Automatic Working System, Self-Moving Device and Control Method Therefor
AssigneePositec Power Tools (Suzhou) Co., Ltd.
InventorDavide Dalfra
Life of this patent
Estimating the term…
Abstract
A autonomous moving device, moving and working in a working region limited by a boundary wire, and including at least one boundary sensor, detecting boundary signal and outputting boundary signal output; a control module, electrically connected to the boundary sensor, and judging type of the boundary signal output, wherein the control module comprises an estimation unit, estimating whether the type of the boundary signal output in a predetermined estimation period is consistent or not, and if consistent, the control module judges that the boundary signal output is stable; the control module judges position relation of the boundary sensor relative to the boundary wire based on the type of the stable boundary signal output.
Claims20
An autonomous moving device, moving and working in a working region limited by a boundary wire, comprising:
- at least one boundary sensor, configured to detect boundary signal and output boundary signal output;
- a control module, electrically connected to the boundary sensor, configured to judge type of the boundary signal output outputted by the boundary sensor;
- and wherein said control module comprises an estimation unit, configured to estimate whether the type of the boundary signal output outputted by the boundary sensor in a predetermined estimation period is consistent or not, and if consistent, the control module judges that the boundary signal output is stable;
- said control module judges position relation of the boundary sensor relative to the boundary wire based on the type of the stable boundary signal output.
An automatic working system comprising:
- a boundary wire capable of transmitting a boundary signal;
- at least one boundary sensor configured to detect the boundary signal and output a boundary signal output;
- a control module electrically connected to the boundary sensor and configured to judge type of the boundary signal output outputted by the boundary sensor;
- wherein said control module comprises an estimation unit configured to estimate whether the type of the boundary signal output outputted by the boundary sensor in a predetermined estimation period is consistent or not, and if consistent, the control module judges that the boundary signal output is stable;
- and
- wherein said control module judges position relation of the boundary sensor relative to the boundary wire based on whether the boundary signal output is stable.
A control method of an autonomous moving device which moves and works in a working region limited by a boundary wire, comprising the steps:
- detecting boundary signal, and outputting boundary signal output;
- judging type of the boundary signal output;
- estimating whether the type of the boundary signal output in a predetermined estimation period is consistent or not, and if consistent, judging that the boundary signal output is stable;
- judging position relation of said autonomous moving device relative to the boundary wire based on the type of the stable boundary signal output.
Dependencies are inferred from the claim text.