CN108205313A - Automatic working system, from mobile equipment and its control method - Google Patents
Automatic working system, from mobile equipment and its control method Download PDFInfo
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- CN108205313A CN108205313A CN201611179992.4A CN201611179992A CN108205313A CN 108205313 A CN108205313 A CN 108205313A CN 201611179992 A CN201611179992 A CN 201611179992A CN 108205313 A CN108205313 A CN 108205313A
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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 present invention relates to a kind of from mobile equipment, move and work in the working region limited in boundary line, including：At least one border sensor detects sideband signal, the output of output boundary signal；Control module is electrically connected with border sensor, judges the type of the sideband signal output of border sensor output；Control module includes assessment unit, and whether the type for assessing the sideband signal output of the interim border sensor output of scheduled assessment is consistent, if unanimously, control module judges that the sideband signal output of border sensor output is stablized；The type of sideband signal output of the control module based on the stabilization, judges position relationship of the border sensor relative to boundary line.The beneficial effects of the invention are as follows：To the accuracy of judgement of the change in location of border sensor, the operation is stable of automatic working system.
Description
Technical field
The present invention relates to a kind of automatic working system, from mobile equipment and its control method.
Background technology
Automatic working system, such as automatic mower system can perform work automatically in the case of no manually supervision
Make task, user is freed, therefore be increasingly subject to the welcome of user from uninteresting labor service.
For automatic mower is made to work in the working region of restriction, automatic mower must be enable to identify working region,
A kind of common method is to be laid with boundary line along the boundary of working region, boundary line is transmitted sideband signal, pacified on automatic mower
Border sensor is filled, detects sideband signal, the sideband signal that in the working region that border sensor is limited in boundary line when exports
Output, different, the automatic mower of sideband signal output that from outside the working region that border sensor is limited in boundary line when exports
Controller judge the position in border sensor relative edge boundary line accordingly, so as to judge the position in automatic mower relative edge boundary line
It puts.
When controller is judged in the working region that border sensor limits in boundary line, judge that automatic mower is working
In region, control automatic mower is mobile and mows.When controller judges the working region that border sensor limits in boundary line
When outer, control automatic mower turns to, and automatic mower is made to return in working region.
One problem of this method is that the possible interfered signal of sideband signal output of border sensor output influences,
Interference signal may be from the working environment in automatic mower, such as the interference letter of the boundary line generation of operated adjacent system
Number, interference signal may also come from automatic mower in itself, such as interference signal of motor generation, etc..Border sensor
When the sideband signal output interfered signal of output influences, the variation of sideband signal output may be with border sensor by work
It is when working region is outer/inner to make region inside/outside variation, and the variation of sideband signal output is similar, and controller cannot accurately distinguish
It is due to automatic mower crossing the boundary line or the influence due to interference signal that above-mentioned variation, which occurs, for sideband signal output.
That is sideband signal may be exported the variation occurred when interfered signal influences by controller, erroneous judgement is border sensor
The variation of sideband signal output caused by changing relative to the position relationship of boundary line, so as to which automatic mower be controlled to change
Move mode.In addition to the influence of interfered signal, the algorithm reasons such as in itself, it is also possible to lead to what controller exported sideband signal
Erroneous judgement, so as to cause the erroneous judgement of the change in location to border sensor.
The stability that will automatic mower work be influenced to the erroneous judgement of the change in location of border sensor.Therefore, it is existing
A technical problem of urgent need to resolve is in technology, how the change in location in accurate judgement border sensor relative edge boundary line, from
And the change in location in accurate judgement automatic mower relative edge boundary line, sideband signal is defeated when distinguishing automatic mower crossing the boundary line
Sideband signal exports caused by the variation that sideband signal caused by the variation gone out and interference signal etc. exports, filtering interference signals etc.
Variation.
Invention content
The present invention is in order to solve the above technical problems, a kind of technical solution provided is：
It is a kind of to move and work in the working region limited in boundary line from mobile equipment, including：At least one flank pass
Sensor detects sideband signal, the output of output boundary signal；Control module is electrically connected with border sensor, judges border sensor
The type of the sideband signal output of output；Control module includes assessment unit, and it is defeated to assess the scheduled interim border sensor of assessment
Whether the type of sideband signal output gone out is consistent, if unanimously, control module judges the sideband signal of border sensor output
Output is stablized；The type of sideband signal output of the control module based on the stabilization, judges border sensor relative to boundary line
Position relationship.
Preferably, if the Type-Inconsistencies of the sideband signal output of the interim border sensor output of scheduled assessment, are controlled
Molding block judges that sideband signal output is unstable, and assessment unit is enabled to reappraise.
Preferably, the scheduled assessment phase ends after default assessment time arrival.
Preferably, the scheduled assessment phase ends after border sensor exports the output of several sideband signals.
Preferably, the scheduled assessment of assessment unit assessment is interim, the type of the sideband signal output of border sensor output
Whether all same, if all same, control module judges that the sideband signal output of border sensor output is consistent.
Preferably, when control module judges that the type of the sideband signal output of border sensor output changes, triggering
Assessment unit is begun the evaluation at.
Preferably, the type of sideband signal output includes in boundary signal either out-of-bounds signal or unknown signaling,
Or no signal, signal designation border sensor is located in the working region of boundary line restriction in boundary, out-of-bounds signal designation boundary
Sensor is located at outside the working region of boundary line restriction, and unknown signaling indicates position relationship of the border sensor relative to boundary line
It is unknown.
Preferably, include mobile module from mobile equipment, be electrically connected with control module, drive certainly mobile equipment mobile and turn
To；Control module judges the type of the sideband signal output of the stabilization for during signal, control mobile module is driven from shifting in boundary
Dynamic equipment moves forward.
Preferably, include mobile module from mobile equipment, be electrically connected with control module, drive certainly mobile equipment mobile and turn
To；When control module judges the type of the sideband signal output of the stabilization for out-of-bounds signal, control mobile module is driven from shifting
Dynamic equipment turns to.
Preferably, when control module judges the type of the sideband signal output of the stabilization for unknown signaling or no signal,
Control stops movement from mobile equipment.
Preferably, it is scheduled to comment when the type of the sideband signal output of assessment unit assessment is no signal or unknown signaling
Estimate the phase be longer than assessment unit assessment sideband signal output type for signal in boundary or out-of-bounds signal when the scheduled assessment phase.
Preferably, include Regression Model from mobile equipment, under Regression Model, control module control is from mobile equipment along boundary
Line moves；Under Regression Model, the scheduled assessment phase of assessment unit is shorter than from the working region that mobile equipment is limited in boundary line
Scheduled assessment phase when interior mobile.
Preferably, control module judges that not triggering assessment unit in scheduled waiting period begins the evaluation at, then control is certainly mobile
Equipment stops movement.
Preferably, scheduled waiting period ends after pre-determined distance is moved from mobile equipment.
Preferably, assessment unit for assess from mobile equipment start when, border sensor relative to boundary line position
Relationship.
Preferably, when starting from mobile equipment, scheduled assessment is interim, control module control do not moved from mobile equipment and
It does not work.
Preferably, include Regression Model from mobile equipment, under Regression Model, control module control is from mobile equipment along boundary
Line moves；From mobile equipment under Regression Model or during the work time, scheduled assessment is interim, and control module control moves certainly
Move state movement or work before equipment is begun the evaluation at according to assessment unit.
Preferably, assessment unit is used to assess whether border sensor changes relative to the position relationship of boundary line.
The present invention also provides a kind of automatic working systems, including boundary line, transmit sideband signal；And according to claim
The certainly mobile equipment of 1-18 any one of them.
The present invention also provides a kind of control method from mobile equipment, the work limited from mobile equipment in boundary line
It moves and works in region, the control method from mobile equipment includes step：Sideband signal is detected, output boundary signal is defeated
Go out；Judge the type of sideband signal output；Whether the type for assessing the interim sideband signal output of scheduled assessment is consistent, if one
It causes, then judges that sideband signal output is stablized；Based on the type that stable sideband signal exports, judge from mobile equipment retive boundary
The position relationship of line.
Preferably, whether the type for assessing the interim sideband signal output of scheduled assessment is consistent, if inconsistent, judges boundary
Signal exports unstable, repeat assessment step.
Preferably, the scheduled assessment phase ends after default assessment time arrival.
Preferably, the scheduled assessment phase ends after the output of several sideband signals is exported.
Preferably, assess it is scheduled assessment it is interim, sideband signal output type whether all same, if all same, sentence
The output of cut edge sector signal is consistent.
Preferably, when judging that the type of sideband signal output changes, appraisal procedure is triggered.
Preferably, sideband signal output type include boundary in signal either out-of-bounds signal either unknown signaling or
No signal, signal designation is located at from mobile equipment in the working region of boundary line restriction in boundary, and out-of-bounds signal designation is set from mobile
Outside the standby working region limited positioned at boundary line, unknown signaling instruction from mobile equipment relative to boundary line position relationship not
Know.
Preferably, judge the type of stable sideband signal output for during signal, control is from mobile equipment to Forward in boundary
It is dynamic.
Preferably, when judging the type of stable sideband signal output for out-of-bounds signal, control is turned to from mobile equipment.
Preferably, when judging the type of stable sideband signal output for unknown signaling or no signal, control is set from movement
It is standby to stop movement.
Preferably, when the type of the sideband signal output of assessment is no signal or unknown signaling, the scheduled assessment phase is longer than
Scheduled assessment phase of the type of the sideband signal output of assessment for signal in boundary or out-of-bounds during signal.
Preferably, include regression block from mobile equipment, under Regression Model, control is moved from mobile equipment along boundary line；
Under Regression Model, what the scheduled assessment phase was shorter than when being moved from the working region that mobile equipment is limited in boundary line scheduled comments
Estimate the phase.
Preferably, judge not triggering assessment in scheduled waiting period, then control stops movement from mobile equipment.
Preferably, scheduled waiting period ends after pre-determined distance is moved from mobile equipment.
Preferably, when appraisal procedure starts for assessing certainly mobile equipment, relative to the position relationship of boundary line.
Preferably, when starting from mobile equipment, control is not moved and is not worked from mobile equipment.
Preferably, include regression block from mobile equipment, under Regression Model, control is moved from mobile equipment along boundary line；
From equipment is moved under Regression Model or in the course of work, scheduled assessment is interim, and control is since being moved equipment according to assessment
Preceding state is mobile or works.
Preferably, appraisal procedure is used to assess from whether mobile equipment changes relative to the position relationship of boundary line.
The beneficial effects of the invention are as follows：Can accurate judgement border sensor relative to the position relationship of boundary line change
Change, erroneous judgement caused by avoiding interference signal etc., make the operation is stable of automatic working system.
Description of the drawings
The technical issues of invention described above solves, technical solution and advantageous effect can by following
It realizes the detailed description of the preferable specific embodiment of the present invention, describes in combination with attached drawing and clearly obtain.
Fig. 1 is the schematic diagram of the automatic working system of the first embodiment of the present invention；
Fig. 2 is the automatic mower structure chart of the first embodiment of the present invention；
Fig. 3-4 is the time diagram of the sideband signal output of the first embodiment of the present invention；
Move mode schematic diagram when Fig. 5 (a), (b) are the automatic mower chance boundary lines of the first embodiment of the present invention；
Fig. 6 is the estimation flow figure of the second embodiment of the present invention.
Fig. 7 (a), (b) are the oscillograms of the sideband signal output of the border sensor output of the first embodiment of the present invention.
Fig. 8 is the operative scenario schematic diagram of the automatic working system of the first embodiment of the present invention.
100. 1. automatic mower of automatic working system, 2. charging station
3. 5. boundary line 7 of signal station, 8. border sensors
9. 11. wheel group of housing, 13. cutting assembly
15. the second part of boundary line that the first part 19. for the boundary line that isolated island 17. is turned back turns back
Specific embodiment
Fig. 1 is the schematic diagram of the automatic working system 100 of the first embodiment of the present invention.Automatic working system 100 includes
Boundary line 5, signal generator 3 and certainly mobile equipment 1.Boundary line 5 is laid with along the boundary of working region, is limited from mobile equipment
Working range, it is of course also possible to be laid with boundary line along barrier, isolated island in working region etc., prevent from mobile equipment into
Enter above-mentioned zone.Signal generator 3 is electrically connected with boundary line 5, and signal generator 3 generates sideband signal, and side is transmitted in boundary line 5
Sector signal.In the present embodiment, the sideband signal that signal generator 3 generates is the electric signal of variation, specifically, signal generator 3
The sideband signal of generation is pulse signal, and in other embodiments, sideband signal may be the signal of other forms.Boundary line
The sideband signal of 5 transmission generates electromagnetic field in space.It is automatic mower 1 from mobile equipment in the present embodiment, in other implementations
Can also be that automatic cleaner, automatic snow cleaner, automatic irrigator etc. are suitble to unattended equipment from mobile equipment in example.
Fig. 2 is 1 structure chart of automatic mower of the first embodiment of the present invention, and automatic mower 1 includes housing 9, movement
Module, task execution module, energy module and control module etc..With reference to Fig. 1 and Fig. 2, housing 9 has longitudinal axis X-X, moves
Dynamic model block, task execution module, energy module and control module are mounted on housing 9.Mobile module includes wheel group 11, by
Drive motor driving drives automatic mower 1 to move and turn to.Task execution module includes cutting assembly 13, is driven by cutting motor
It is dynamic to rotate to perform grass cutting action.Energy module includes battery pack (not shown), and movement and work for automatic mower 1 provide
Energy.Control module is electrically connected with mobile module, task execution module, and control mobile module drives automatic mower 1 to move, and
Control task execution module performs grass cutting action.In the present embodiment, automatic mower 1 includes at least one border sensor 7,8,
It is electrically connected with control module, border sensor 7,8 detects sideband signal, is passed specifically, border sensor 7,8 detects boundary line 5
The electromagnetic field that defeated sideband signal generates in space, the output of output boundary signal.In the present embodiment, automatic mower 1 includes two
A border sensor 7,8, is arranged on 9 forepart of housing, and the longitudinal axis X-X about housing 9 is symmetrical.
In the present embodiment, the sideband signal output that border sensor 7,8 exports includes different types.Specifically, boundary
The type of signal output includes signal, out-of-bounds signal, unknown signaling, no signal etc. in boundary.In the present embodiment, signal generator 3
The sideband signal of generation is pulse signal, and ideally, border sensor 7,8 is located in the working region of boundary line restriction
When, when being located at boundary's sensor 7,8 outside the working region of boundary line restriction, the sideband signal that border sensor 7,8 exports exports
Waveform respectively as shown in Fig. 7 (a) and (b).Such as Fig. 7 (a), the sideband signal output that border sensor 7,8 exports includes amplitude V
+ the trough of wave crest and amplitude V- less than threshold value Vref- more than threshold value Vref+, wave crest are located at before trough, wave crest and trough point
Not Dui Yingyu pulse signal rising edge and failing edge.Sideband signal output shown in control module processing, analysis chart 7 (a), sentences
The sideband signal output that disconnected border sensor 7,8 exports is signal in boundary.The boundary exported such as Fig. 7 (b), border sensor 7,8
Signal output includes troughs of the amplitude V- less than threshold value Vref- and amplitude V+ is more than the wave crest of threshold value Vref+, since boundary senses
When device 7,8 is located at outside the working region of boundary line restriction, it is located at border sensor 7,8 in the working region of boundary line restriction
When, on the contrary, trough is located at before wave crest, trough and wave crest correspond respectively to the electromagnetism field direction that border sensor 7,8 detects
The rising edge and failing edge of pulse signal.Sideband signal output shown in control module processing, analysis chart 7 (b), judges flank pass
The sideband signal output that sensor 7,8 exports is out-of-bounds signal.Under certain conditions, the sideband signal that border sensor 7,8 exports
Although exporting the trough for being less than threshold value Vref- including wave crests of the amplitude V+ more than threshold value Vref+ or amplitude V-, do not have Fig. 7
(a) or the form of (b), then control module will determine that sideband signal output that border sensor 7,8 exports is unknown signaling, control
Module can not judge position relationship of the border sensor 7,8 relative to boundary line based on unknown signaling.Border sensor 7,8 exports
Sideband signal output interfered signal influence when be likely to occur such case.Under certain conditions, border sensor 7,8 exports
Sideband signal output include amplitude V+ more than threshold value Vref+ wave crest or amplitude V- be less than threshold value Vref- trough, control
Module will determine that no signal.When automatic mower apart from boundary line too far or boundary line break when, in fact it could happen that this feelings
Condition.Certainly, in the present embodiment, sideband signal has certain pulse width, therefore, between the time between rising edge and failing edge
Every the basis for estimation for the type that can also be used as sideband signal output.For example, under certain conditions, when the time of wave crest and trough
Between when being divided into several times or tens times of pulse signal cycle, then may determine that the sideband signal output that border sensor 7,8 exports
Type be no signal or unknown signaling.
In the present embodiment, control module includes assessment unit, assesses what the scheduled interim border sensor 7,8 of assessment exported
Whether the type of sideband signal output is consistent, if unanimously, control module judges that the sideband signal that border sensor 7,8 exports is defeated
Go out stabilization.In the present embodiment, assessment unit can be realized by algorithm, non-physical.In the present embodiment, assessment unit assessment is scheduled
Assess the type of sideband signal output that interim border sensor 7,8 exports whether all same, if all same, control module is sentenced
The sideband signal output that disconnected border sensor 7,8 exports is consistent.If control module judges the boundary letter that border sensor 7,8 exports
Number output is stablized, and judges position pass of the border sensor 7,8 relative to boundary line 5 based on the type that stable sideband signal exports
System, and control the move mode of automatic mower 1.
In the present embodiment, the scheduled assessment phase ends after default assessment time arrival.Specifically, assessment unit includes meter
When device, when assessment unit is begun the evaluation at, timer starts timing, when timer, reaches the default assessment time, assessment unit
Complete assessment.
In the present embodiment, control module judges that the type of sideband signal output that border sensor 7,8 exports changes
When, triggering assessment unit is begun the evaluation at.
The Change of types of sideband signal output includes no signal and has the variation between signal.For example, automatic mower 1 opens
After dynamic, when control module judges border sensor 7, the output of 8 output boundary signals, triggering assessment unit is begun the evaluation at.Boundary
The Change of types of signal output further includes signal in boundary, out-of-bounds the variation of one of signal, unknown signaling is wherein another.Example
Such as, in the movement of automatic mower 1 and the course of work, cross-border line 5, the sideband signal that border sensor 7,8 exports is exported by boundary
Interior signal intensity is out-of-bounds signal, and control module triggering assessment unit is begun the evaluation at.Alternatively, exported when border sensor 7,8
Sideband signal output interfered signal influences, when above-mentioned variation occurs for the type of sideband signal output, control module triggering assessment
Unit is begun the evaluation at.
Below by taking the time diagram of the sideband signal output shown in Fig. 3-4 as an example, illustrate assessment unit in the present embodiment
Evaluation process.
Pulse in Fig. 3-4 represents that the sideband signal after control module is handled, analyzed exports, and the positive pulse in figure represents
Signal in boundary, negative pulse represent out-of-bounds signal.In the present embodiment, positioned at the work of boundary line restriction when automatic mower 1 starts
In region, therefore, after automatic mower 1 starts, border sensor 7,8 exports signal in boundary.Control module judges that boundary senses
When device 7, the output of 8 output boundary signals, triggering assessment unit is begun the evaluation at, and timer starts timing.At this point, automatic mower 1
It does not move and does not perform grass cutting action, therefore, the type of sideband signal output that border sensor 7,8 exports is to believe in boundary
Number, default assessment time T is reached when timer0When, assessment unit completes assessment.First in above process corresponding diagram 3
Stage：Initialization Analysis.When assessment unit completes assessment, control module judges that the sideband signal that border sensor 7,8 exports is defeated
Go out for signal in stable boundary, so as to judge that border sensor 7,8 is located in the working region of boundary line restriction, control module general
Control mobile module starts that automatic mower 1 is driven to move forward, and control task execution module starts to perform grass cutting action.This
Second stage in one process corresponding diagram 3：Position judgment.As shown in figure 3, after this, automatic mower 1 is in mobile and holds
The state of row grass cutting action, i.e. phase III.
When automatic mower moves in working region, the type of sideband signal output that border sensor 7,8 exports is not
It changes, assessment unit is without assessment.
With reference to Fig. 4 and Fig. 5 (a), automatic mower 1 during the work time, is moved at boundary line 5 out of working region,
When automatic mower 1 continues to move to, the border sensor 7 positioned at 1 housing of automatic mower, 9 forepart will be moved to working region
Outside.At this point, the Change of types of sideband signal output that border sensor 7 exports is out-of-bounds signal.Control module judges flank pass
The type of sideband signal output that sensor 7 exports changes, and triggering assessment unit is begun the evaluation at, and timer starts timing.
Before assessment unit completes assessment, control module judges that border sensor 7 does not become relative to the position relationship of boundary line 5
Change, that is to say, that control module thinks that border sensor 7 is still located in the working region of the restriction of boundary line 5, control module control
Automatic mower 1 continues to move to and performs grass cutting action.Therefore, border sensor 7 will continue to be located at outside working region, flank pass
The type of sideband signal output that sensor 7 exports is out-of-bounds signal.That is, the type of sideband signal output does not occur newly
Variation, be interrupted evaluation process.Therefore, default assessment time T is reached when timer0When, assessment unit is completed
Assessment.Fourth stage in above process corresponding diagram 4：Cross-line is assessed.When assessment unit completes assessment, control module judges boundary
The sideband signal output that sensor 7 exports is stable out-of-bounds signal, therefore, judges that border sensor 7 is located at outside working region.
That is, control module judges that border sensor 7 changes relative to the position relationship of boundary line 5, control module judges
1 crossing the boundary line 5 of automatic mower.At this point, control module starts to control mobile module that automatic mower 1 is driven to turn to, with remote
From boundary line 5, the 5th stage in above process corresponding diagram 4：Cross-line judges.As shown in figure 4, after this, automatic mower 1
In steering state, i.e. the 6th stage.
When automatic mower 1 starts to turn to, border sensor 7 is still located at outside working region, the type of sideband signal output
It does not change, assessment unit is without assessment.
With reference to Fig. 4 and Fig. 5 (b), in 1 steering procedure of automatic mower, when border sensor 7 is moved to outside working region
When in working region, the type of sideband signal output that border sensor 7 exports will be signal in boundary by out-of-bounds signal intensity, control
Molding block judges that the type of sideband signal output changes, and triggering assessment unit is begun the evaluation at, and timer starts timing.It is commenting
Before estimating unit completion assessment, control module judges that border sensor 7 does not change relative to the position relationship of boundary line 5,
That is, control module thinks that border sensor 7 is still located at outside the working region of boundary line restriction, control module control is automatic
Grass trimmer 1 continues to turn to, and the type of sideband signal output that border sensor 7 exports is signal in boundary.When timer
Reach default assessment time T0, assessment unit completion assessment.The 7th stage in this process corresponding diagram 4：Cross-line is assessed.Assessment
When unit completes assessment, control module judges that the sideband signal that border sensor 7 exports is exported as signal in stable boundary, because
This, judges that border sensor 7 is located in working region, i.e. the 8th stage：Cross-line judges.Control module judges border sensor 7
When turning again in working region, control automatic mower 1 moves forward, into the 9th stage.Automatic mower 1 is moved and is held
Row grass cutting action until meeting boundary line 5 again, repeats the above process.
In the present embodiment, when automatic mower 1 moves in working region, if since interference signal leads to sideband signal
When the type of output changes, control module triggering assessment unit is begun the evaluation at, and timer starts timing.It is reached during timer
To default assessment time T0Before, interference signal disappears or changes, and the type that sideband signal exports is caused to change again, then
Control module judges that sideband signal output is unstable, and triggering assessment unit restarts to assess.Before assessment unit completes assessment,
Control module judges that border sensor 7,8 does not change relative to the position relationship of boundary line 5, therefore, controls automatic mow
Machine 1 continues to move along.If automatic mower 1 is remained in working region, the default assessment time T that reappraises0In,
The type of sideband signal output that border sensor 7,8 exports is signal in boundary, and control module judges that border sensor 7,8 is defeated
The sideband signal output gone out is signal in stable boundary, therefore, judges that border sensor 7,8 is located in working region.It is in this way, logical
It crosses and delay judgement is carried out to the Change of types that sideband signal exports, effectively filtered out the influence of interference signal.
In the present embodiment, when the type of sideband signal output that border sensor 7,8 exports changes, control module
Be not the type exported immediately according to sideband signal change judge border sensor 7,8 relative to boundary line 5 position close
System changes, but is assessed using assessment unit, whether judges the default type for assessing the output of time inner edge sector signal
Unanimously, it is automatic so as to change if unanimously, just judging that border sensor 7,8 is changed relative to the position relationship of boundary line 5
The move mode of grass trimmer 1.It does so, control module can be effectively prevent sideband signal caused by due to interference signal etc.
The temporary variations of the shake of output, i.e. sideband signal output, the erroneous judgement to the change in location of border sensor 7,8, so as to protect
Demonstrate,prove the stability that automatic mower 1 works.
In the present embodiment, the ranging from 40-250ms of assessment time is preset.
The default assessment time is related to the type of sideband signal output that border sensor 7,8 exports.When control module is sentenced
The Change of types of cut edge sector signal output during signal, presets the ranging from 40-100ms of assessment time into signal in boundary or out-of-bounds.
When control module judges the Change of types of sideband signal output into no signal or unknown signaling, extend the default assessment time, in advance
If assess the ranging from 100-250ms of time.If the sideband signal output of default 7,8 output of assessment time inner boundary sensor
Type is no signal or is unknown signaling, then automatic mower 1 is controlled to stop mobile and grass cutting action.Boundary senses
When the type of sideband signal output that device 7,8 exports is continuously no signal or unknown signaling, control module can not judge flank pass
Sensor 7,8 is relative to the position relationship of boundary line 5, and therefore, in order to ensure the safety of automatic working system 100, control is automatic
Grass trimmer 1 stops mobile and grass cutting action.
In the present embodiment, it is related to the operating mode of automatic working system 100 to preset the assessment time.
Fig. 8 is the operative scenario schematic diagram of automatic working system 100.The working region of automatic mower 1 includes isolation
Island 15, boundary line 5 is extended from the boundary of working region to isolated island 15, around isolated island 15, then is turned back and is returned to the side of working region
Boundary in this way, just foring the inner boundary around isolated island 15, can prevent automatic mower 1 from entering isolated island 15.In isolated island 15
Include the boundary line 5 turned back between the boundary of working region, the boundary line 5 which turns back includes the side of transmission opposite direction
The first part 17 of sector signal and second part 19.The first part 17 for the boundary line 5 that the part is turned back and second part 19 pass
Equal in magnitude, the opposite in phase of defeated sideband signal, if first part 17 is made to abut second part 19 when being laid with boundary line 5,
The sideband signal output that border sensor 7,8 exports is not influenced by the sideband signal that the two is transmitted.But if it is laid with boundary line
A distance away, then border sensor 7,8 will detect first part 17 and second for first part 17 and second part 19 when 5
The sideband signal that part 19 is transmitted.In order to which the movement of automatic mower 1 is made not influenced by the boundary line 5 that the part is turned back, from
When motor mower 1 is moved and worked in working region, presetting the assessment time should not be too short.Specifically, in the present embodiment, automatically
When grass trimmer 1 is moved and worked in working region, the ranging from 60-100ms of default assessment time (does not consider that sideband signal is defeated
The type gone out is no signal or the situation of unknown signaling).If the default assessment time is too short, automatic mower 1 is moved to the part
During the first part 17 of boundary line 5 turned back, assessment unit will be quickly completed cross-line assessment, and control module judges automatic mower
1 is moved to outside working region, and control automatic mower 1 turns to, in this way, automatic mower 1 just can not cross what the part was turned back
Boundary line 5.If the default assessment time is appropriately extended, when automatic mower 1 is moved to the boundary line 5 that the part is turned back, commenting
Before estimating unit completion assessment, automatic mower 1 is made to cross over first part 17 and the second part of the boundary line 5 that the part is turned back
19, it is moved again in working region, in this way, when assessment unit completes assessment, control module will determine that stable sideband signal
The type of output is signal in boundary, so as to which automatic mower 1 be controlled to continue to move to and worked.Certainly, it presets and assesses the time also not
Can be too long, if too long, it is too far that automatic mower 1 may be driven out to boundary line 5 when meeting boundary line 5, is sent out so as to cause automatic mower 1
Raw the accidents such as to fall, specifically, within the default assessment time, the housing 9 of automatic mower 1 cannot be moved fully to boundary line 5
Outside the working region of restriction, to meet safety requirement.
With reference to figure 8, in the present embodiment, automatic working system further includes charging station 2, is 1 electric energy supplement of automatic mower.From
When motor mower 1 needs to return the charging of charging station 2, control module control 1 cross-border line 5 of automatic mower moves, that is, control two
One of them of a border sensor 7,8 is located in working region, and other in which is located at outside working region.When control module is sentenced
When the disconnected border sensor 7 that should be located in working region is moved to outside working region, control mobile module drives automatic mower 1
It is rotated into working region；When control module judges that should be located at the border sensor 8 outside working region is moved in working region
When, control mobile module drives automatic mower 1 to be rotated outside working region, to keep 1 cross-border line 5 of automatic mower to filling
It moves in power station 2.In the above process, during 7 or 8 crossing the boundary line of border sensor, control module judges the class of sideband signal output
Type changes, and triggering assessment unit is assessed.If at this point, default assessment overlong time, control module cannot be timely
The move mode of automatic mower 1 is adjusted, automatic mower 1 will move one section after 7 or 8 crossing the boundary line 5 of border sensor
Distance is rotated further by, and the amplitude of oscillation of automatic mower 1 is big, and control is dumb.If appropriate shorten the default assessment time, can reduce certainly
The amplitude of oscillation of motor mower 1 improves the recurrence efficiency of automatic mower 1.Specifically, in the present embodiment, automatic mower 1 is along boundary
When line 5 returns charging station 2, the ranging from 40-60ms of assessment time is preset.
Evaluation process when automatic mower 1 moves in working region can also be called slow assessment, be returned along boundary line 5
When evaluation process can also be called fast assessment.The setting appropriate default assessment time, it is ensured that moved to automatic mower 1
The accuracy and sensitivity of the control of mode.
Certainly, presetting the assessment time can be related to the movement speed of automatic mower 1, when the movement of automatic mower 1
When speed reduces, the displacement distance in the case where the default assessment time is constant of automatic mower 1 reduces, and therefore, can extend pre-
If assess the time；When the movement speed increase of automatic mower 1, automatic mower 1 is in constant situation of default assessment time
Lower displacement distance increase, the risk being moved to outside working region to reduce automatic mower 1 can shorten the default assessment time.
In the present embodiment, the parameter of consistency of the type of default assessment time inner edge sector signal output can be adjusted, that is, pre-
If the identical probability of the type of assessment time inner edge sector signal output reaches preset value, such as reach 80%.It is in this way, even if pre-
If there is particular type different in the sideband signal output of 7,8 output of assessment time inner boundary sensor, also it is also believed that boundary
Signal output is stable.
In the present embodiment, in the 6th stage shown in Fig. 4, i.e. automatic mower steering procedure, border sensor 7 also may be used
It can not return in working region, such as the gradient is larger, automatic mower 1 has skidded, and automatic mower 1 is outside working region
Mobile distance is likely to occur such case when excessive, in this case, border sensor 7 will persistently export out-of-bounds signal.When
The steering procedure duration of automatic mower 1 is more than preset value, when signal in boundary is not detected in border sensor 7, controls mould
Block will control automatic mower 1 to rotate, if border sensor 7 exports signal in boundary in rotary course, control module triggering is commented
Estimate unit to begin the evaluation at, into the 7th stage shown in Fig. 4：Cross-line is assessed.If boundary senses in 1 rotary course of automatic mower
Device 7 does not export signal in boundary yet, then control module will control automatic mower 1 to stop mobile and grass cutting action, automatic to ensure
The safety of work system 100.In the present embodiment, in the movement of automatic mower 1 and the course of work, control module judges scheduled
When being triggered in waiting period without evaluation process, control automatic mower 1 is stopped into mobile and grass cutting action.Scheduled waiting period exists
Automatic mower 1 ends after moving pre-determined distance, the ranging from 80-160m of pre-determined distance.Scheduled waiting period can also be pre-
If the stand-by period ends after reaching.Control module judges to be triggered without evaluation process in scheduled waiting period, may be to cut automatically
Careless machine 1 it is lasting be located at outside working region or automatic working system 100 breaks down.
It is essentially identical in the evaluation process and first embodiment of assessment unit in the second embodiment of the present invention, difference
It is, the scheduled assessment phase ends after border sensor 7,8 exports the output of several sideband signals.Assessment unit assesses boundary
Whether the number that sensor 7,8 continuously exports the sideband signal output of same type reaches preset times.In the present embodiment, assessment
Unit includes counter, when assessment unit is begun the evaluation at, assigns counter initial count value, control module often judges that boundary senses
Device 7,8 exports a sideband signal output, and count value increases one, alternatively, control module often judges that border sensor 7,8 exports one
Sideband signal exports, and count value subtracts one；When count value is equal to default assessed value, assessment unit completes assessment.
Below by taking estimation flow figure shown in fig. 6 as an example, illustrate the evaluation process of assessment unit.Evaluation process includes two
Input parameter：The type of known boundaries signal output, initial value are set as signal in boundary；The type exported with current border signal,
I.e. current control module judges the type of sideband signal output that border sensor 7 or 8 exports；Including an output parameter：Side
Relative to the position relationship of boundary line 5, initial value is set as in working region boundary's sensor 7 or 8.
In the present embodiment, the default assessed value of counter is set as 0, and automatic mower 1 is enabled to start the count value of hour counter
For preset assessed value, as 0.After automatic mower 1 starts, control module often judges that border sensor 7,8 exports a boundary
Signal exports, and judges whether the type of current border signal output is identical with the type that known boundaries signal exports, if differing,
The type of known boundaries signal output then is substituted using the type that current border signal exports, and triggers assessment unit and starts to comment
Estimate.If identical, directly count value is enabled to subtract one, and judge whether count value is equal to default assessed value, if being equal to, based on current
The type of sideband signal output judges position relationship of the border sensor 7,8 relative to boundary line 5；If being not equal to, side is judged
Boundary's sensor 7,8 does not change relative to the position relationship of boundary line 5.
In the present embodiment, when automatic mower 1 starts in the working region that boundary line 5 limits, border sensor 7,8
The sideband signal output of output is signal in boundary, and control module judges the type of current border signal output and known boundaries signal
The type of output is identical, and count value is enabled to subtract one, and count value is less than 0, and control module judges border sensor 7,8 relative to boundary line
5 position relationship does not change, that is, judges that border sensor 7,8 is still located in working region, therefore, controls automatic mower
1 continues to move to and performs grass cutting action.Continue above-mentioned deterministic process when automatic mower 1 moves in working region.
With reference to figure 5 (a), in the present embodiment, when automatic mower 1 is moved at boundary line 5, when continuing to move to, flank pass
Sensor 7 will be moved to outside working region, and control module judges that the Change of types of sideband signal output that border sensor 7 exports is
Out-of-bounds signal, that is to say, that control module judges the type of current border signal output and the type of known boundaries signal output
Difference begins the evaluation at so as to trigger assessment unit, and the Type Change that known boundaries signal is exported is out-of-bounds signal.Assessment is single
When member is begun the evaluation at, control module assigns counter initial count value.In the present embodiment, it is fixed that control module assigns counter
Initial count value, any value being specifically as follows in 4-10.Control module often judges that border sensor 7 exports a sideband signal
Output, including the sideband signal output that triggering assessment unit is begun the evaluation at, count value subtracts one.Therefore, it is counted when control module assigns
After number device initial count value, even count value subtracts one.After count value subtracts one, it is pre- that control module judges whether current count value is equal to
If assessed value, that is, judge whether current count value has reduced to 0.If count value reduces to 0, assessment unit completes assessment, controls mould
Block judges current border stable output signal, and the type based on the output of current border signal judges border sensor 7 relative to side
The position relationship in boundary line 5.If control module judges that count value does not reduce to 0, i.e. assessment unit does not complete assessment, then judges flank pass
Sensor 7 does not change relative to the position relationship of boundary line 5.
In the present embodiment, illustrate a complete evaluation process so that initial count value is equal to 4 as an example.Assessment unit starts to comment
Estimate, control module assigns counter initial count value 4, and count value subtracts 1 and becomes 3, and control module judges count value not equal to default
Assessed value 0, therefore judge that border sensor 7 does not change relative to the position relationship of boundary line 5.Automatic mower 1 continues
Mobile, border sensor 7 continues to output out-of-bounds signal, control module judge the output of border sensor 7 the 2nd out-of-bounds signal when,
Judge that the type of current border signal output is identical with the type that known boundaries signal exports, the count value of counter is enabled directly to subtract
1, count value becomes 2, and control module judges count value still not equal to 0, therefore judge border sensor 7 relative to boundary line 5
Position relationship do not change, evaluation process continue.When control module judges that border sensor 7 exports the 3rd out-of-bounds signal
When, count value becomes 1.When control module judges that border sensor 7 exports the 4th out-of-bounds signal, count value reduces to 0, assessment
Unit completes assessment, and control module judges current border stable output signal, and the type based on the output of current border signal is boundary
External signal, judge the change in location of border sensor 7 for working region outside.At this point, control module control mobile module drives certainly
Motor mower 1 turns to.
After automatic mower 1 turns to, border sensor 7 is moved in working region, and control module is to border sensor 7
The deterministic process of change in location is similar with the above process.
In the present embodiment, before assessment unit is begun the evaluation at and assessment unit is completed after assessing, and control module often judges side
Boundary's sensor 7,8 exports a sideband signal output, also count value is enabled to subtract 1, and judges whether count value is equal to default assessed value,
If being not equal to, judge that border sensor 7,8 does not change relative to the position relationship of boundary line 5.In the present embodiment, no matter
It is when automatic mower 1 starts or when assessment unit is completed to assess, the count value of counter is default assessed value 0,
Therefore, when control module judges that border sensor 7,8 exports the output of sideband signal, when enabling the count value subtract 1, count value will be by
Gradually be less than default assessed value, thus control module can always judge border sensor 7,8 relative to boundary line 5 position relationship not
It changes, until control module judges that the type of sideband signal output that border sensor 7,8 exports changes, triggering is commented
Estimate unit to begin the evaluation at.
In the present embodiment, if assessment unit does not complete assessment, i.e. count value does not reduce to 0, and control module judges sideband signal
New variation, i.e., the type of sideband signal output that scheduled assessment phase inner boundary sensor 7,8 exports occur for the type of output
It differs, then triggers assessment unit and restart to assess, and judge position relationship of the border sensor 7,8 relative to boundary line 5
It does not change.In this way, when the sideband signal output that border sensor 7,8 exports is shaken due to interference signal etc.
When, i.e., sideband signal output type occur temporary variations when, control module will not judge immediately border sensor 7,8 relative to
The position relationship of boundary line 5 is changed, only the sideband signal of type after the continuously output variation of border sensor 7,8
When the number of output reaches preset times (being at least 4 times in the present embodiment), control module just judges that border sensor 7,8 is opposite
Position relationship in boundary line 5 is changed.Control module is caused to border sensor 7,8 so as to avoid interference signal etc.
The erroneous judgement of change in location improves the stability that automatic mower 1 works.
In the present embodiment, control module often judges that border sensor 7,8 exports a sideband signal output, can also enable meter
Other numerical value such as the count value add drop 2,3 of number device, only need to accordingly adjust initial count value, can reach same effect.It can
With understanding, default assessed value can not also be 0, need to only ensure initial count value with the difference of default assessed value in certain model
In enclosing.
In the present embodiment, when automatic mower 1 moves in working region, when control module judges sideband signal output
For Change of types into signal in boundary or out-of-bounds during signal, the scheduled assessment phase exports 4-10 sideband signal for border sensor 7,8
The period of output.Similar with first embodiment, the length of scheduled assessment phase can also be exported according to border sensor 7,8
Sideband signal output type and the operating mode of automatic working system 100 be adjusted.When control module judges boundary
When the Change of types of signal output is into no signal or unknown signaling, extend the scheduled assessment phase, the scheduled assessment phase can be side
Boundary's sensor 7,8 exports the period of 10-30 sideband signal output.When automatic mower 1 returns charging station 2 along boundary line 5,
Shorten the scheduled assessment phase, the scheduled assessment phase can be the period that border sensor 7,8 exports 2-6 sideband signal output.
In the present embodiment, judge the stable condition of the sideband signal output that border sensor 7,8 exports, may not be side
The type of several sideband signals output that boundary's sensor 7,8 exports is consecutive identical, and it is defeated to meet several sideband signals
The identical probability of the type that goes out reaches preset value.
The present invention is not limited to lifted specific embodiment, and the structures and methods based on present inventive concept belong to the present invention
Protection domain.
Claims (37)
1. it is a kind of from mobile equipment, it moves and works in the working region limited in boundary line, including：
At least one border sensor detects sideband signal, the output of output boundary signal；
Control module is electrically connected with border sensor, judges the type of the sideband signal output of border sensor output；
It is characterized in that,
Control module includes assessment unit, assesses the type of the sideband signal output of the interim border sensor output of scheduled assessment
It is whether consistent, if unanimously, control module judges that the sideband signal output of border sensor output is stablized；
The type of sideband signal output of the control module based on the stabilization, judges position of the border sensor relative to boundary line
Relationship.
It is 2. according to claim 1 from mobile equipment, which is characterized in that if the interim border sensor output of scheduled assessment
Sideband signal output Type-Inconsistencies, then control module judge sideband signal export it is unstable, assessment unit is enabled to comment again
Estimate.
It is 3. according to claim 1 from mobile equipment, which is characterized in that the scheduled assessment phase reaches in the default assessment time
After end.
4. it is according to claim 1 from mobile equipment, which is characterized in that if the scheduled assessment phase exports in border sensor
End after dry sideband signal output.
It is 5. according to claim 1 from mobile equipment, which is characterized in that interim, the side of the scheduled assessment of assessment unit assessment
The type of the sideband signal output of boundary sensor output whether all same, if all same, control module judges border sensor
The sideband signal output of output is consistent.
It is 6. according to claim 1 from mobile equipment, which is characterized in that control module judges the side of border sensor output
When the type of sector signal output changes, triggering assessment unit is begun the evaluation at.
It is 7. according to claim 1 from mobile equipment, which is characterized in that the type of the sideband signal output is included in boundary
Signal either out-of-bounds signal either unknown signaling or no signal, signal designation border sensor is located at boundary line limit in boundary
In fixed working region, out-of-bounds signal designation border sensor is located at outside the working region of boundary line restriction, unknown signaling instruction
Border sensor is unknown relative to the position relationship of boundary line.
It is 8. according to claim 7 from mobile equipment, which is characterized in that include mobile module from mobile equipment, with control
Module is electrically connected, and is driven from mobile equipment movement and is turned to；Control module judges the type of the sideband signal output of the stabilization
For during signal, control mobile module drives from mobile equipment and moves forward in boundary.
It is 9. according to claim 7 from mobile equipment, which is characterized in that include mobile module from mobile equipment, with control
Module is electrically connected, and is driven from mobile equipment movement and is turned to；Control module judges the type of the sideband signal output of the stabilization
During for out-of-bounds signal, control mobile module drives from mobile equipment and turns to.
It is 10. according to claim 7 from mobile equipment, which is characterized in that control module judges the boundary letter of the stabilization
When the type of number output is unknown signaling or no signal, control stops movement from mobile equipment.
It is 11. according to claim 7 from mobile equipment, which is characterized in that the sideband signal output of assessment unit assessment
When type is no signal or unknown signaling, the type that the scheduled assessment phase is longer than the sideband signal output of assessment unit assessment is boundary
Scheduled assessment phase when interior signal or out-of-bounds signal.
It is 12. according to claim 1 from mobile equipment, which is characterized in that include Regression Model from mobile equipment, return mould
Under formula, control module control is moved from mobile equipment along boundary line；Under Regression Model, the scheduled assessment phase of assessment unit is shorter than
Scheduled assessment phase when being moved in from the working region that mobile equipment is limited in boundary line.
It is 13. according to claim 1 from mobile equipment, which is characterized in that control module is judged in scheduled waiting period not
Triggering assessment unit is begun the evaluation at, then control stops movement from mobile equipment.
It is 14. according to claim 13 from mobile equipment, which is characterized in that scheduled waiting period moves from mobile equipment
End after pre-determined distance.
It is 15. according to claim 1 from mobile equipment, which is characterized in that assessment unit opens for assessing from mobile equipment
When dynamic, border sensor relative to boundary line position relationship.
It is 16. according to claim 15 from mobile equipment, which is characterized in that when starting from mobile equipment, scheduled assessment
Interim, control module control is not moved and is not worked from mobile equipment.
17. automatic working system according to claim 1, which is characterized in that include Regression Model from mobile equipment, return
Under pattern, control module control is moved from mobile equipment along boundary line；From mobile equipment under Regression Model or in the course of work
In, scheduled assessment is interim, control module control from mobile equipment begun the evaluation at according to assessment unit before state is mobile or work
Make.
It is 18. according to claim 1 from mobile equipment, which is characterized in that assessment unit is used to assess border sensor phase
Whether change for the position relationship of boundary line.
19. a kind of automatic working system including boundary line, transmits sideband signal；And according to any one of claim 1-18 institutes
The certainly mobile equipment stated.
20. a kind of control method from mobile equipment, it is described moved from the working region that mobile equipment is limited in boundary line with
Work, which is characterized in that the control method from mobile equipment includes step：
Detect sideband signal, the output of output boundary signal；
Judge the type of sideband signal output；
Whether the type for assessing the interim sideband signal output of scheduled assessment is consistent, if unanimously, judging that sideband signal output is steady
It is fixed；
Based on the type that stable sideband signal exports, the position relationship from mobile equipment relative edge boundary line is judged.
21. the control method according to claim 20 from mobile equipment, which is characterized in that the scheduled assessment of assessment is interim
Whether the type of sideband signal output is consistent, if inconsistent, judges that sideband signal exports unstable, repeat assessment step.
22. the control method according to claim 20 from mobile equipment, which is characterized in that the scheduled assessment phase is default
The assessment time ends after reaching.
23. the control method according to claim 20 from mobile equipment, which is characterized in that the scheduled assessment phase is exporting
End after the output of several sideband signals.
24. the control method according to claim 20 from mobile equipment, which is characterized in that assess the scheduled assessment phase
In, the type of sideband signal output whether all same, if all same, judge that sideband signal output is consistent.
25. the control method according to claim 20 from mobile equipment, which is characterized in that judge sideband signal output
When type changes, appraisal procedure is triggered.
26. the control method according to claim 20 from mobile equipment, which is characterized in that the type of sideband signal output
Including either out-of-bounds signal either unknown signaling or the no signal of signal in boundary, signal designation is located at from mobile equipment in boundary
In the working region that boundary line limits, out-of-bounds signal designation is located at from mobile equipment outside the working region of boundary line restriction, unknown
Signal designation is unknown relative to the position relationship of boundary line from mobile equipment.
27. the control method according to claim 26 from mobile equipment, which is characterized in that judge stable sideband signal
The type of output is during signal, control is moved forward from mobile equipment in boundary.
28. the control method according to claim 26 from mobile equipment, which is characterized in that judge stable sideband signal
When the type of output is out-of-bounds signal, control is turned to from mobile equipment.
29. the control method according to claim 26 from mobile equipment, which is characterized in that judge stable sideband signal
When the type of output is unknown signaling or no signal, control stops movement from mobile equipment.
30. the control method according to claim 26 from mobile equipment, which is characterized in that the sideband signal output of assessment
Type when being no signal or unknown signaling, the type that the scheduled assessment phase is longer than the sideband signal output of assessment is signal in boundary
Or out-of-bounds signal when the scheduled assessment phase.
31. the control method according to claim 26 from mobile equipment, which is characterized in that include returning from mobile equipment
Module, under Regression Model, control is moved from mobile equipment along boundary line；Under Regression Model, the scheduled assessment phase is shorter than from mobile
Scheduled assessment phase when being moved in the working region that equipment is limited in boundary line.
32. the control method according to claim 20 from mobile equipment, which is characterized in that judge in scheduled waiting period
Assessment is not triggered, then control stops movement from mobile equipment.
33. the control method according to claim 32 from mobile equipment, which is characterized in that scheduled waiting period is moving certainly
End after dynamic equipment movement pre-determined distance.
34. the control method according to claim 20 from mobile equipment, which is characterized in that appraisal procedure is used to assess certainly
When mobile equipment starts, relative to the position relationship of boundary line.
35. the control method according to claim 20 from mobile equipment, which is characterized in that when starting from mobile equipment,
Control is not moved and is not worked from mobile equipment.
36. the control method according to claim 20 from mobile equipment, which is characterized in that include returning from mobile equipment
Module, under Regression Model, control is moved from mobile equipment along boundary line；From mobile equipment under Regression Model or the course of work
In, scheduled assessment is interim, control from mobile equipment according to assessment before state it is mobile or work.
37. the control method according to claim 20 from mobile equipment, which is characterized in that appraisal procedure is used to assess certainly
Whether mobile equipment changes relative to the position relationship of boundary line.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611179992.4A CN108205313A (en) | 2016-12-19 | 2016-12-19 | Automatic working system, from mobile equipment and its control method |
| EP16815695.8A EP3553619B1 (en) | 2016-12-12 | 2016-12-29 | Automatic working system, self-moving device and control method therefor |
| PCT/CN2016/113253 WO2018107536A1 (en) | 2016-12-12 | 2016-12-29 | Automatic working system, self-moving device and control method therefor |
| US16/437,423 US11169527B2 (en) | 2016-12-12 | 2019-06-11 | Automatic working system, self-moving device and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611179992.4A CN108205313A (en) | 2016-12-19 | 2016-12-19 | Automatic working system, from mobile equipment and its control method |
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| CN108205313A true CN108205313A (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611179992.4A Pending CN108205313A (en) | 2016-12-12 | 2016-12-19 | Automatic working system, from mobile equipment and its control method |
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| CN (1) | CN108205313A (en) |
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| CN112462767A (en) * | 2020-11-24 | 2021-03-09 | 苏州大可机械有限公司 | Method and device for detecting breakpoint position of boundary line and self-walking equipment |
| CN112578775A (en) * | 2019-09-12 | 2021-03-30 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
| CN112825667A (en) * | 2021-02-20 | 2021-05-25 | 北京弘梅紫商贸有限公司 | Mower capable of automatically crossing obstacles |
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| CN113534800A (en) * | 2021-07-13 | 2021-10-22 | 南京苏美达智能技术有限公司 | Tracking control method, automatic walking equipment and readable storage medium |
| CN113534798A (en) * | 2021-07-13 | 2021-10-22 | 南京苏美达智能技术有限公司 | Tracking return control method, automatic walking device and readable storage medium |
| CN113552874A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN114616973A (en) * | 2020-12-11 | 2022-06-14 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
| CN115202348A (en) * | 2022-07-13 | 2022-10-18 | 北京顺造科技有限公司 | Control method, device and equipment of automatic walking equipment and storage medium |
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| CN113552874A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN112462767A (en) * | 2020-11-24 | 2021-03-09 | 苏州大可机械有限公司 | Method and device for detecting breakpoint position of boundary line and self-walking equipment |
| CN114616973B (en) * | 2020-12-11 | 2023-10-10 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
| CN114616973A (en) * | 2020-12-11 | 2022-06-14 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
| CN112825667A (en) * | 2021-02-20 | 2021-05-25 | 北京弘梅紫商贸有限公司 | Mower capable of automatically crossing obstacles |
| CN113534798B (en) * | 2021-07-13 | 2023-08-04 | 南京苏美达智能技术有限公司 | Tracking return control method, automatic walking device, and readable storage medium |
| CN113534800B (en) * | 2021-07-13 | 2023-08-15 | 南京苏美达智能技术有限公司 | Tracking control method, automatic walking equipment and readable storage medium |
| CN113534798A (en) * | 2021-07-13 | 2021-10-22 | 南京苏美达智能技术有限公司 | Tracking return control method, automatic walking device and readable storage medium |
| CN113534800A (en) * | 2021-07-13 | 2021-10-22 | 南京苏美达智能技术有限公司 | Tracking control method, automatic walking equipment and readable storage medium |
| CN115202348A (en) * | 2022-07-13 | 2022-10-18 | 北京顺造科技有限公司 | Control method, device and equipment of automatic walking equipment and storage medium |
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