WO2021103803A1

WO2021103803A1 - Automatic walking device and automatic working system

Info

Publication number: WO2021103803A1
Application number: PCT/CN2020/118326
Authority: WO
Inventors: 何明明
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2019-11-27
Filing date: 2020-09-28
Publication date: 2021-06-03

Abstract

An automatic walking device and an automatic working system. The automatic walking device (10) comprises: a device body (11); a magnetic induction assembly (12), comprising multiple magnetic induction sensors located at the bottom of the device body (11) for sensing magnetic force values; and a control assembly (13), connected to the magnetic induction assembly (12), the control assembly (13) being configured to: determine, according to the magnetic force values from the multiple magnetic induction sensors, a position area of a preset magnetic strip with respect to the multiple magnetic induction sensors of the automatic walking device (10); determine a walking direction for the automatic walking device (10) according to the position area; and control the automatic walking device (10) to walk according to the walking direction, so that the automatic walking device (10) reaches the preset position of the magnetic strip (31). The automatic walking device (10) can determine a position of the magnetic strip (31) with respect to the automatic walking device (10) by means of magnetic force values, and control the automatic walking device (10) to walk towards the position to reach a preset position, thereby implementing low-cost outdoor magnetic navigation.

Description

Automatic walking equipment and automatic working system

This application claims the priority of the Chinese patent applications whose application date is November 27, 2019, and the application numbers are 201911185029.0 and 201922082746.2, the entire contents of which are incorporated into this application by reference.

Technical field

The present disclosure relates to the field of automatic working systems, and in particular to an automatic walking device and an automatic working system.

Background technique

With the development of science and technology, intelligent automatic walking equipment is well known to people. Since automatic walking equipment can perform pre-set related tasks based on automatic pre-set programs, without human operation and intervention, it is used in industrial applications and household products. The application is very extensive. Industrial applications such as robots that perform various functions, and household products such as lawn mowers, vacuum cleaners, snow sweepers, etc. These intelligent automatic walking devices greatly save people's time and contribute to industrial production and home life. Brought great convenience. On the outdoor terrain, it is usually necessary for an autonomous walking device to be able to automatically navigate and reach a designated location (such as a charging station), and the implementation in related technologies is more complicated and costly.

Summary of the invention

In view of this, the present disclosure proposes a self-propelled device and an automatic working system, which can make the self-propelled device easy to locate and reach a designated position, and realize low-cost outdoor magnetic navigation.

According to an aspect of the present disclosure, there is provided an autonomous walking device, including:

The main body of the device; a magnetic induction component, including a plurality of magnetic induction sensors at the bottom of the main body of the device, for sensing the magnetic force value; a control component, connected to the magnetic induction component, the control component being used for:

According to the magnetic value of the plurality of magnetic induction sensors, determine the preset position area of the magnetic strip relative to the plurality of magnetic induction sensors of the autonomous vehicle; according to the position area, determine the walking direction of the autonomous vehicle; control The autonomous walking device walks according to the walking direction, so that the autonomous walking device reaches the preset position of the magnetic strip.

In a possible implementation, the plurality of magnetic induction sensors include a first sensor and a second sensor, the NS pole of the magnetic stripe is placed along the working surface of the autonomous vehicle, and the control component is based on the The magnetic value of each magnetic induction sensor determines the preset position area of the magnetic strip relative to the multiple magnetic induction sensors of the autonomous walking device, including any one of the following:

When the magnetic force value of the first sensor is less than the first magnetic force threshold value, and the magnetic force value of the second sensor is less than the second magnetic force threshold value, determining that the magnetic strip is in the left area of the first sensor and the second sensor;

When the magnetic force value of the first sensor is greater than the first magnetic force threshold value, and the magnetic force value of the second sensor is greater than the second magnetic force threshold value, determining that the magnetic strip is in the right area of the first sensor and the second sensor;

When the magnetic force value of the first sensor is greater than the first magnetic force threshold value, and the magnetic force value of the second sensor is less than the second magnetic force threshold value, determining that the magnetic strip is in the middle area of the first sensor and the second sensor;

When the magnetic value of the first sensor is in the first magnetic value interval, and the magnetic value of the second sensor is less than the second magnetic value interval, it is determined that the magnetic strip is in the middle of the first sensor and the second sensor position.

In a possible implementation manner, the control component determining the preset position area of the magnetic strip relative to the multiple magnetic induction sensors of the autonomous walking device according to the magnetic values of the multiple magnetic induction sensors includes:

When the magnetic value of the first sensor and the magnetic value of the second sensor have opposite directions, it is determined that the magnetic strip is located in the middle area of the first sensor and the second sensor.

In a possible implementation manner, the control component is further used to: when the autonomous walking device is in a working area without a magnetic stripe, respectively correct the magnetic value sensed by each magnetic induction sensor.

In a possible implementation manner, the control component is further configured to obtain the magnetic force values of the plurality of magnetic induction sensors when the autonomous walking equipment meets a preset condition.

In a possible implementation manner, the control component is further configured to: when the magnetic values of the plurality of magnetic induction sensors are within a preset interval, determine that the autonomous walking device is in an area without a magnetic strip; and control the The automatic walking device walks on a preset walking path.

In a possible implementation manner, the first sensor and the second sensor are symmetrically installed at the bottom of the device main body, and the first sensor and the second sensor include a geomagnetic sensor.

According to another aspect of the present disclosure, there is provided an automatic working system, including: the above-mentioned automatic traveling device; a magnetic strip fixed at a preset position by a fixing member, and the NS pole of the magnetic strip is along the automatic traveling device Placed on the work surface.

In a possible implementation manner, the system further includes:

The charging device is arranged at one end of the magnetic strip, and the charging device is used to charge the automatic traveling equipment when the automatic traveling equipment reaches one end of the magnetic strip.

According to the automatic walking equipment and automatic working system of various aspects of the present disclosure, by arranging a plurality of magnetic induction sensors at the bottom of the main body of the equipment, and arranging a magnetic stripe at a preset position, the magnetic value of the magnetic induction sensor determines the relative position of the magnetic stripe relative to the automatic walking equipment. Position, and control the automatic walking device to walk to the position to reach the preset position, thereby realizing low-cost outdoor magnetic navigation.

According to the following detailed description of exemplary embodiments with reference to the accompanying drawings, other features and aspects of the present disclosure will become clear.

Description of the drawings

The drawings included in the specification and constituting a part of the specification together with the specification illustrate exemplary embodiments, features, and aspects of the present disclosure, and are used to explain the principle of the present disclosure.

Fig. 1 shows a schematic diagram of an exemplary application environment of an autonomous walking device according to an embodiment of the present disclosure.

Fig. 2 shows a block diagram of an autonomous walking device according to an embodiment of the present disclosure.

Fig. 3 shows a cross-sectional view of a magnetic stripe structure according to an embodiment of the present disclosure.

4a, 4b, and 4c show schematic diagrams of the magnetic field distribution of a magnetic strip and a magnetic induction sensor according to an embodiment of the present disclosure.

5a, 5b, 5c, and 5d show schematic diagrams of magnetic force values sensed by a magnetic induction sensor according to an embodiment of the present disclosure.

6a and 6b show schematic diagrams of magnetic force values sensed by a magnetic induction sensor according to an embodiment of the present disclosure.

[Corrected according to Rule 91 29.10.2020]
Fig. 7 shows a schematic diagram of the position between the magnetic strip and the magnetic induction sensor according to an embodiment of the present disclosure.
Fig. 8 shows a schematic diagram of an automatic working system according to an embodiment of the present disclosure.

Detailed ways

Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the drawings. The same reference numerals in the drawings indicate elements with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, unless otherwise noted, the drawings are not necessarily drawn to scale.

The dedicated word "exemplary" here means "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" need not be construed as being superior or better than other embodiments.

In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. Those skilled in the art should understand that the present disclosure can also be implemented without certain specific details. In some instances, the methods, means, elements, and circuits well known to those skilled in the art have not been described in detail, so as to highlight the gist of the present disclosure.

Fig. 1 shows a schematic diagram of an exemplary application environment of an autonomous walking device according to an embodiment of the present disclosure. As shown in FIG. 1, in an exemplary application environment, the autonomous walking device 10 according to the embodiment of the present disclosure can be, for example, an automatic lawn mower, and the autonomous walking device 10 can automatically operate in the working area 30 within the boundary 50. Walk and cut the vegetation located in the working area 30.

Fig. 2 shows a block diagram of an autonomous walking device according to an embodiment of the present disclosure. As shown in Fig. 2, the autonomous walking equipment 10 includes:

Device body 11;

The magnetic induction component 12 includes a plurality of magnetic induction sensors at the bottom of the device main body 11 for sensing the magnetic force value;

The control component 13 is connected to the magnetic induction component 12, and the control component 13 is used for:

Determine the preset position area of the magnetic strip relative to the multiple magnetic induction sensors of the autonomous walking equipment according to the magnetic force values of the multiple magnetic induction sensors;

Determine the walking direction of the autonomous walking equipment according to the location area;

The automatic traveling equipment is controlled to walk according to the walking direction, so that the automatic traveling equipment reaches the preset position of the magnetic strip.

According to the embodiment of the present disclosure, a plurality of magnetic induction sensors are arranged at the bottom of the device body, and a magnetic stripe is arranged at a preset position. The magnetic force value of the magnetic induction sensor is used to determine the position of the magnetic stripe relative to the autonomous vehicle, and control the autonomous vehicle to move there. Position walking to reach the preset position, thus realizing low-cost outdoor magnetic navigation.

For example, the automatic walking device 10 may be an automatic lawn mower, an automatic snow sweeper, an automatic sweeper, and other devices capable of working automatically. The main body 11 of the automatic traveling device 10 may be provided with wheels, crawlers, etc., so as to walk in the working area.

In a possible implementation manner, a magnetic strip may be provided at a preset position (for example, a charging station position) to generate a magnetic field. Fig. 3 shows a cross-sectional view of a magnetic stripe structure according to an embodiment of the present disclosure. As shown in FIG. 3, the magnetic stripe structure includes a magnetic stripe 31 and a fixing member 32. The NS pole of the magnetic stripe 31 is placed along the working surface (for example, a horizontal ground) of the automatic traveling equipment, and the magnetic stripe is fixed by the fixing member 32. 31 is fixed on the work surface. The fixing member and the magnetic strip may be separated or movably connected. The present disclosure does not limit the specific fixing method of the magnetic strip.

In a possible implementation manner, a plurality of magnetic induction sensors (for example, two magnetic induction sensors) may be symmetrically arranged at the bottom of the device body 11 to sense the magnetic force value at the location of the autonomous walking device and send the magnetic force value to the control unit. Component 13. The magnetic induction sensor may be, for example, a geomagnetic sensor, and the present disclosure does not limit the specific type of the magnetic induction sensor.

In a possible implementation manner, the autonomous walking device 10 may be provided with a control component 13. The control component 13 can be any processing component capable of data processing, such as a single-chip microcomputer, CPU, MPU, FPGA, etc. The control component 13 can be realized by a dedicated hardware circuit, or can be realized by a general processing component combined with executable logic instructions to execute the control component 13 The processing process.

In a possible implementation, the autonomous walking device may further include a storage module (not shown) to store the data generated by the control component 13.

In a possible implementation manner, when the relative positions of the magnetic stripe and the magnetic induction sensor are different, the magnetic force values sensed by each magnetic induction sensor are also different. Now take two magnetic induction sensors installed in the automatic traveling equipment as an example for description. Among them, two magnetic induction sensors (referred to as the first sensor and the second sensor) may be provided in the autonomous walking equipment. The first sensor and the second sensor are symmetrically installed at the bottom of the device body. There is a certain distance between the two magnetic induction sensors, and there is also a certain distance between the two magnetic induction sensors and the ground. The present disclosure does not limit the number of magnetic induction sensors, the installation position, and the distance value between the two magnetic induction sensors.

4a, 4b, and 4c show schematic diagrams of the magnetic field distribution of a magnetic strip and a magnetic induction sensor according to an embodiment of the present disclosure. Among them, Fig. 4a, Fig. 4b and Fig. 4c are respectively the case where the magnetic stripe is in the middle, left and right sides of two magnetic induction sensors. In the case where the N-S pole of the magnetic stripe is placed along the working surface of the autonomous walking device, when the magnetic stripe is on the left and right sides of the magnetic induction sensor, the direction of the magnetic field passing through the magnetic induction sensor is different. For example, when the magnetic stripe is in the middle of the two sensors, the direction of the magnetic field passing through the left magnetic sensor Sensor1 is from top to bottom, and the direction of passing through the right magnetic sensor Sensor2 is from bottom to top; the magnetic strip is on the left side of the two sensors When the magnetic field passes through the two sensors, the direction is from bottom to top; on the contrary, if the magnetic strip is on the right side of the two sensors, the direction of the magnetic field passing through the two sensors is from top to bottom; therefore, we get different sensors. The magnetic value information.

5a, 5b, 5c, and 5d show schematic diagrams of magnetic force values sensed by a magnetic induction sensor according to an embodiment of the present disclosure. As shown in Figure 5a, in the absence of a magnetic stripe magnetic field, the magnetic values sensed by the two magnetic induction sensors are both small; as shown in Figure 5b, when the magnetic stripe is in the middle of the two magnetic induction sensors, two The magnetic values sensed by the magnetic induction sensors are positive and negative values respectively; as shown in Figure 5c, when the magnetic stripe is on the left side of the two magnetic induction sensors, the magnetic values sensed by the two magnetic induction sensors are both negative. As shown in Figure 5d, when the magnetic stripe is on the right side of the two magnetic induction sensors, the magnetic values sensed by the two magnetic induction sensors are both positive. It can be seen that regardless of whether the magnetic strip is in the middle, left or right of the two sensors, the position of the magnetic strip can be accurately determined, so that only two magnetic induction sensors can be used to achieve precise positioning; the positioning accuracy is related to the distance between the two sensors. Related, the larger the distance, the lower the accuracy, and the smaller the anti-distance, the higher the accuracy.

In a possible implementation manner, the control component may determine the preset position area of the magnetic strip relative to the plurality of magnetic induction sensors of the autonomous walking device according to the magnetic value of the multiple magnetic induction sensors; determine the automatic walking according to the location area The walking direction of the device; and then controlling the automatic walking device to walk according to the walking direction. For example, if the magnetic value of the magnetic induction sensor is negative, the magnetic stripe is on the left side of the magnetic induction sensor. It can be determined that the walking direction of the autonomous vehicle is toward the left and control the autonomous vehicle to walk to the left to approach the position of the magnetic strip.

In a possible implementation manner, the plurality of magnetic induction sensors include a first sensor and a second sensor, and the N-S pole of the magnetic strip is placed along the working surface of the autonomous vehicle,

The control component determines the preset position area of the magnetic strip relative to the multiple magnetic induction sensors of the autonomous walking device according to the magnetic force values of the multiple magnetic induction sensors, including any one of the following:

For example, if the magnetic values of the first sensor and the second sensor are both small, it can be considered that the autonomous walking device is not within the magnetic field range of the magnetic strip (as shown in Fig. 5a). If the magnetic value of the first sensor and the second sensor exceeds a certain threshold, it can be considered that the autonomous walking device enters the magnetic field range of the magnetic strip.

In a possible implementation manner, a first magnetic force threshold and a second magnetic force threshold may be set. If the magnetic force value of the first sensor is less than the first magnetic force threshold value, and the magnetic force value of the second sensor is less than the second magnetic force threshold value (as shown in Figure 5c), it can be determined that the magnetic stripe is in the first sensor and the first magnetic force. The left area of the second sensor. If the magnetic force value of the first sensor is greater than the first magnetic force threshold, and the magnetic force value of the second sensor is greater than the second magnetic force threshold (as shown in FIG. 5d), it can be determined that the magnetic stripe is in the first sensor and the first magnetic force. The right area of the second sensor. If the magnetic force value of the first sensor is greater than the first magnetic force threshold value, and the magnetic force value of the second sensor is less than the second magnetic force threshold value, it can be determined that the magnetic stripe is in the middle area between the first sensor and the second sensor ( There may be a certain distance between it and the self-propelled equipment). Those skilled in the art can set the first magnetic force threshold and the second magnetic force threshold according to the actual situation, which is not limited in the present disclosure.

In a possible implementation manner, if the autonomous walking device reaches the position of the magnetic strip, the magnetic strip is between the first sensor and the second sensor and the magnetic force value is relatively large. In this case, a first magnetic value interval and a second magnetic value interval can be preset, if the magnetic value of the first sensor is within the first magnetic value interval, and the magnetic value of the second sensor is smaller than the second magnetic value interval (As shown in Fig. 5b), it can be determined that the magnetic strip is in the middle position of the first sensor and the second sensor. Those skilled in the art can set the first magnetic force value interval and the second magnetic force value interval according to the actual situation, which is not limited in the present disclosure.

In this way, the position area of the magnetic strip relative to the autonomous walking device can be determined according to the magnetic force value, and the positioning of the autonomous walking device can be realized in a simple manner.

In a possible implementation, the control component determines the preset position area of the magnetic strip relative to the multiple magnetic induction sensors of the autonomous walking device according to the magnetic force values of the multiple magnetic induction sensors, including:

For example, if the direction of the magnetic value of the first sensor is opposite to the direction of the magnetic value of the second sensor, it can be determined that the first sensor and the second sensor are on both sides of the magnetic strip (as shown in Figure 4a). The magnetic stripe is located in the middle area of the first sensor and the second sensor (there may be a certain distance between the automatic walking equipment). In this case, depending on the magnetic pole direction of the magnetic strip, it may be that the magnetic value of the first sensor is greater than zero and the magnetic value of the second sensor is less than zero (as shown in Figure 5b), or it may be that the magnetic value of the first sensor is less than zero. However, the magnetic value of the second sensor is greater than zero, which is not limited in the present disclosure. In this way, the position area of the magnetic strip relative to the autonomous vehicle can be determined according to the direction of the magnetic force value, which simplifies the positioning method.

In a possible implementation manner, the control component is further used for:

When the autonomous walking device is in a working area without a magnetic strip, the magnetic value sensed by each magnetic induction sensor is corrected respectively.

Since the performance of the magnetic induction sensor itself may vary during the production process, that is, under the same environment, the magnetic field strength value (ie, the magnetic force value) obtained by different sensors is not the same. In order to achieve more accurate magnetic navigation guidance, it can be Calibrate the magnetic field intensity of the magnetic induction sensor in the state of the magnetic stripe.

In a possible implementation manner, when the autonomous walking device is in a working area without a magnetic strip, the control component can correct the magnetic value sensed by each magnetic induction sensor. For example, in the absence of a magnetic stripe magnetic field, record the size of the magnetic field around the autonomous walking device in the initial state, and then subtract the initial value from the subsequent sensor readings.

6a and 6b show schematic diagrams of magnetic force values sensed by a magnetic induction sensor according to an embodiment of the present disclosure. As shown in Fig. 5a, the two magnetic induction sensors sense a certain initial magnetic force value when it is not calibrated. Correspondingly, as shown in Figure 6a, after calibration, the magnetic value sensed by the two magnetic induction sensors is basically zero without the magnetic stripe, and the deviation of the sensors is calibrated and disappeared. As shown in Figure 6b, at the position where the automatic walking device reaches the magnetic strip, the magnetic value sensed by the first sensor and the second sensor when the magnetic strip is between the first sensor (Sensor1) and the second sensor (Sensor2) v1 and v2 are basically symmetrically distributed.

FIG. 7 shows a schematic diagram of the position between the magnetic strip and the magnetic induction sensor according to an embodiment of the present disclosure. As shown in Figure 7, the horizontal distance between the first sensor (Sensor1) and the second sensor (Sensor2) relative to the magnetic stripe is x1, x2, and x1+x2=d, where d is the distance between the two sensors, which is a fixed value . The absolute value of the magnetic force sensed by the first sensor and the second sensor |v1|, |v2| are negatively correlated with x1, x2, that is, the smaller x1, the larger the absolute value of |v1|; the smaller the x2, the | The greater the absolute value of v2|; therefore, the precise magnetic navigation control can be performed through the values of the two sensors.

By correcting the magnetic value of the magnetic induction sensor, the accuracy of magnetic navigation can be further improved.

In a possible implementation manner, after calibration, the first magnetic force threshold, the second magnetic force threshold, the first magnetic force value interval, and the second magnetic force value interval of the magnetic induction sensor can be set according to the actual situation, which is not limited in the present disclosure. .

For example, when the control component reads the magnetic force value of each magnetic induction sensor, it immediately controls the automatic walking device to walk toward the magnetic stripe. The user can set the magnetic stripe channel according to the actual situation. When the automatic walking device detects the magnetic stripe channel, it will walk according to the path set by the user, so as to solve the pain points such as narrow aisles.

In another case, when the automatic walking device is operating normally in the work area (for example, mowing), the control component may not read the magnetic value of each magnetic induction sensor, or may not process the read magnetic value. And only when certain preset conditions are met, the magnetic values of the multiple magnetic induction sensors are acquired, so that the autonomous walking device goes to the preset position of the magnetic strip. The preset condition may be, for example, that the power of the autonomous vehicle is lower than the preset value; the autonomous vehicle needs to work in another working area after completing the work in the current working area. Users can also set the magnetic stripe channel according to the actual situation, and set the preset conditions, so as to solve the pain points of automatic return to charging docking and multi-area connection work. This disclosure does not limit the specific content of the preset conditions.

In this way, unnecessary judgments can be avoided and the efficiency of magnetic navigation can be improved.

In a possible implementation manner, the control component is further configured to: when the magnetic values of the plurality of magnetic induction sensors are within a preset interval, determine that the autonomous walking device is in an area without a magnetic strip; and control the autonomous walking The device walks according to the preset walking path.

For example, a preset interval of magnetic value can be set. If each magnetic induction sensor is calibrated, the preset interval can be an interval near zero, such as [-0.1, 0.1]; if each magnetic induction sensor is not adjusted After calibration, the preset interval may be the interval where the magnetic value of each magnetic induction sensor is in the state without the magnetic strip, and the preset interval of the magnetic value of each magnetic induction sensor may be the same or different. This disclosure does not limit this.

In a possible implementation manner, if the magnetic value of each magnetic induction sensor is within a preset interval, it can be considered that the autonomous walking device is in an area without magnetic strips. In this case, the control component can control the autonomous vehicle to walk along a preset walking path, for example, control the autonomous vehicle to walk randomly in the work area. In this way, the autonomous walking device can actively search for the position where the magnetic strip is located.

In a possible implementation manner, if the magnetic value of each magnetic induction sensor exceeds the preset interval, it can be considered that the autonomous walking device has entered an area with a magnetic stripe. In this case, the control component can determine the position area of the magnetic strip relative to the multiple magnetic induction sensors of the autonomous walking device according to the magnetic force value of the magnetic induction sensor; and then determine the walking direction of the autonomous walking device according to the location area and control the automatic walking device to walk.

In a possible implementation, when the automatic traveling equipment is walking close to the magnetic stripe, the control component can perform processing at a certain time interval or distance interval, and update the position area of the magnetic stripe according to the magnetic value of each magnetic induction sensor to correct The walking direction of the automatic traveling equipment. When the autonomous vehicle reaches the position of the magnetic stripe and the magnetic stripe is in the middle of the first sensor and the second sensor (as shown in Figure 7), the control component can control the autonomous vehicle to walk along the magnetic stripe until it reaches the preset Location, such as reaching the charging station location for charging; or walking out of the magnetic stripe location, such as walking along the magnetic stripe to another work area to perform operations, etc. The present disclosure does not limit the further actions of the autonomous vehicle after reaching the position of the magnetic stripe.

Fig. 8 shows a schematic diagram of an automatic working system according to an embodiment of the present disclosure. According to an embodiment of the present disclosure, an automatic working system is also provided. As shown in FIG. 8, the system includes:

The above-mentioned autonomous walking equipment 10;

The magnetic strip 81 is fixed at a preset position by a fixing member, and the N-S pole of the magnetic strip is placed along the working surface of the automatic traveling equipment.

For example, the automatic working system may include the above-mentioned automatic walking device 10 and the magnetic strip 81. The magnetic strip can be fixed at a predetermined position (for example, on a working surface) by a fixing member 32 as shown in FIG. 3, and the N-S pole of the magnetic strip is placed along the working surface (for example, a horizontal ground) of the autonomous vehicle. The automatic traveling equipment includes the main body of the equipment, the magnetic induction component and the control component, which can determine the position of the magnetic stripe relative to the automatic traveling equipment through the magnetic value of the magnetic induction sensor, and control the automatic traveling equipment to walk to this position to reach the preset position, thereby achieving low cost Outdoor magnetic navigation.

In a possible implementation manner, the automatic working system further includes: a charging device (not shown), which is arranged at one end of the magnetic strip, and the charging device is used to reach the magnetic strip when the autonomous walking device reaches the magnetic strip. At one end of the battery, charge the autonomous walking device. That is to say, a charging device can be set at one end of the magnetic strip, and when the automatic traveling equipment reaches the position of the magnetic strip and the magnetic strip is in the middle of the first sensor and the second sensor (as shown in Figures 7 and 8), The control component can control the automatic traveling equipment to walk along the magnetic strip until it reaches the position of the charging device at one end of the magnetic strip for charging. In this way, automatic return charging and docking of autonomous walking equipment can be realized.

According to the automatic walking equipment and automatic working system of the embodiments of the present disclosure, a plurality of magnetic induction sensors can be arranged at the bottom of the main body of the device, and a magnetic stripe can be arranged at a preset position, and the position of the magnetic strip relative to the automatic walking equipment can be determined by the magnetic value of the magnetic induction sensor , And control the automatic walking equipment to walk to this position to reach the preset position, thus realizing low-cost outdoor magnetic navigation.

The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Without departing from the scope and spirit of the illustrated embodiments, many modifications and changes are obvious to those of ordinary skill in the art. The choice of terms used herein is intended to best explain the principles, practical applications, or improvements to technologies in the market of the embodiments, or to enable those of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

A self-propelled equipment, characterized in that, the self-propelled equipment includes:

Equipment body;

The magnetic induction component includes a plurality of magnetic induction sensors at the bottom of the main body of the device for sensing the magnetic force value;

The control component is connected to the magnetic induction component, and the control component is used for:

Determine the preset position area of the magnetic strip relative to the multiple magnetic induction sensors of the autonomous walking equipment according to the magnetic force values of the multiple magnetic induction sensors;

Determine the walking direction of the autonomous walking equipment according to the location area;

Controlling the automatic traveling equipment to walk according to the walking direction, so that the automatic traveling equipment reaches the preset position of the magnetic strip;

Wherein, the plurality of magnetic induction sensors include a first sensor and a second sensor, the NS pole of the magnetic stripe is placed along the working surface of the autonomous walking device, and the control component is based on the magnetic value of the plurality of magnetic induction sensors, Determining the preset position area of the magnetic strip relative to the multiple magnetic induction sensors of the autonomous walking device includes any one of the following:

When the magnetic force value of the first sensor is less than the first magnetic force threshold value, and the magnetic force value of the second sensor is less than the second magnetic force threshold value, determining that the magnetic strip is in the left area of the first sensor and the second sensor;

When the magnetic force value of the first sensor is greater than the first magnetic force threshold value, and the magnetic force value of the second sensor is greater than the second magnetic force threshold value, determining that the magnetic strip is in the right area of the first sensor and the second sensor;

When the magnetic force value of the first sensor is greater than the first magnetic force threshold value, and the magnetic force value of the second sensor is less than the second magnetic force threshold value, determining that the magnetic strip is in the middle area of the first sensor and the second sensor;

When the magnetic value of the first sensor is in the first magnetic value interval, and the magnetic value of the second sensor is less than the second magnetic value interval, it is determined that the magnetic strip is in the middle of the first sensor and the second sensor position;

The control component is also used to: when the magnetic values of the plurality of magnetic induction sensors are within a preset interval, determine that the autonomous vehicle is in an area without a magnetic strip; control the autonomous vehicle to follow a preset walking path walk.
The automatic walking device according to claim 1, wherein the control component determines the preset position of the magnetic strip relative to the plurality of magnetic induction sensors of the automatic walking device according to the magnetic value of the plurality of magnetic induction sensors Area, including:

When the magnetic value of the first sensor and the magnetic value of the second sensor have opposite directions, it is determined that the magnetic strip is located in the middle area of the first sensor and the second sensor.
The autonomous walking device according to claim 1, wherein the control component is further used for:

When the autonomous walking device is in a working area without a magnetic strip, the magnetic value sensed by each magnetic induction sensor is corrected respectively.
The autonomous walking device according to claim 1, wherein the control component is further used for:

When the autonomous walking device satisfies a preset condition, the magnetic value of the plurality of magnetic induction sensors is acquired.
The autonomous walking device according to claim 1, wherein the first sensor and the second sensor are symmetrically installed at the bottom of the device main body, and the first sensor and the second sensor include geomagnetism sensor.
An automatic working system, characterized in that the system includes:

The automatic walking equipment according to any one of claims 1-5;

The magnetic strip is fixed at a preset position by a fixing member, and the N-S pole of the magnetic strip is placed along the working surface of the automatic traveling equipment.
The system according to claim 6, wherein the system further comprises:

The charging device is arranged at one end of the magnetic strip, and the charging device is used to charge the automatic traveling equipment when the automatic traveling equipment reaches one end of the magnetic strip.