CN211741921U - Automatic walking equipment and automatic working system - Google Patents

Abstract

The utility model relates to an automatic walking equipment and automatic operating system. This automatic walking equipment includes: an apparatus main body; the magnetic induction assembly comprises a plurality of magnetic induction sensors at the bottom of the equipment main body and is used for sensing magnetic force values; a control assembly connected to the magnetic induction assembly, the control assembly being configured to: determining the position areas of a preset magnetic strip relative to the magnetic induction sensors of the automatic walking equipment according to the magnetic force values of the magnetic induction sensors; determining the walking direction of the automatic walking equipment according to the position area; and controlling the automatic walking equipment to walk according to the walking direction so that the automatic walking equipment reaches the preset position of the magnetic stripe. According to the utility model discloses a can confirm the position of magnetic stripe for automatic walking equipment through magnetic force value to control automatic walking equipment to this position walking in order to reach preset position, thereby realize low-cost outdoor magnetic navigation.

Description

Automatic walking equipment and automatic working system

Technical Field

The utility model relates to an automatic work system field especially relates to an automatic walking equipment and automatic work system.

Background

With the development of scientific technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can execute preset related tasks based on an automatic preset program and does not need manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial application and household products. The intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and home life. On outdoor terrain, however, it is generally required that the automatic walking device can automatically navigate and reach a designated location (such as a charging station), and the implementation manner in the related art is complex and costly.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides an automatic walking equipment and automatic operating system can make automatic walking equipment easily fix a position and reach the assigned position, realizes low-cost outdoor magnetic navigation.

According to the utility model discloses an aspect provides an automatic walking equipment, include:

an apparatus main body; a magnetic induction assembly including a plurality of magnetic induction sensors at a bottom of the apparatus body for sensing a magnetic force value; a control assembly connected to the magnetic induction assembly, the control assembly to:

determining the position areas of a preset magnetic strip relative to the magnetic induction sensors of the automatic walking equipment according to the magnetic force values of the magnetic induction sensors; determining the walking direction of the automatic walking equipment according to the position area; and controlling the automatic walking equipment to walk according to the walking direction so that the automatic walking equipment reaches the preset position of the magnetic stripe.

In a possible implementation manner, the plurality of magnetic induction sensors include a first sensor and a second sensor, the N-S poles of the magnetic stripe are placed along the working surface of the automatic walking device, and the control component determines the position area of the preset magnetic stripe relative to the plurality of magnetic induction sensors of the automatic walking device according to the magnetic force values of the plurality of magnetic induction sensors, including any one of:

when the magnetic force value of a first sensor is smaller than a first magnetic force threshold value and the magnetic force value of a second sensor is smaller than a second magnetic force threshold value, determining that the magnetic strip is located in a left area of the first sensor and the second sensor;

when the magnetic force value of a first sensor is larger than a first magnetic force threshold value and the magnetic force value of a second sensor is larger than a second magnetic force threshold value, determining that the magnetic strip is located in the right area of the first sensor and the second sensor;

when the magnetic force value of a first sensor is larger than a first magnetic force threshold value and the magnetic force value of a second sensor is smaller than a second magnetic force threshold value, determining that the magnetic strip is located in the middle area of the first sensor and the second sensor;

and when the magnetic force value of the first sensor is in a first magnetic force value interval and the magnetic force value of the second sensor is smaller than a second magnetic force value interval, determining that the magnetic strip is in the middle position of the first sensor and the second sensor.

In one possible implementation manner, the control component determines the location area of the preset magnetic stripe relative to the plurality of magnetic induction sensors of the automatic walking device according to the magnetic force values of the plurality of magnetic induction sensors, and the control component includes:

determining that the magnetic strip is in a middle area of the first sensor and the second sensor when the magnetic force value of the first sensor and the magnetic force value of the second sensor are opposite in direction.

In one possible implementation, the control component is further configured to: and when the automatic walking equipment is in a working area without a magnetic strip, respectively correcting the magnetic force values sensed by the magnetic induction sensors.

In one possible implementation, the control component is further configured to: and when the automatic walking equipment meets the preset condition, acquiring the magnetic force values of the plurality of magnetic induction sensors.

In one possible implementation, the control component is further configured to: when the magnetic force values of the magnetic induction sensors are within a preset interval, determining that the automatic walking equipment is in an area without a magnetic strip; and controlling the automatic walking equipment to walk according to a preset walking path.

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

According to the utility model discloses an on the other hand provides an automatic work system, include: the above-mentioned automatic traveling apparatus; and the magnetic strip is fixed at a preset position through a fixing piece, and the N-S pole of the magnetic strip is placed along the working surface of the automatic walking equipment.

In one possible implementation, the system further includes:

and the charging device is arranged at one end of the magnetic stripe and used for charging the automatic walking equipment when the automatic walking equipment reaches one end of the magnetic stripe.

According to the utility model discloses an automatic walking equipment and automatic operating system of each side through set up a plurality of magnetic induction sensor in equipment principal bottom to setting up the magnetic stripe in the preset position, confirming the position of magnetic stripe for automatic walking equipment through magnetic induction sensor's magnetic force value, and control automatic walking equipment to this position walking in order to reach preset position, thereby realized low-cost outdoor magnetic navigation.

Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present invention and, together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic diagram illustrating an exemplary application environment of an automatic walking device according to an embodiment of the present invention.

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

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

Fig. 4a, 4b and 4c show schematic diagrams of magnetic field distributions of a magnetic stripe and a magnetic induction sensor according to an embodiment of the present invention.

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

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

Fig. 7 shows a schematic diagram of a position between a magnetic stripe and a magnetic induction sensor according to an embodiment of the invention.

Fig. 8 shows a schematic view of an automatic work system according to an embodiment of the invention.

Detailed Description

Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present invention.

Fig. 1 is a schematic diagram illustrating an exemplary application environment of an automatic walking device according to an embodiment of the present invention. In an exemplary application environment, as shown in fig. 1, a self-propelled device 10 according to embodiments of the present invention may be, for example, a robotic lawnmower, and the self-propelleddevice 10 may be capable of self-propelling within awork area 30 within aboundary 50 to cut vegetation located within thework area 30.

Fig. 2 shows a block diagram of an automatic walking device according to an embodiment of the present invention. As shown in fig. 2, theautomatic walking apparatus 10 includes:

an apparatusmain body 11;

amagnetic induction assembly 12 including a plurality of magnetic induction sensors at the bottom of theapparatus body 11 for sensing a magnetic force value;

acontrol assembly 13 connected to themagnetic induction assembly 12, thecontrol assembly 13 being configured to:

determining the position areas of a preset magnetic strip relative to the magnetic induction sensors of the automatic walking equipment according to the magnetic force values of the magnetic induction sensors;

determining the walking direction of the automatic walking equipment according to the position area;

and controlling the automatic walking equipment to walk according to the walking direction so that the automatic walking equipment reaches the preset position of the magnetic stripe.

According to the utility model discloses an embodiment sets up a plurality of magnetic induction sensor in equipment main part bottom to presetting the position and setting up the magnetic stripe, confirm the position of magnetic stripe for automatic walking equipment through magnetic induction sensor's magnetic force value, and control automatic walking equipment to this position walking in order to reach preset the position, thereby realized low-cost outdoor magnetic navigation.

For example, the self-propelled device 10 may be a robotic lawnmower, a robotic snowplow, a robotic sweeper, or the like, which is capable of automatic operation. Theapparatus body 11 of theautomatic traveling apparatus 10 may be provided with wheels, crawler belts, or the like so as to travel in the work area.

In one possible implementation, a magnetic strip may be provided at a predetermined location (e.g., a charging station location) to generate a magnetic field. Fig. 3 shows a cross-sectional view of a magnetic stripe structure according to an embodiment of the present invention. As shown in fig. 3, the magnetic stripe structure includes amagnetic stripe 31 and a fixingmember 32, and N-S poles of themagnetic stripe 31 are placed along a working surface (e.g., a horizontal floor) of the automatic walking apparatus, and themagnetic stripe 31 is fixed on the working surface by the fixingmember 32. The mounting can be detached with the magnetic stripe, also can be swing joint, the utility model discloses do not do the restriction to the concrete fixed mode of magnetic stripe.

In a possible implementation manner, a plurality of magnetic induction sensors (e.g., two magnetic induction sensors) may be symmetrically disposed at the bottom of thedevice body 11, and are used for sensing a magnetic force value of the position where the automatic walking device is located and sending the magnetic force value to thecontrol component 13. This magnetic induction sensor can be for example geomagnetic sensor, the utility model discloses do not do the restriction to magnetic induction sensor's specific type.

In one possible implementation, acontrol assembly 13 may be provided in theautomated walking device 10. Thecontrol component 13 may be any processing component capable of performing data processing, such as a single chip, a CPU, an MPU, and an FPGA, and thecontrol component 13 may be implemented by a dedicated hardware circuit, or may be implemented by a general processing component in combination with executable logic instructions to execute the processing procedure of thecontrol component 13.

In a possible embodiment, the automated walking device may further comprise a storage module (not shown) to store data generated by thecontrol component 13.

In one possible implementation, when the relative positions of the magnetic stripe and the magnetic induction sensors are different, the magnetic force values sensed by the respective magnetic induction sensors are also different. The following description will be given taking an example in which the automatic walking apparatus is equipped with two magnetic induction sensors. Two magnetic induction sensors (called as a first sensor and a second sensor) can be arranged in the automatic walking device. The first sensor and the second sensor are symmetrically installed at the bottom of the apparatus body. A certain distance is reserved between the two magnetic induction sensors, and a certain distance is reserved between the two magnetic induction sensors and the ground. The utility model discloses do not do the restriction to magnetic induction sensor's quantity, mounted position and the distance value between two magnetic induction sensors.

Fig. 4a, 4b and 4c show schematic diagrams of magnetic field distributions of a magnetic stripe and a magnetic induction sensor according to an embodiment of the present invention. Fig. 4a, 4b and 4c show the magnetic stripe in the middle, left side and right side of the two magnetic induction sensors, respectively. Under the condition that the N-S poles of the magnetic strip are placed along the working surface of the automatic walking equipment, the directions of magnetic fields passing through the magnetic induction sensor are different when the magnetic strip is arranged on the left side and the right side of the magnetic induction sensor. For example, when the magnetic stripe is in the middle of two sensors, the direction of the magnetic field passing through the left magnetic induction Sensor1 is from top to bottom, and the direction passing through the right magnetic induction Sensor2 is from bottom to top; when the magnetic strip is arranged on the left sides of the two sensors, the direction of the magnetic field passing through the two sensors is from bottom to top; on the contrary, if the magnetic strip is arranged on the right sides of the two sensors, the direction of the magnetic field passing through the two sensors is from top to bottom; therefore, the magnetic force value information of different sensors is obtained respectively.

Fig. 5a, 5b, 5c and 5d show schematic diagrams of magnetic force values sensed by the magnetic induction sensor according to an embodiment of the present invention. As shown in fig. 5a, in the case of no magnetic stripe field, the magnetic force values sensed by the two magnetic induction sensors are both small; as shown in fig. 5b, in the case that the magnetic stripe is in the middle of the two magnetic induction sensors, the magnetic force values sensed by the two magnetic induction sensors are respectively positive and negative values; as shown in fig. 5c, in the case that the magnetic stripe is on the left side of the two magnetic induction sensors, the magnetic force values sensed by the two magnetic induction sensors are both negative values; as shown in fig. 5d, in the case that the magnetic stripe is on the right side of the two magnetic induction sensors, the magnetic force values sensed by the two magnetic induction sensors are both positive values. Therefore, the magnetic strip can accurately judge the orientation of the magnetic strip no matter in the middle, the left side or the right side of the two sensors, so that the accurate positioning can be realized only by the two magnetic induction sensors; the positioning accuracy is related to the distance between two sensors, and the larger the distance is, the lower the accuracy is, otherwise, the smaller the distance is, the higher the accuracy is.

In one possible implementation manner, the control component may determine, according to the magnetic force values of the plurality of magnetic induction sensors, position areas of a preset magnetic stripe with respect to the plurality of magnetic induction sensors of the automatic walking apparatus; determining the walking direction of the automatic walking equipment according to the position area; and then controlling the automatic walking equipment to walk according to the walking direction. For example, if the magnetic force values of the magnetic induction sensors are negative values, the magnetic strip is on the left side of the magnetic induction sensor, the walking direction of the automatic walking device can be determined to be towards the left side, and the automatic walking device can be controlled to walk towards the left side so as to approach the position of the magnetic strip.

In one possible implementation, the plurality of magnetic induction sensors includes a first sensor and a second sensor, the N-S poles of the magnetic stripe are positioned along a working surface of the automated walking device,

the control assembly determines the position areas of a preset magnetic strip relative to the plurality of magnetic induction sensors of the automatic walking equipment according to the magnetic force values of the plurality of magnetic induction sensors, and the control assembly comprises any one of the following components:

when the magnetic force value of a first sensor is smaller than a first magnetic force threshold value and the magnetic force value of a second sensor is smaller than a second magnetic force threshold value, determining that the magnetic strip is located in a left area of the first sensor and the second sensor;

when the magnetic force value of a first sensor is larger than a first magnetic force threshold value and the magnetic force value of a second sensor is larger than a second magnetic force threshold value, determining that the magnetic strip is located in the right area of the first sensor and the second sensor;

when the magnetic force value of a first sensor is larger than a first magnetic force threshold value and the magnetic force value of a second sensor is smaller than a second magnetic force threshold value, determining that the magnetic strip is located in the middle area of the first sensor and the second sensor;

and when the magnetic force value of the first sensor is in a first magnetic force value interval and the magnetic force value of the second sensor is smaller than a second magnetic force value interval, determining that the magnetic strip is in the middle position of the first sensor and the second sensor.

For example, if the magnetic force values of the first sensor and the second sensor are both small, the automated walking device may be considered to be not within the magnetic field of the magnetic stripe (as shown in FIG. 5 a). If the magnetic force values of the first sensor and the second sensor exceed a certain threshold value, the automatic walking device can be considered to enter the magnetic field range of the magnetic strip.

In one possible implementation, a first magnetic force threshold and a second magnetic force threshold may be provided. If the magnetic force value of the first sensor is less than the first magnetic force threshold and the magnetic force value of the second sensor is less than the second magnetic force threshold (as shown in FIG. 5 c), then the magnetic strip may be determined to be in a left area of the first sensor and 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. 5 d), then the magnetic strip may be determined to be in the right area of the first sensor and the second sensor. If the magnetic force value at the first sensor is greater than the first magnetic force threshold value and the magnetic force value at the second sensor is less than the second magnetic force threshold value, it may be determined that the magnetic stripe is in an intermediate region (possibly some distance away from the automated walking device) between the first sensor and the second sensor. The person skilled in the art can set the first magnetic force threshold and the second magnetic force threshold according to the actual situation, and the present invention is not limited thereto.

In one possible implementation, if the automatic walking device reaches the position of the magnetic stripe, the magnetic stripe is between the first sensor and the second sensor and the magnetic force value is large. In this case, a first magnetic force value interval and a second magnetic force value interval may be preset, and if the magnetic force value of the first sensor is within the first magnetic force value interval and the magnetic force value of the second sensor is smaller than the second magnetic force value interval (as shown in fig. 5 b), it may be determined that the magnetic stripe is located at an intermediate position between the first sensor and the second sensor. The person skilled in the art can set up first magnetic force value interval and second magnetic force value interval according to actual conditions, and the utility model discloses do not do the restriction to this.

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

In one possible implementation manner, the control component determines the location area of the preset magnetic stripe relative to the plurality of magnetic induction sensors of the automatic walking device according to the magnetic force values of the plurality of magnetic induction sensors, and the control component includes:

determining that the magnetic strip is in a middle area of the first sensor and the second sensor when the magnetic force value of the first sensor and the magnetic force value of the second sensor are opposite in direction.

For example, if the magnetic force value of the first sensor is opposite to the magnetic force value of the second sensor, it may be determined that the first sensor and the second sensor are respectively on both sides of the magnetic stripe (as shown in fig. 4 a), that is, the magnetic stripe is located in the middle area of the first sensor and the second sensor (possibly at a certain distance from the automatic walking device). In this case, according to the magnetic pole direction of the magnetic stripe, it is possible that the magnetic force value of the first sensor is greater than zero and the magnetic force value of the second sensor is less than zero (as shown in fig. 5 b), or it is possible that the magnetic force value of the first sensor is less than zero and the magnetic force value of the second sensor is greater than zero, which is not limited by the present invention. Through the mode, the position area of the magnetic strip relative to the automatic walking equipment can be determined according to the direction of the magnetic force value, and the positioning mode is simplified.

In one possible implementation, the control component is further configured to:

and when the automatic walking equipment is in a working area without a magnetic strip, respectively correcting the magnetic force values sensed by the magnetic induction sensors.

Because the performance of the magnetic induction sensor has deviation in the production process, namely, under the same environment, the magnetic field strength values (namely, the magnetic force values) obtained by different sensors are different, and in order to realize more accurate magnetic navigation guidance, the magnetic field strength calibration can be carried out on the magnetic induction sensor under the state of no magnetic stripe.

In one possible implementation, the control component may correct the magnetic force values sensed by the individual magnetic induction sensors when the autonomous walking device is in a working area without a magnetic strip. For example, in the absence of a magnetic strip field, the magnitude of the magnetic field around the autonomous walking device in the initial state is recorded and then subtracted from subsequent sensor readings.

Fig. 6a and 6b show schematic diagrams of magnetic force values sensed by the magnetic induction sensor according to an embodiment of the present invention. As shown in fig. 5a, when uncorrected, both magnetic induction sensors sense a certain initial magnetic force value. Accordingly, as shown in fig. 6a, after correction, in the case of no magnetic strip, the magnetic force values sensed by the two magnetic induction sensors are substantially zero, and the deviation of the sensors is calibrated to disappear. As shown in fig. 6b, when the magnetic stripe is between the first Sensor (Sensor1) and the second Sensor (Sensor2) at the position where the automatic walking device reaches the magnetic stripe, the magnetic force values v1 and v2 sensed by the first Sensor and the second Sensor are distributed substantially symmetrically.

Fig. 7 shows a schematic diagram of a position between a magnetic stripe and a magnetic induction sensor according to an embodiment of the invention. As shown in fig. 7, the horizontal distances of the first Sensor (Sensor1) and the second Sensor (Sensor2) with respect to the magnetic stripe are x1 and x2, respectively, and x1+ x2 is d, d is the distance between the two sensors and is a fixed value. The absolute value | v1|, | v2| of the magnetic force values sensed by the first sensor and the second sensor is in a negative correlation with x1 and x2 respectively, namely, the smaller the x1 is, the larger the absolute value | v1| is; the smaller x2, the larger the absolute value of | v2 |; therefore, accurate magnetic navigation control can be performed by the values of the two sensors.

The magnetic navigation accuracy can be further improved by correcting the magnetic force value of the magnetic induction sensor.

In a possible implementation, after the correction, can set for magnetic induction sensor's first magnetic force threshold value, second magnetic force threshold value, first magnetic force value interval and second magnetic force value interval according to actual conditions, the utility model discloses do not do the restriction to this.

In one possible implementation, the control component is further configured to: and when the automatic walking equipment meets the preset condition, acquiring the magnetic force values of the plurality of magnetic induction sensors.

For example, the control component may immediately control the automatic walking device to walk towards the magnetic stripe when the magnetic force value of each magnetic induction sensor is read. The user can set up the magnetic stripe passageway by oneself according to actual conditions, and when automatic walking equipment detected the magnetic stripe passageway, can walk according to the route that the user set up to solve pain point problems such as narrow passageway.

In another case, the control unit may not read the magnetic force values of the respective magnetic induction sensors or process the read magnetic force values when the autonomous walking apparatus is working normally (for example, mowing grass) in the working area. And the magnetic force values of the magnetic induction sensors are obtained only when certain preset conditions are met, so that the automatic walking equipment can move to the preset position of the magnetic strip. The preset condition may be, for example, that the electric quantity of the automatic walking device is lower than a preset value; the automatic walking equipment completes the operation of the current working area, and needs to go to another working area for operation and the like. The user can set up the magnetic stripe passageway by oneself according to actual conditions equally to set for the preset condition, thereby solve pain point problems such as auto-regressive charging butt joint, multizone connection work. The utility model discloses do not do the restriction to the concrete content of default condition.

By this way, unnecessary judgment can be avoided, and the magnetic navigation efficiency can be improved.

In one possible implementation, the control component is further configured to: when the magnetic force values of the magnetic induction sensors are within a preset interval, determining that the automatic walking equipment is in an area without a magnetic strip; and controlling the automatic walking equipment to walk according to a preset walking path.

For example, a preset interval of magnetic force values may be set, which may be an interval around a zero value, such as [ -0.1,0.1], if each magnetic induction sensor is calibrated; if the magnetic induction sensors are not corrected, the preset interval can be the interval where the magnetic force values of the magnetic induction sensors in the state without magnetic strips are located, and the preset intervals of the magnetic force values of the magnetic induction sensors can be the same or different. The utility model discloses do not limit to this.

In one possible implementation, if the magnetic force value of each magnetic induction sensor is within a preset interval, the automatic walking device may be considered to be in a region without a magnetic strip. In this case, the control component may control the automatic walking device to walk according to a preset walking path, for example, control the automatic walking device to walk randomly in the work area. By the mode, the automatic walking equipment can actively search the position of the magnetic stripe.

In one possible implementation, if the magnetic force value of each magnetic induction sensor exceeds a preset interval, the automatic walking device can be considered to have entered the area with the magnetic strip. In this case, the control unit may determine the position areas of the magnetic stripe with respect to the plurality of magnetic induction sensors of the automatic walking device, based on the magnetic force values of the magnetic induction sensors; and then determining the walking direction of the automatic walking equipment according to the position area and controlling the automatic walking equipment to walk.

In a possible implementation manner, in the process that the automatic walking device walks to approach the magnetic strip, the control assembly can process the magnetic strip at certain time intervals or distance intervals, update the position area of the magnetic strip according to the magnetic force value of each magnetic induction sensor, and correct the walking direction of the automatic walking device. When the automatic walking device reaches the position of the magnetic strip and the magnetic strip is positioned between the first sensor and the second sensor (as shown in fig. 7), the control component can control the automatic walking device to walk along the magnetic strip until reaching a preset position, for example, a charging station position for charging; or go out of the position of the magnetic strip, for example, walk along the magnetic strip to reach another work area for work and the like. The utility model discloses do not do the restriction to the further action behind the automatic walking equipment reachs the magnetic stripe position.

Fig. 8 shows a schematic view of an automatic work system according to an embodiment of the invention. According to the utility model discloses an embodiment still provides an automatic work system, and this system includes as shown in fig. 8:

the above-described automatic travelingapparatus 10;

and themagnetic strip 81 is fixed at a preset position through a fixing piece, and the N-S pole of the magnetic strip is placed along the working surface of the automatic walking equipment.

For example, the automatic work system may include theautomatic walking device 10 and themagnetic strip 81. The magnetic strip may be fixed in a predetermined position (e.g., on a work surface) by a fixingmember 32 as shown in fig. 3, and the N-S pole of the magnetic strip is placed along the work surface (e.g., a horizontal floor) of the automatic walking apparatus. The automatic walking equipment comprises an equipment main body, a magnetic induction assembly and a control assembly, the magnetic force value of the magnetic induction sensor can be crossed to determine the position of the magnetic strip relative to the automatic walking equipment, and the automatic walking equipment is controlled to walk to the position to reach the preset position, so that low-cost outdoor magnetic navigation is realized.

In one possible implementation, the automatic work system further includes: and the charging device (not shown) is arranged at one end of the magnetic strip and is used for charging the automatic walking equipment when the automatic walking equipment reaches one end of the magnetic strip. That is, a charging device may be disposed at one end of the magnetic stripe, and when the automatic walking device reaches the position of the magnetic stripe and the magnetic stripe is located between the first sensor and the second sensor (as shown in fig. 7 and 8), the control component may control the automatic walking device to walk along the magnetic stripe until reaching the position of the charging device at one end of the magnetic stripe, so as to perform charging. By the mode, automatic returning, charging and butting of the automatic walking equipment can be realized.

According to the utility model discloses automatic walking equipment and automatic operating system can set up a plurality of magnetic induction sensor in equipment main part bottom to presetting the position and setting up the magnetic stripe, confirm the position of magnetic stripe for automatic walking equipment through magnetic induction sensor's magnetic force value, and control automatic walking equipment to this position walking in order to reach and preset the position, thereby realized low-cost outdoor magnetic navigation.

While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (9)

1. An automatic walking device, characterized in that the automatic walking device comprises:

an apparatus main body;

a magnetic induction assembly including a plurality of magnetic induction sensors at a bottom of the apparatus body for sensing a magnetic force value;

a control assembly connected to the magnetic induction assembly, the control assembly to:

determining the position areas of a preset magnetic strip relative to the magnetic induction sensors of the automatic walking equipment according to the magnetic force values of the magnetic induction sensors;

determining the walking direction of the automatic walking equipment according to the position area;

and controlling the automatic walking equipment to walk according to the walking direction so that the automatic walking equipment reaches the preset position of the magnetic stripe.

2. The device of claim 1, wherein the plurality of magnetic induction sensors includes a first sensor and a second sensor, the N-S pole of the magnetic strip being positioned along a working surface of the device,

the control assembly determines the position areas of a preset magnetic strip relative to the plurality of magnetic induction sensors of the automatic walking equipment according to the magnetic force values of the plurality of magnetic induction sensors, and the control assembly comprises any one of the following components:

when the magnetic force value of a first sensor is smaller than a first magnetic force threshold value and the magnetic force value of a second sensor is smaller than a second magnetic force threshold value, determining that the magnetic strip is located in a left area of the first sensor and the second sensor;

when the magnetic force value of a first sensor is larger than a first magnetic force threshold value and the magnetic force value of a second sensor is larger than a second magnetic force threshold value, determining that the magnetic strip is located in the right area of the first sensor and the second sensor;

when the magnetic force value of a first sensor is larger than a first magnetic force threshold value and the magnetic force value of a second sensor is smaller than a second magnetic force threshold value, determining that the magnetic strip is located in the middle area of the first sensor and the second sensor;

and when the magnetic force value of the first sensor is in a first magnetic force value interval and the magnetic force value of the second sensor is smaller than a second magnetic force value interval, determining that the magnetic strip is in the middle position of the first sensor and the second sensor.

3. The device of claim 1, wherein the plurality of magnetic induction sensors includes a first sensor and a second sensor, and wherein the control component determines the location area of the predetermined magnetic strip relative to the plurality of magnetic induction sensors of the device based on the magnetic force values of the plurality of magnetic induction sensors comprises:

determining that the magnetic strip is in a middle area of the first sensor and the second sensor when the magnetic force value of the first sensor and the magnetic force value of the second sensor are opposite in direction.

4. The automated walking device of claim 1, wherein the control assembly is further configured to:

and when the automatic walking equipment is in a working area without a magnetic strip, respectively correcting the magnetic force values sensed by the magnetic induction sensors.

5. The automated walking device of claim 1, wherein the control assembly is further configured to:

and when the automatic walking equipment meets the preset condition, acquiring the magnetic force values of the plurality of magnetic induction sensors.

6. The automated walking device of claim 1, wherein the control assembly is further configured to:

when the magnetic force values of the magnetic induction sensors are within a preset interval, determining that the automatic walking equipment is in an area without a magnetic strip;

and controlling the automatic walking equipment to walk according to a preset walking path.

7. The automatic walking device of claim 2, wherein said first sensor and said second sensor are symmetrically installed at the bottom of said device body, said first sensor and said second sensor comprising a geomagnetic sensor.

8. An automated work system, the system comprising:

the automated walking device of any one of claims 1-7;

and the magnetic strip is fixed at a preset position through a fixing piece, and the N-S pole of the magnetic strip is placed along the working surface of the automatic walking equipment.

9. The system of claim 8, further comprising:

and the charging device is arranged at one end of the magnetic stripe and used for charging the automatic walking equipment when the automatic walking equipment reaches one end of the magnetic stripe.

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