first area a, the automatic traveling apparatus 2 can change the traveling direction, so that the automatic traveling apparatus 2 can change the traveling direction without traveling a complete turn around the work area along the boundary line 1, and perform mowing operation.
Claims (15)
1. A walking method of an automatic walking device, wherein the automatic walking device (2) comprises a working component for executing corresponding working contents, and the working component is arranged on one side of a central axis of the automatic walking device (2), and is characterized in that the walking method comprises the following steps:
setting a boundary line (1) within a predetermined working area, the boundary line (1) comprising a first boundary line (12), the automatic walking device (2) performing a bi-directional walking operation along the first boundary line (12),
the bidirectional walking operation causes the automatic walking device (2) to walk along the first boundary line (12) in a first direction and a second direction opposite to the first direction, respectively, and to execute the corresponding work content.
2. The walking method of an automatic walking device according to claim 1, setting a first mark and a second mark on said first boundary line (12), characterized in that said automatic walking device (2) performs said bidirectional walking operation between said first mark and said second mark along said first boundary line (12).
3. The walking method of the automatic walking device according to claim 2, wherein the automatic walking device (2) walks in a first direction along the first boundary line (12) and executes the corresponding work content when detecting a first marker; the automatic walking device (2) walks in a second direction opposite to the first direction along the first boundary line (12) and executes the corresponding work content when detecting the second mark.
4. The walking method of an automatic walking device according to claim 1, wherein said first borderline (12) comprises a first sub borderline (121) and a second sub borderline (122) arranged oppositely,
if the automatic walking device (2) travels along the boundary line (12) in the first direction, the working components of the automatic walking device (2) execute corresponding working contents outside an area enclosed by the first sub-boundary line (121) and the second sub-boundary line (122).
5. The method for traveling by an automatic traveling apparatus according to claim 4, characterized in that, if the automatic traveling apparatus (2) travels along the boundary line (12) in the second direction, the working components of the automatic traveling apparatus (2) perform corresponding working contents inside an area surrounded by the first sub-boundary line (121) and the second sub-boundary line (122).
6. The walking method of automatic walking device according to claim 4, characterized in that the distance between said first sub-borderline (121) and said second sub-borderline (122) has a portion smaller than the width of said automatic walking device.
7. Method for walking by an automatic walking device, according to claim 4, characterized in that the distance between said first sub-borderline (121) and said second sub-borderline (122) is less than or equal to 2 meters.
8. The walking method of an automatic walking apparatus according to claim 1, further comprising:
the automatic walking equipment (2) walks in the area enclosed by the first boundary line (12) and executes the corresponding work content.
9. The walking method of automatic walking device of claim 8,
the automatic walking equipment (2) is intelligent automatic walking equipment, and when the robot walks in the area enclosed by the first boundary line (12), a traveling path is planned by the automatic walking equipment (2).
10. The walking method of automatic walking equipment according to any one of claims 1 to 9, wherein said corresponding work content comprises: at least one of mowing, sowing, pesticide spreading and watering.
11. An autonomous walking device, applying the walking method according to any of claims 1-10, characterized in that a boundary line (1) is set in a predetermined working area, said boundary line (1) comprising a first boundary line (12), said autonomous walking device comprising:
a walking control module that controls the automatic walking device (2) to perform a bidirectional walking operation along the first boundary line (12), the bidirectional walking operation causing the automatic walking device (2) to walk along the first boundary line (12) in a first direction and a second direction opposite to the first direction, respectively, and to execute the corresponding work content.
12. The automatic walking device according to claim 11, a first mark and a second mark being provided on said first borderline (12), characterized in that said automatic walking device (2) performs a bidirectional walking operation between said first mark and second mark along said first borderline (12).
13. The automatic walking device according to claim 12, characterized in that the automatic walking device (2) walks in a first direction along the first boundary line (12) and executes the corresponding work content when detecting a first marker; the automatic walking device (2) walks in a second direction opposite to the first direction along the first boundary line (12) and executes the corresponding work content when detecting the second mark.
14. Automatic walking device according to claim 11, said first borderline (12) comprising a first (121) and a second (122) borderline arranged opposite each other, characterized in that said walking control module comprises a first walking control module,
the first travel control module causes the automatic traveling apparatus (2) to travel along the first boundary line (12) in the first direction, and the working components of the automatic traveling apparatus (2) execute corresponding working contents outside an area surrounded by the first sub-boundary line (121) and the second sub-boundary line (122).
15. The automated walking device of claim 14, wherein the walking control module comprises a second walking control module,
the second walking control module controls the automatic walking device (2) to move along the first boundary line (12) in the second direction, and the working components of the automatic walking device (2) execute corresponding working contents on the inner side of an area enclosed by the first sub-boundary line (121) and the second sub-boundary line (122).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011147804.6A CN114510013A (en) | 2020-10-23 | 2020-10-23 | Walking method and equipment of automatic walking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011147804.6A CN114510013A (en) | 2020-10-23 | 2020-10-23 | Walking method and equipment of automatic walking equipment |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102768535A (en) * | 2011-04-28 | 2012-11-07 | 苏州宝时得电动工具有限公司 | Automatic work system, automatic walking equipment and steering method thereof |
| CN107291071A (en) * | 2016-03-30 | 2017-10-24 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic running device and its forward method |
| CN108209741A (en) * | 2017-08-30 | 2018-06-29 | 深圳乐动机器人有限公司 | Clean robot control method and clean robot |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102768535A (en) * | 2011-04-28 | 2012-11-07 | 苏州宝时得电动工具有限公司 | Automatic work system, automatic walking equipment and steering method thereof |
| CN107291071A (en) * | 2016-03-30 | 2017-10-24 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic running device and its forward method |
| CN108209741A (en) * | 2017-08-30 | 2018-06-29 | 深圳乐动机器人有限公司 | Clean robot control method and clean robot |
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