CN105911981A

CN105911981A - Automatic work system, and automatic walking device and steering method thereof

Info

Publication number: CN105911981A
Application number: CN201610142787.4A
Authority: CN
Inventors: 强尼·鲍瑞那图
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2012-04-28
Filing date: 2012-04-28
Publication date: 2016-08-31

Abstract

The invention provides an automatic walking device. The automatic walking device comprises a housing; a walking module installed at a housing; a boundary detection module installed at the housing for detecting a distance between the automatic walking device and a boundary; an energy module installed on the housing for providing energy for the automatic walking device; and a control module which is electrically connected with the walking module and the boundary detection module, according to signals representing an angle relation between the automatic walking device and the boundary, sent by the boundary detection module, makes the walking module execute steering, and enables a central axis of the automatic walking device to always form an acute angle or a right angle with one side edge of the boundary when the steering is finished and the other side of the boundary to form an acute angle or a right angle with the central axis of the automatic walking device when the steering begins. Steering walking is directional, going out of a narrow area can be easier, and the area coverage efficiency is higher.

Description

Automatic working system, automatic running device and forward method thereof

Technical field

The present invention relates to field of intelligent control, particularly relate to one and include automatic running device, automatic working system, with And the forward method of automatic running device.

Background technology

Along with computer technology and the continuous progress of artificial intelligence technology, it is similar to the automatic working system of intelligent robot Have begun to the life coming into people slowly.The company such as Samsung, Electrolux all develops automatic dust catcher and has thrown Enter market.The usual compact of this automatic dust catcher, be integrated with environmental sensor, from drive system, dust collecting system, battery and Charging system, it is possible to without manual control, voluntarily in indoor cruise, the auto-returned charging station when energy is low, dock and charge, Then proceed to dust suction of cruising.Meanwhile, the company such as Haas Ke Wana develops similar intelligent grass-removing, and it can be automatically user Lawn in mow, charge, it is not necessary to user interferes.It is no need for afterwards putting into essence again owing to this automatic working system is once arranged Power management, housework that is user is uninteresting from cleaning, lawn maintenance etc. and that waste time and energy frees working, therefore suffers from greatly Welcome.

The multiple system of normal job demand of these automatic working systems, the precision-fit of multiple technologies, path planning is One of which key technology.Path Planning Technique is used for instructing automatic running device to select what path working region expert Walk.Path planning needs, while minimizing repeats walking as far as possible, to cover working region the most all sidedly；Path planning is also Need to tackle various landform complicated and changeable, in regular or irregular working region, at narrow zone, dead angle or barrier zone In all can keep coverage rate while successfully leave.It may be said that path planning directly determines the work of automatic running device Efficiency, poor path planning can cause the work of automatic running device to go wrong, as inadequate in work coverage, there is work Make dead angle；Or cover the overlong time of whole working range；Or it is trapped in some extreme terrains.At present, cover and pass through Narrow zone or corner are the major technical difficulty that the path planning of automatic equipment is met with.Business-like automatic work clothes Putting the overwhelming majority all uses random walk to walk, and the most linearly advances in working range, when running into barrier or boundary line After, first brake stops walking, then at random or turns to preset program, then starts and leaves, and automatic equipment is only capable of Enough sense and oneself encounter obstacle or border, but the original direction of travel of oneself cannot be known and in working region Accurate location, thus also cannot reasonably judge that next step is preferred version to where turning to, thus cause in narrow zone, Can only random unrest hit, leaving this region needs long time, in some instances it may even be possible to cannot leave；Simultaneously as under cannot judging One step to where turning to, automatic equipment need first to stop walking turning again to and can not be directly to, add the automatic of domestic Walking arrangement working region is little, will soon go to the other end from one end, cause automatic running device in whole work process In constantly stop and starting, it is impossible to persistently walking, a lot of times this greatly reduces entirety on being wasted in stopping and starting The speed of travel, causes work efficiency relatively low, also increases the mechanical wear of automatic running device simultaneously, reduces service life.

Summary of the invention

It is an object of the invention to provide a kind of turning path and select the most efficient automatic running device, a kind of row automatically Walk the most efficient forward method of equipment, and include the automatic working system of this automatic running device.

The invention provides a kind of automatic running device, for walking work in the working range limited by boundary Make, including: housing, housing has longitudinal axis；Walking module, is installed on housing, and described walking module drives automatic row Walking equipment walking and turn to, walking module includes wheels and drives the driving motor of wheels walking；Boundary detecting module, detecting is certainly Dynamic position relationship between walking arrangement and boundary；Energy module, is installed on housing, provides energy for automatic running device；Control Molding block, is electrically connected with walking module and boundary detecting module；Described automatic running device is driving towards boundary and is arriving default Position relationship rear steering to sail out of boundary, when default position relationship, described boundary is divided into by the intersection point with described axis Two sides, the angular relationship between representative automatic running device and boundary that control module sends according to boundary detecting module Signal, makes walking module perform to turn to so that when having turned to the axis of automatic running device all the time with a side of boundary At an acute angle or a right angle, another side of this boundary when turning to beginning with the axis of automatic running device at an acute angle or a right angle.

Preferably, walking module drives automatic running device to reducing acute angle or right angle formed by axis and boundary The direction of angle rotates.

Preferably, the corner of described rotation is less than 180 degree.

Preferably, the corner of described rotation is more than or equal to 90 degree.

Preferably, described boundary detecting module includes the border sensing element laying respectively at the both sides of the axis of housing.

Preferably, described border sensing element is arranged symmetrically with relative to axis.

Preferably, described border sensing element is positioned at the front portion of housing.

Preferably, described border sensing element is inductance.

Preferably, described predeterminated position relation is that one of them border sensing element distance bound is limited to reach predeterminable range.

Preferably, described predeterminated position relation is that one of them border sensing element arrives outside boundary.

Preferably, described angular relationship is, the angle of the side of described axis and boundary intersection point both sides is acute angle or straight Angle or obtuse angle.

Preferably, described boundary detecting module includes the border sensing element laying respectively at the both sides of the axis of housing, The border sensing element of described side first send himself arrive distance boundary one predeterminable range signal to control module after, Control module judges to be positioned at the boundary of the described side of axis and described axis acutangulates angle.

Preferably, described boundary detecting module includes the border sensing element laying respectively at the both sides of the axis of housing, The border sensing element of described side first send himself arrive the signal outside boundary to control module after, control module judges The boundary and the described axis that are positioned at the described side of axis acutangulate angle.

Preferably, described angular relationship is, the angle value of the side of described axis and boundary intersection point both sides.

Preferably, described boundary detecting module includes the border sensing element laying respectively at the both sides of the axis of housing, The border sensing element of described control module record both sides sends the letter reaching a predeterminable range between himself and boundary respectively Number time within, automatic running device walking distance, calculate the angle value between described axis and boundary.

Preferably, described boundary detecting module includes the border sensing element laying respectively at the both sides of the axis of housing, Within the time that the border sensing element of described control module record both sides sends the signal himself arrived outside boundary respectively, from The distance of dynamic walking arrangement walking, calculates the angle value between described axis and boundary.

Preferably, described automatic running device is automatic mower, also includes the cutting assembly being positioned at below housing and drives This cutting assembly dynamic carries out the cutting motor cut.

Preferably, from the beginning of described automatic running device drives towards boundary and arrives the position relationship preset, to having turned to, Described automatic running device keeps walking.

Preferably, after turning to startup, before completing, automatic running device is walked a segment distance along boundary.

Present invention further teaches a kind of automatic working system, including: boundary, for limiting the work model of automatic working system Enclose, also include aforesaid automatic running device.

Preferably, described boundary includes boundary line signal generating element and connects the border of this boundary line signal generating element Line, described boundary line signal generating element sends periodic current signal on boundary line.

Present invention further teaches the forward method of a kind of automatic running device, described automatic running device is for by boundary Walk in the working range limited and work, comprising the following steps: automatic running device drives towards boundary；Automatic running device is supervised Survey the position relationship of self and boundary；When reaching a predeterminated position relation between automatic running device and boundary, detecting is automatically Angular relationship between walking arrangement and boundary, the most described boundary is divided into two sides by the intersection point with described axis；From Dynamic walking arrangement turns to and sails out of boundary, and is always the axis of automatic running device and the one of boundary when making to have turned to At an acute angle or a right angle, another side of this boundary acutangulates with the axis of automatic running device or directly side when turning to beginning Angle.

Preferably, automatic running device is to the acute angle reduced between self axis and boundary or the direction of right angle angle Rotate.

Preferably, after turning to startup, before completing, automatic running device along boundary walking Preset Time or preset away from From.

Preferably, described predeterminable range is between 20 centimetres to 100 centimetres.

Preferably, the both sides, axis of described automatic running device are respectively provided with a border sensing element, described default Position relationship is that one of them border sensing element distance bound is limited to reach predeterminable range, described detecting automatic running device and boundary Angular relationship further include steps of and be positioned at the border sensing element of automatic running device side and detect himself and arrive After reaching this predeterminable range, send one to the control module of automatic running device and breast the tape signal；It is positioned at automatic running device opposite side Border sensing element detect and himself arrive this predeterminable range after, send one to the control module of automatic running device and breast the tape Signal；Control module judges the side first detecting the sensing element place, border himself arriving this predeterminable range and boundary shape Acutangulate angle.

Preferably, the both sides, axis of described automatic running device are respectively provided with a border sensing element, described default Position relationship is that one of them border sensing element arrives outside boundary, described detecting automatic running device and the angular relationship of boundary Further include steps of and be positioned at the border sensing element of automatic running device side and detect automatic running device and arrive boundary After limit is outer, sends one to the control module of automatic running device and breast the tape signal；It is positioned at the border sense of automatic running device opposite side Answer element detect automatic running device to boundary outer after, send one to the control module of automatic running device and breast the tape signal；Control Molding block judges that the side first detecting the sensing element place, border himself being positioned at outside boundary forms acute angle with boundary.

Preferably, the both sides, axis of described automatic running device are respectively provided with a border sensing element, described default Position relationship is that one of them border sensing element distance bound is limited to reach predeterminable range, described detecting automatic running device and boundary Angular relationship further include steps of the border sensing element in side first detect himself arrive this preset away from From rear, send one to the control module of automatic running device and breast the tape signal；Automatic running device walks on, when the limit of opposite side Boundary's sensing element detects after himself arriving this predeterminable range, sends one to the control module of automatic running device and breasts the tape letter Number；Monitor in the time that two border sensing elements successively arrive this predeterminable range, the distance of automatic running device walking；According to Spacing between the distance of this walking and two border sensing elements, when calculating reaches described predeterminable range, automatic running device Axis and boundary between angle angle value.

Preferably, the both sides, axis of described automatic running device are respectively provided with a border sensing element, described default Position relationship is that one of them border sensing element arrives outside boundary, described detecting automatic running device and the angular relationship of boundary Further include steps of and be positioned at the border sensing element of automatic running device side and first detect automatic running device and arrive Reach boundary outer after, send one to the control module of automatic running device and breast the tape signal；Automatic running device walks on, when another The border sensing element of side detect automatic running device to boundary outer after, send one to the control module of automatic running device and hit Line signal；Monitor two border sensing elements successively to arrive in the time outside boundary, the distance of automatic running device walking；According to Spacing between the distance of this walking and two border sensing elements, when calculating reaches described predeterminable range, automatic running device Axis and boundary between angle angle value.

Preferably, the corner turned to described in is more than or equal to 90 degree, less than 180 degree.

Present invention also offers a kind of automatic running device, for walking work in the working range limited by boundary Make, including: housing, housing has longitudinal axis；Walking module, is installed on housing, and described walking module drives automatic row Walking equipment walking and turn to, walking module includes wheels and drives the driving motor of wheels walking；Boundary detecting module, detecting is certainly Dynamic position relationship between walking arrangement and boundary；Energy module, is installed on housing, provides energy for automatic running device；Control Molding block, is electrically connected with walking module and boundary detecting module, and described automatic running device is driving towards boundary and arriving default Position relationship rear steering to sail out of boundary, when default position relationship, described boundary is divided into by the intersection point with described axis Two sides, the angular relationship between representative automatic running device and boundary that control module sends according to boundary detecting module Signal, makes walking module perform to turn to, and walking module drives automatic running device to reducing acute angle formed by axis and boundary The direction of angle or right angle angle rotates.

Preferably, when having turned to, the axis of automatic running device is all the time with a side of boundary at an acute angle or a right angle, Another side of this boundary when turning to beginning with the axis of automatic running device at an acute angle or a right angle.

Present invention also offers the forward method of a kind of automatic running device, described automatic running device is for by boundary Walk in the working range limited and work, comprising the following steps: automatic running device drives towards boundary；Automatic running device is supervised Survey the position relationship of self and boundary；When reaching a predeterminated position relation between automatic running device and boundary, detecting is automatically Angular relationship between walking arrangement and boundary；Automatic running device to the acute angle reduced between self axis and boundary or The direction of right angle angle rotates.

Preferably, when reaching a predeterminated position relation between automatic running device and boundary, described boundary is by with described The intersection point of axis is divided into two sides；When having turned to the axis of automatic running device all the time with a side Cheng Rui of boundary Angle or right angle, another side of this boundary when turning to beginning with the axis of automatic running device at an acute angle or a right angle.

Present invention also offers a kind of automatic running device, for walking work in the working range limited by boundary Make, including: housing, housing has longitudinal axis, and housing is divided into both sides by described axis, is respectively left side and right side； Walking module, is installed on housing, and described walking module drives automatic running device walking and turns to, walking module include wheels and Drive the driving motor of wheels walking；Boundary detecting module, is installed on housing, the position between detecting automatic running device and boundary Put relation；Energy module, is installed on housing, provides energy for automatic running device；Control module, detects with walking module and boundary Survey module is electrically connected with；Described automatic running device is driving towards boundary and is arriving the position relationship rear steering preset to sail out of boundary Limit, when automatic running device arrives described default position relationship, the representative that control module sends according to boundary detecting module The wherein side of automatic running device, closer to the signal of boundary, makes walking module perform to turn to so that when having turned to, all the time For described in described automatic running device wherein side to the distance of boundary less than wherein opposite side to the distance of boundary.

Preferably, when arriving described default position relationship, if left side is closer to boundary, then automatic running device up time Pin turns to；If right side is closer to boundary, then automatic running device turns to counterclockwise.

Preferably, the corner of described rotation is more than or equal to 90 degree, less than 180 degree.

Preferably, described border sensing element is arranged symmetrically with relative to axis, is positioned at the front portion of housing.

Preferably, the signal of predeterminable range is reached between himself and boundary when first the border sensing element of side sends After control module, control module judges that this side is closer to boundary.

Preferably, the signal outside boundary himself is arrived to control module when first the border sensing element of side sends After, control module judges that this side is closer to boundary.

Present invention also offers a kind of automatic working system, including: boundary, for limiting the work model of automatic working system Enclose, also include aforesaid automatic running device.

Present invention also offers the forward method of a kind of automatic running device, automatic running device has axis, axis Automatic running device is divided into both sides by line, is respectively left side and right side, comprises the following steps: automatic running device drives towards boundary； Automatic running device monitoring self and the position relationship of boundary；Between automatic running device and boundary, reach a predeterminated position close When being, it is judged which side of automatic running device is closer to boundary；Automatic running device turns to and sails out of boundary, and makes to turn to When completing, be always the wherein side of described automatic running device to boundary distance less than wherein opposite side to boundary away from From, described wherein side when turning to beginning closer to boundary.

Preferably, the both sides, axis of described automatic running device are respectively provided with a border sensing element, described default Position relationship is that one of them border sensing element distance bound is limited to reach predeterminable range.

Preferably, it is judged which side of automatic running device closer to boundary step particularly as follows: when side border sense Answer element first send the signal reaching predeterminable range between himself and boundary to control module after, control module judge this one Side is closer to boundary.

Preferably, the both sides, axis of described automatic running device are respectively provided with a border sensing element, described default Position relationship is that one of them border sensing element arrives outside boundary.

Preferably, it is judged which side of automatic running device closer to boundary step particularly as follows: when side border sense Answer element first send himself arrive the signal outside boundary to control module after, control module judges that this side is closer to boundary Limit.

Present invention also offers a kind of automatic running device, for walking work in the working range limited by boundary Make, including: housing, housing has longitudinal axis, and housing is divided into both sides by described axis, is respectively left side and right side； Walking module, is installed on housing, and described walking module drives automatic running device walking and turns to, walking module include wheels and Drive the driving motor of wheels walking；It is installed on the boundary detecting module of housing, between detecting automatic running device and boundary Position relationship；Energy module, is installed on housing, provides energy for automatic running device；Control module, with walking module and boundary Detecting module is electrically connected with；Described automatic running device is driving towards boundary and is arriving the position relationship rear steering preset to sail out of boundary Limit, when automatic running device arrives described default position relationship, the representative that control module sends according to boundary detecting module The wherein side of automatic running device, closer to the signal of boundary, makes walking module perform to turn to, if left side is closer to boundary, then Automatic running device turns to clockwise；If right side is closer to boundary, then automatic running device turns to counterclockwise.

Preferably, when having turned to, the described wherein side being always described automatic running device is little to the distance of boundary Distance in wherein opposite side to boundary.

Present invention also offers the forward method of a kind of automatic running device, automatic running device has axis, axis Automatic running device is divided into both sides by line, is respectively left side and right side, comprises the following steps: automatic running device drives towards boundary； Automatic running device monitoring self and the position relationship of boundary；Between automatic running device and boundary, reach a predeterminated position close When being, it is judged which side of automatic running device is closer to boundary；Automatic running device turns to and sails out of boundary, if left side more connects Nearly boundary, then automatic running device turns to clockwise；If right side is closer to boundary, then automatic running device turns to counterclockwise.

Preferably, when having turned to, it is always the wherein side of the described automatic running device distance to boundary less than it Middle opposite side to the distance of boundary, described wherein side when turning to beginning closer to boundary.

Present invention also offers a kind of automatic running device, for walking work in the working range limited by boundary Make, including: housing, housing has longitudinal axis, and housing is divided into both sides by described axis, is respectively left side and right side； Walking module, is installed on housing, and described walking module drives automatic running device walking and turns to, walking module include wheels and Drive the driving motor of wheels walking；It is installed on the boundary detecting module of housing, between detecting automatic running device and boundary Position relationship；Energy module, is installed on housing, provides energy for automatic running device；Control module, with walking module and boundary Detecting module is electrically connected with；The representative automatic running device of described automatic running device receiver margin detecting module transmission and boundary Between the signal of position relationship, after arriving the position relationship preset, control module makes walking module turn to sail out of boundary； From the beginning of reaching between automatic running device and boundary to arrive the position relationship preset, to having turned to, described automatic walking sets Standby holding, walks.

Preferably, from the beginning of reaching predeterminable range between automatic running device and boundary, until having turned to, described driving Motor driving wheels group persistent movement.

Preferably, between described control module sends according to boundary detecting module representative automatic running device and boundary The signal of angular relationship, make walking module perform turn to so that when having turned to the axis of automatic running device all the time with boundary One side of limit at an acute angle or a right angle, another side of this boundary when turning to beginning with the axis Cheng Rui of automatic running device Angle or right angle.

Preferably, between described control module sends according to boundary detecting module representative automatic running device and boundary The signal of angular relationship, makes walking module perform to turn to, and walking module drives automatic running device to reducing axis and boundary The direction of the formed acute angle of limit or right angle angle rotates.

Preferably, when automatic running device arrives described default position relationship, control module detects mould according to boundary The wherein side of the representative automatic running device that block sends, closer to the signal of boundary, makes walking module perform to turn to to turn In time completing, it is always the described wherein side of the described automatic running device distance to boundary less than wherein opposite side to boundary Distance.

Preferably, when automatic running device arrives described default position relationship, control module detects mould according to boundary The wherein side of the representative automatic running device that block sends, closer to the signal of boundary, makes walking module perform to turn to, if left side Closer to boundary, then automatic running device turns to clockwise；If right side is closer to boundary, then automatic running device turns counterclockwise To.

Preferably, described border sensing element is positioned at the front portion of housing, is arranged symmetrically with relative to axis.

Preferably, described boundary includes boundary line signal generating element and connects the border of this boundary line signal generating element Line, described boundary line signal generating element sends periodic current signal on boundary line, and described border sensing element is inductance.

Preferably, automatic running device drives towards boundary；Automatic running device monitoring self and the position relationship of boundary；When certainly Dynamic when reaching a predeterminated position relation between walking arrangement and boundary, automatic running device turns to and sails out of boundary, and from automatically Reaching to arrive the position relationship preset between walking arrangement and boundary to start, to having turned to, described automatic running device keeps Walking.

Preferably, further include steps of between automatic running device and boundary, reach a predeterminated position relation Time, the angular relationship between detecting automatic running device and boundary, the most described boundary is divided into by the intersection point with described axis Two sides；Automatic running device turns to and sails out of boundary, and is always the axis of automatic running device when making to have turned to One side of line and boundary at an acute angle or a right angle, another side of this boundary when turning to beginning with the axis of automatic running device Line is at an acute angle or a right angle.

Preferably, further include steps of between automatic running device and boundary, reach a predeterminated position relation Time, the angular relationship between detecting automatic running device and boundary；Automatic running device is when reduction reaches predeterminable range, aforementioned Acute angle between axis and boundary or the directional steering of right angle angle.

Invention also improves a kind of automatic running device, for walking work in the working range that boundary is limited Make, including: housing, housing has longitudinal axis, and housing is divided into both sides by described axis, is respectively left side and right side； Walking module, is installed on housing, and described walking module drives automatic running device walking and turns to, walking module include wheels and Drive the driving motor of wheels walking；Boundary detecting module, is installed on housing, the position between detecting automatic running device and boundary Put relation；Energy module, is installed on housing, provides energy for automatic running device；Control module, detects with walking module and boundary Survey module is electrically connected with, and described automatic running device is driving towards boundary and arriving a position relationship rear steering preset to sail out of boundary Limit, after turning to startup, before completing, control module controls walking module, drives automatic running device along boundary walking one Segment distance.

Preferably, after turning to startup, before completing, control module controls walking module, drives automatic running device Along boundary walking predeterminable range or Preset Time.

Preferably, the angle between control module sends according to boundary detecting module representative automatic running device and boundary The signal of relation, make walking module perform turn to so that when having turned to the axis of automatic running device all the time with boundary One side at an acute angle or a right angle, another side of this boundary acutangulate with the axis of automatic running device when turning to beginning or Right angle.

Preferably, the angle between control module sends according to boundary detecting module representative automatic running device and boundary The signal of relation, makes walking module perform to turn to, and walking module drives automatic running device to be become with boundary to reducing axis Acute angle or right angle angle direction rotate.

Preferably, when automatic running device arrives described default position relationship, control module detects mould according to boundary The wherein side of the representative automatic running device that block sends, closer to the signal of boundary, makes walking module perform to turn to, if left side Closer to boundary, then walking module drives automatic running device to turn to clockwise；If right side is closer to boundary, then walking module band Dynamic automatic running device turns to counterclockwise.

Preferably, described boundary includes boundary line signal generating element and connects the border of this boundary line signal generating element Line, described boundary line signal generating element sends periodic current signal on boundary line, and described boundary detecting module includes sense Answer the inductance of described boundary line signal.

Preferably, when automatic running device is walked along the line, described control module controls walking module and keeps described inductance to arrive The distance of boundary line is constant.

Preferably, described axis be respectively provided on two sides with a described inductance, be positioned at automatic running device along boundary line During walking, the inductance of side is positioned at boundary line, and the inductance of opposite side is positioned at outside boundary line, and described control module controls walking mould Block keeps two inductance equal to the distance of boundary line.

Present invention also offers the forward method of a kind of automatic running device, automatic running device has axis, axis Automatic running device is divided into both sides by line, is respectively left side and right side, comprises the following steps: automatic running device drives towards boundary； Automatic running device monitoring self and the position relationship of boundary；Between automatic running device and boundary, reach a predeterminated position close When being, automatic running device turns to and sails out of boundary, and after turning to startup, before completing, control module controls walking mould Block, drives automatic running device to walk a segment distance along boundary.

Preferably, further comprising the steps of: when reaching a predeterminated position relation between automatic running device and boundary, to sentence Which side of disconnected automatic running device is closer to boundary；When having turned to, it is always the wherein side of described automatic running device To the distance of boundary less than wherein opposite side to the distance of boundary, described wherein side when turning to beginning closer to boundary.

Present invention also offers a kind of automatic running device, for walking also in the working range limited by boundary line Work, including: housing, housing has longitudinal axis；Being installed on the walking module of housing, described walking module drives automatically Walking arrangement is walked and turns to, and walking module includes wheels and drives the driving motor of wheels walking；It is installed on the border of housing Sensing element, for when automatic running device crosses boundary line, sends signal of breasting the tape；It is installed on the energy module of housing, for Automatic running device provides energy；Control module, is electrically connected with, when described control module with walking module and boundary detecting module After receiving signal of breasting the tape, order about described walking module drive automatic travelling device turn to return boundary line in, described control mould After block receives signal of breasting the tape again, record represents the data value of time interval or the operating range breasted the tape between signal twice, If this data value more than one first preset value, then judges aforesaid to be turned towards reducing when crossing boundary line for the first time, automatically cut The direction of the obtuse angle angle between axis and the boundary line of grass machine.

Preferably, the quantity of described border sensing element is 1.

Preferably, described data value and one second preset value are compared by described control module, if described data value is less than Second preset value, then judge aforesaid axis and the border being turned towards reducing automatic mower when crossing boundary line for the first time The direction of the acute angle between line；If data value is between the first preset value and the second preset value, then judge aforesaid turn To towards reduce for the first time cross boundary line time automatic mower axis and boundary line between the direction of right angle angle.

Preferably, described first Preset Time is equal to the second Preset Time.

Preferably, when judge aforesaid be turned towards reducing for the first time cross boundary line time automatic mower axis and The direction of the obtuse angle angle between boundary line, control module makes walking module counter steering, until described axis after counter steering The limit being positioned on boundary line of line and former obtuse angle angle acutangulates.

Present invention also offers a kind of automatic working system, including: boundary line, with sideband signal, it is used for limiting work Scope；Sideband signal generator, for sending sideband signal to boundary line, also includes aforesaid automatic running device.

Preferably, described sideband signal generator sends periodic current signal.

Present invention also offers the forward method of a kind of automatic running device, described automatic running device has axis, Comprise the following steps: move towards boundary line；Cross boundary line for the first time, arrive outside boundary line；Turn in boundary line, second Secondary cross boundary line；Record represents the data value of time interval or the operating range breasted the tape between signal twice；If this data value More than one first preset value, then judge aforesaid to be turned towards reducing when for the first time crossing boundary line, the axis of automatic mower The direction of the obtuse angle angle between line and boundary line.

Preferably, further comprising the steps of: described data value and one second preset value are compared；If described data value is little In the second preset value, then judge aforesaid axis and the limit being turned towards reducing automatic mower when crossing boundary line for the first time The direction of the acute angle between boundary line, if data value is between the first preset value and the second preset value, then judges aforesaid The direction of the right angle angle being turned towards reducing when for the first time crossing boundary line between axis and the boundary line of automatic mower.

Preferably, further comprising the steps of: when judge aforesaid be turned towards reducing cross for the first time boundary line time automatic The direction of the obtuse angle angle between axis and the boundary line of hay mover, automatic running device counter steering, until counter steering The limit being positioned on boundary line of rear described axis and former obtuse angle angle acutangulates.

Compared with prior art, the invention has the beneficial effects as follows: automatic running device keep turn to after with intersection point another The angle of the boundary line of side is also acute angle, or being first less than close to the side on border to the distance of boundary of automatic running device Described opposite side is on the premise of the distance of boundary, within having turned to working range with less corner.Make to be finally reached The walking of automatic running device has directivity.

If working range being divided into two parts with the boundary vertical line of automatic running device and the point of intersection of boundary, then turn to Rear automatic running device can move to another part from an original part, without resting on prior partial.So, automatic row Walk the different region of cruising that equipment can be more frequent, add working region and cover efficiency, and be easier to original from some The region that automatic running device is difficult to walk out is walked out.

Further, the automatic running device of the present invention, when turning to, in other words from close to border to leaving border, is walked automatically Equipment is to maintain walking, drives motor to keep driving wheels in other words.Thus greatly improve the whole efficiency of hay mover, Enhance efficiency, save energy, energy-conserving and environment-protective, improve battery, more in unit cells time internal cutting Grass or carried out more work

Through statistics, after using the path planning mode of the present invention, in the case of same Full Charge Capacity, automatic running device Can work more about 20% path, be effectively utilized the inertia of automatic running device own, reached splendid energy-saving effect.With Time, within the same working time, the automatic running device using this method is more than the automatic running device not using this method Walked about 35% length, greatly improve work efficiency.

Accompanying drawing explanation

Fig. 1 is the overall schematic of the automatic working system of the specific embodiment of the present invention.

Fig. 2 is the overall schematic of the automatic mowing system of the specific embodiment of the present invention.

Fig. 3 is the structure chart of the automatic mower of the specific embodiment of the present invention.

Fig. 4 is the Path selection figure of the automatic mower of the specific embodiment of the present invention.

Fig. 5 is the Path selection figure of the automatic mower of the specific embodiment of the present invention.

Fig. 6 is the Path selection figure of the automatic mower of the specific embodiment of the present invention.

Fig. 7 is before and after the automatic mower of specific embodiment of invention turns to and the angular relationship schematic diagram of boundary line.

Fig. 8 is that the both sides of the automatic mower of the specific embodiment of the present invention are before and after turning to and the position relationship of boundary line Schematic diagram.

Fig. 9 is the principle schematic that one sensor of dependence of the automatic mower of the specific embodiment of the present invention turns to.

Figure 10 is the automatic running device pathway figure by narrow zone of prior art.

Figure 11 is the automatic running device pathway figure by narrow zone of the specific embodiment of the present invention.

Figure 12 is automatic running device another pathway figure by narrow zone of the body embodiment of the present invention.

1 automatic work equipment 3 boundary 5 bus stop

7 automatic mower 13 boundary line, working regions 11

15 isolated island 17 obstacle 21 housings

23 driving wheel 25 auxiliary wheels 27 drive motor

29 cutting assemblies 31 cut motor 33 axis

35 border sensing element 41 intersection points

Detailed description of the invention

The detailed description of the invention of the present invention is described in detail below in conjunction with accompanying drawing.

Such as Fig. 1, the automatic working system of this detailed description of the invention includes automatic running device 1, boundary line 3 and bus stop 5.Its Middle boundary 3 for limiting the working region 7 of automatic working system, automatic running device among boundary or between walking work Making, bus stop, for berthing for automatic running device, especially returns when energy deficiency and supplements energy.

Boundary is the general designation of border and obstacle.Border is the periphery of whole working region, generally joins end to end, by working area Territory is closed, border can be entity can also be electronics, i.e. can be by wall, hedge, railing etc. forms border, it is also possible to Virtual boundary signal is sent, such as electromagnetic signal or optical signal by sideband signal generating means.Obstacle is in working range The part that cannot walk thereon or region, as indoor sofa, bed cabinet, or the pool of outdoor, flower stand etc., similar, obstacle Can also be entity or electronics, the obstacle of entity self can be formed by aforesaid barrier, and the obstacle of electronics is permissible Sent virtual obstacles signal by sideband signal generating means to be formed.Virtual boundary signal and virtual obstacles signal can be same Signal can also be different signals, real needs select.

Automatic running device can be automatic mower, or automatic cleaner etc., they walk in working region automatically Ground or surface on, carry out mowing or dust suction work.Certainly, automatic running device is not limited to automatic mower and automatic dust absorption Device, it is also possible to for miscellaneous equipment, such as spray appliance, supervision equipment etc. is suitable for unattended equipment.

Automatic running device 7 includes walking module, operational module, boundary detecting module, energy module, control module etc..

Walking module is used for driving automatic running device to walk in working region 7, generally sets by being arranged on automatically walking Wheels on standby 7 and the running motor composition of driving wheels.Wheels include connecting the driving wheel of running motor and acting primarily as auxiliary The auxiliary wheel of supporting role, it is preferred that in the detailed description of the invention of the present invention, the quantity of driving wheel is two, is positioned at automatically The rear portion of walking arrangement 7, each driving wheel connects a running motor, and the quantity of auxiliary wheel is one or two, is positioned at certainly The front portion of dynamic walking arrangement.

Operational module is for performing the specific works task of automatic running device 7, if automatic running device 7 is automatic dust absorption Device, then operational module includes dust-absorbing motor, and suction port, sweep-up pipe, vacuum chamber, dust collect plant etc. are for performing the work of dust suction task Make parts；If automatic running device 7 is automatic mower, then operational module includes mowing blade, cutting motor etc., it is also possible to bag Include mowing height adjusting mechanism etc. and optimize or adjust the parts of mowing effect.

Boundary detecting module for detecting automatic running device 7 and the relative position relation of boundary 3, specifically potentially include away from From, angle, one or more in exterior orientation in boundary.The composition of boundary detecting module and principle can be multiple, as permissible For setting of infrared-type, ultrasonic type, collision detection formula, magnetic inductive etc., its sensor and corresponding signal generation apparatus Seated position and quantity are also various, and relevant with path planning mode, the most specifically hereinafter in conjunction with being embodied as Example and path planning mode are told about.

Energy module provides energy for the work in every for automatic running device 1, and it includes rechargeable battery and charging Attachment structure, charging connection structure usually can be exposed to the charged electrical pole piece outside automatic running device.

Control module is used for controlling automatic running device 1 and automatically walks and work, and is the core of automatic running device 1 Part, the function that it performs includes controlling operational module startup work or stopping, generating walking path and control walking module according to Walking, it is judged that the electricity of energy module instruction automatic running device return charging station automatic butt charging in time etc..Control Module generally includes single-chip microcomputer and memorizer and other peripheral circuit.

Except above-mentioned module, automatic running device 1 also includes accommodating and installing the housing of modules, operate for user Control panel etc., automatic running device 1 is also possible that various environmental sensor, such as humidity sensor, temperature sensor, adds Velocity sensor, light sensor etc., these sensors can help automatic running device to judge working environment, corresponding to perform Program.

Bus stop 5 is usually located in working range, is frequently located in boundary 3 side or boundary 3, and civil power or other electric energy Offer system connects, and returns charging for automatic running device, and bus stop 5 is provided with charged electrical pole piece, for setting with walking automatically The corresponding electrode slice docking of standby 1.

The path planning mode of the detailed description of the invention of the present invention described below, returns to the side in boundary particularly out boundary Formula, the path planning mode of the narrow zone passed through of being difficult at some common automatic running devices 1.

Before describing paths planning method, first introduce the structure of a kind of concrete automatic working system, with it as base Plinth tells about each path planning mode.It may be noted that the introducing of concrete structure of this concrete automatic working system only For the unification described and convenience, being not unique, can have suitably change, some of which change will hereinafter Specifically describe.

Such as Fig. 2, this automatic working system is that one is mowed system automatically.Automatically mowing system includes: as automatic row Walk the automatic mower 11 of equipment；Bus stop 5, berths for automatic mower and charges；It is positioned on bus stop 5, generates border letter Number sideband signal generator；The boundary line 13 of fillet signal generator, boundary line 13 and sideband signal generator are formed Closed annular, boundary line 13 has sideband signal, forms the working range of automatic mower within boundary line 13.

Sideband signal generator produces periodic current signal, is sent in boundary line 13, and boundary line 13 is wire, its On flow through corresponding periodic current, periodic electric current produces periodic magnetic field near boundary line, and magnetic field has direction Property and power, contrary in both sides in opposite direction of boundary line, the i.e. inward-outward direction in working range, and closer to boundary line magnetic Field signal is the strongest.

Preferably, the periodic current signal at this place is square-wave pulse signal, and it generates and identify and is all easier to, and can reduce Cost, improves efficiency.

Also shown in FIG. 2, also there is within working range isolated island 15, isolated island 15 is the discomfort within working range Preferably be operated, region that automatic running device 1 detours, be probably the intransitable flower of automatic running device 1 in isolated island 15 Platform, pool etc..In this automatically mowing system, isolated island 15 same by boundary line 13 around being formed, such as figure, boundary line 13 is being closed Right position is put and is folded to isolated island 15 from boundary, within 15 1 weeks, returns to the boundary line of isolated island 15 after arriving isolated island 15 around isolated island Starting point, returns to border then against boundary line 13.So, the surrounding of isolated island 15 is provided with sideband signal, automatic mower 11 will not enter isolated island 15, then have two boundary lines snugly into each other, in opposite direction between isolated island 15 and border 13, the sense of current on these two boundary lines 13 is contrary, cancels out each other in the magnetic field therefore produced, because of without there being sideband signal, Automatic mower 11 can pass freely through.

In this automatically mowing system, what boundary line 13 was preferably arranged has one from the actual physics boundary treating mowing region Segment distance.Such as it is positioned in lawn from lawn edge 30 centimeters, the and for example flower stand in isolation by distance island 15 30 centimetres.This be because of For being the virtual signal of non-physical entity, it is impossible to physical barriers automatic mower 11, thus it is automatic mower 11 due to boundary Leave the distance that one section of inertia moves, allow automatic mower 11 still can be displaced outwardly after monitoring boundary line one section away from From without leaving real working range.

Also shown in FIG. 2, also there is within working range obstacle 17, may be specifically the slight slope in working range, stone Block, trees etc..In this automatically mowing system, similar little obstacle will not use boundary line around forming isolated island 15, but Detected by the obstacle sensor being arranged on automatic mower 11.

Such as Fig. 3, for the automatic mower structure chart of this mowing system automatically.Foregoing, automatic running device includes Housing 21, and it is installed on the walking module of housing, operational module, boundary detecting module, energy module, control module etc..

In this automatic mower 11, walking module includes the wheels being installed on the lower section of housing, and wheels include driving wheel 23, number is two, lays respectively at the both sides, rear of housing 21；Wheels also include auxiliary wheel 25, and number is similarly two, respectively It is positioned at the both sides, front of housing 21.Walking module also includes the driving motor connecting driving wheel, drives motor to be responsible for driving Wheel 23 rotation and then drive automatic mower 11 are walked, and drive motor to be also responsible for driving driving wheel 23 to turn to.Automatically mow at this In machine 11, two driving wheel 23 one driving motors of respective separate connection, drive the rotating speed of motor by control module control, work as control During two driving motor rotating in same directions at the same rate of molding block instruction, automatic mower 11 is linearly walked；Work as control module Instruct two driving motors rotate at different rates or incorgruous rotate time, automatic mower 11 turns to, automatic mower 11 meeting The driving wheel side that the driving wheel side slower to rotating speed or rotation direction correspond to retreat turns to.

In this automatic mower 11, operational module includes the cutting assembly 29 being installed on below automatic mower, and Cutting assembly 29 is driven to carry out the cutting motor 31 of cutting lawns work.Cutting assembly 29 can be the cutter connecting mowing output shaft Sheet or for connect the cutterhead of mowing output shaft and the combination of blade, its concrete structure and possible form be insider week Know, repeat no more.

In this automatic mower 11, boundary detecting module is the border sensing element 35 being arranged in housing 21, specifically , automatic mower has longitudinal axis 33, and housing 21 is divided into both sides by axis 33, is respectively left side and right side.Limit Boundary's sensing element 35 is the inductance element (abbreviation inductance) of the both sides being separately mounted to axis 33, it is preferred that inductance element Number is two, is symmetrically installed on the both sides of axis 33, the front portion of housing 21.The located anteriorly advantage of inductance element is can With more rapid and sense sideband signal more accurately.Boundary detecting module and control module connect, the border letter that will monitor Number send control module to.Certainly, inductance element can also be positioned at middle part or the rear portion of housing 21, and number can be more, To increase the accuracy of sideband signal identification.

In this automatic mower 11, energy module is the rechargeable battery being positioned in housing 21, and connects chargeable The charging pole piece of battery；Charging pole piece is positioned at the front portion of housing and is exposed to outside housing 21, for entering at automatic mower 11 During bus stop 5, and the phase inductive charging pole piece docking of bus stop 5, charge for automatic mower 11.

In this automatic mower 11, control module is positioned in housing 21, including microcontroller and memorizer etc., storage Device for store the working procedure of automatic mower and automatic mower relevant parameter in the course of the work, each sensor and The information etc. that other modules are beamed back；Microcontroller is for receiving signal that other system sends and the journey according to memory built-in Sequence, calculates and sends corresponding work order to modules.

This automatic mower 11 also includes obstacle monitoring modular, is specially arranged on the crash sensor on housing, when certainly When motor mower 11 bumps against obstacle, crash sensor detects collision and produces collision alarm, issues control module.

This automatic mower 11 also includes control panel, for setting mode of operation for operator, does not carry out at this in detail Describe.

The most briefly introduce the working method of this automatic mowing system.Automatic mower 11 by boundary line 13 around work In the range of cruise and carry out grass cutting action, at nominal conditions, automatic mower 11 straight line moving, until bumping against boundary, i.e. limit Boundary line 13 or obstacle 17.If automatic mower 11 runs into boundary line 13 or obstacle, it will turn to turn back and return to continuation in boundary Straight line moving, until again running into boundary.By above-mentioned the most constantly turn back by the way of, cover whole working region 7 and enter Row work.When automatic mower 11 electricity as little as predeterminable level or occur other situations need return bus stop 5 time, control Module controls automatic mower 11 and finds boundary line 13, then walks along boundary line 13, owing to bus stop 5 is positioned at boundary line 13 On, therefore automatic mower 11 will walk back in bus stop 5 along boundary line 13, and then docking is charged or berths in bus stop 5.

Automatic working system with aforesaid automatic mowing system as representative at work, turns to after running into boundary in boundary Turn back the situation interrupting normal work being occur the most frequently, improve turn to the efficiency turned back will directly, significantly improve The work efficiency of automatic working system.

Thus, the boundary of leaving of the detailed description of the invention first describing the present invention returns the mode in boundary.In walking automatically Equipment 1 is walked after a period of time, will necessarily bump against boundary, and automatic running device 1 monitors automatic row by boundary detecting module Walk equipment when running into boundary, the relative position of each other relation, i.e. foregoing angular relationship, internal and external relation, distance etc..Boundary Detecting module will represent the signal of these position relationships, as degree of closeness signal and/or angular relationship signal are sent to control mould Block.When automatic running device drive towards boundary and arrive one preset position relationship rear steering to sail out of boundary, with ensure not from Open working range.The signal that the boundary detecting module that control module receives sends may represent between automatic running device and boundary Angular relationship, it is also possible to represent the distance between automatic running device and boundary, it is also possible to represent which of automatic running device Side is close to boundary, it is also possible to represent several in foregoing simultaneously, this part depend on how understand boundary detecting The signal that module sends.

Aforesaid predeterminated position relation relates to the entry condition turned to, and it can according to concrete automatic working system not Changing together, as in this automatic mower system, the position relationship preset is the actual boundary line that bumps against of automatic mower 11, One inductance element is positioned at the surface of boundary line 13, i.e. the distance of some border sensing element distance boundary reaches one and is The predeterminable range of 0.And in automatic cleaner system, because border is often body of wall, default position relationship is usually for certainly One section of border of distance, the front end distance determined of dynamic vacuum cleaner, such as 30 centimetres.Certainly, above-mentioned example is schematically, presets Position relationship can set according to real needs.

For the detailed process turned to, because the axis of automatic running device is inevitable and boundary forms an intersection point, Non-perpendicular close to boundary time, the most necessarily have the wherein side of automatic running device closer to boundary.So when automatic running device 1 Axis when being not orthogonal to boundary, form an acute angle with the left side of this intersection point or the boundary line on right side, automatically walk Equipment rotates to the direction reducing this acute angle in can turning to boundary by less corner, the most efficiently.More abstract says, Automatic running device monitoring self and the position relationship of boundary, the automatic row of representative that control module sends according to boundary detecting module Walk the signal of angular relationship between equipment and boundary, make walking module perform to turn to so that for the efficient quick turned to, control Molding block makes walking module drive automatic running device to reducing acute angle formed by axis and boundary or right angle angle Direction rotates, and be always ensured that be the axis of automatic running device all the time with a side of boundary at an acute angle or a right angle, this boundary Another side of limit when turning to beginning with the axis of automatic running device at an acute angle or a right angle.Being similar to, said process is also Can be understood as automatic running device monitoring self and the position relationship of boundary, between automatic running device and boundary, reach one During predeterminated position relation, it is judged that if which side of automatic running device is closer to boundary left side closer to boundary, the most automatically walk Equipment turns to clockwise；If right side is closer to boundary, then automatic running device turns to counterclockwise, and turns to result to be always described The wherein side of automatic running device to the distance of boundary less than wherein opposite side to the distance of boundary, described wherein side turn Closer to boundary in time starting.Although above two describing mode is different, but its flesh and blood is consistent, will be understood that The signal parameter that boundary detecting module sends is in the corresponding different scene of physical energy.

Fig. 4, Fig. 5 and Fig. 6 are the Path selection schematic diagram that aforesaid automatic mower 11 runs into after boundary.At Fig. 4, figure In 5 and Fig. 6, the direction of travel of automatic mower 11 is identical, and when hitting boundary line 13, the bearing of trend of axis 33 is identical, but In each figure, the bearing of trend of boundary line 13 is different, thus causes the direction turned to different with result.Through automatically mowing in each figure The dotted line of machine 11 is the run trace line of automatic mower 11.

In this automatic mowing system, when automatic mower 11 bumps against boundary line 13, the axis of automatic mower 11 Line 33 and boundary line 13 have an intersection point 41, then each shape in boundary line 13 of axis 33 and intersection point 41 both sides is at an angle, The two angle sum is 180 degree.It is to be appreciated that see that boundary line 13 or boundary are probably bending on the whole, but specifically The boundary line 13 of a near intersections or boundary can be considered as straight line；Or alternatively, although boundary line 13 or boundary Limit is probably bending, but is reaching at the predeterminable range judging to turn to, axis 33 and boundary line 13 or the intersection point of boundary, The bearing of trend of boundary line 13 or boundary is straight line, and this bearing of trend is the tangent line of boundary line 13 or boundary.Below, Directly perceived and convenient in order to describe, the most still it is referred to as axis 33 and boundary line 13 or the angle of boundary, but limit at this The meaning of boundary line 13 and boundary as it has been described above, refer at the straightway of boundary line 13/ boundary of point of intersection or bearing of trend or Person's tangential direction.

As it was previously stated, automatic mower 11 is preferably respectively equipped with a border sensing at the monosymmetric of axis 33 Element 35.Such as Fig. 4, automatic mower 1 hits boundary line 13, with boundary line 13 out of plumb, can first bump against boundary line on the left of it 13, i.e. first the border sensing element 35 in left side can sense and bump against boundary line 13, and sends a letter of breasting the tape to control module Number, show that the left side of automatic mower 11 is struck boundary line 13.Control module is firstly received the signal of breasting the tape in left side, then phase The judgement automatic mower answered is to drive towards boundary line 13 from the left side of boundary line 13 and the intersection point of automatic mower 11, automatically mows The boundary line 13 in the axis 33 of machine 11 and the left side of intersection point of breasting the tape acutangulates angle.In other words, the border sensing element of side First send himself arrive distance boundary one predeterminable range signal to control module after, control module judge be positioned at axis The boundary of described side and described axis acutangulate angle.In the case of another kind, if the signal that border sensing element occurs Represent is the internal and external relation of himself and boundary, then first the border sensing element of side sends outside himself arrival boundary After signal is to control module, control module judges to be positioned at the boundary of the described side of axis and described axis acutangulates folder Angle.Judging to determine the travel direction of automatic mower 11, automatic mower 11 axis 33 and border when breasting the tape in other words After the position relation of line 13, automatic mower 11 phase should determine that steering direction, turns to the right, i.e. automatic mower 11 can be to reduction The directional steering of the acute angle of its axis 33 and boundary line 13.Or it is it may also be said that as depicted, when turning to startup Time, the left side of automatic running device is closer to boundary, turns to the most clockwise；If right side is closer to boundary, turn to the most counterclockwise.Tool Body, the control module of automatic mower 11 can control walking module, makes rotating speed the driving more than right side of the driving wheel 23 in left side The rotating speed of driving wheel 23, makes automatic mower 11 turn to the right, returns in working region 7.In this automatic mower 11, turn to Angle is fixing, more than or equal to 90 degree less than 180 degree, preferably slightly larger than 90 degree, between 90 degree to 120 degree.This Place's steering angle, why more than or equal to 90 degree, is in order to when the concrete angle value of indefinite aforesaid acute angle, it is ensured that turn Travel in boundary backward, if can interpolate that this angle value, then within can selecting suitable 180 degree accordingly according to the value of acute angle Corner, specifically will describe in detail later.

It is to be appreciated that owing to this automatic mower 11 judges that the time point turned to is that automatic mower 11 is actual and bumps against border In moment on line 13, therefore when turning to, its run trace may cross boundary line 13, then returns in boundary, is crossing During boundary line 13, another border sensing element 35 of automatic mower 11 also can sense and bump against boundary line 13, to controlling mould Block sends signal of breasting the tape.As it was previously stated, the Physics Work scope that the meeting of boundary line 13 layout of mowing system is actual automatically is such as Lawn is the most inner, therefore automatic mower 11 when turning to without departing from actual Physics Work scope.

Such as Fig. 5, the bearing of trend of boundary line is different with Fig. 4, thus while automatic mower 11 towards identical, but turn to Direction different.Concrete, first the right side of automatic mower 11 can bump against boundary line 13, i.e. the border sensing element 35 on right side Can first sense and bump against boundary line 11, and send a signal of breasting the tape to control module, show the right side of automatic mower 11 It is struck boundary line.Control module is firstly received the signal of breasting the tape on right side, judges that automatic mower is from border the most accordingly Boundary line, the limit on the right side of the axis of automatic mower 11 and intersection point of breasting the tape are driven towards in the right side of the intersection point of line and automatic mower Boundary line acutangulates angle.Judging to determine the travel direction of automatic mower 11, automatic mower axis when breasting the tape in other words After the position relation of line 33 and boundary line 13, automatic mower 11 phase should determine that steering direction, turns to the left, turns to counterclockwise, I.e. automatic mower 11 can be to the directional steering of the acute angle reducing its axis 33 and boundary line 11.Concrete, automatically cut Grass machine 11 control module can control walking module, make right side driving wheel 23 rotating speed more than left side driving wheel 23 turn Speed, makes automatic mower 11 turn to the left, returns in working region.

As shown in Figure 6, the bearing of trend of boundary line 13 and the travel direction of automatic mower 11 hit boundary line in other words Direction, axis 33 when 13 is vertical, and now, two border sensing elements 35 of automatic mower 11 are sent out to control module simultaneously Automatic mower 11 vertically drives towards boundary line to send signal of breasting the tape, control module to judge, then controls running gear and turns at random.

It is described above steering mode when automatic mower 11 becomes various angle with boundary line 13, retouches referring to Fig. 7 State the angle change in typical steering procedure of the automatic mower 11 of the present invention.

Such as Fig. 7, the run trace of automatic mower 11 crosses boundary line 13, axis 33 and the friendship of boundary line 13 during out-of-bounds Point is O, and after having turned to and having entered boundary, the intersection point of axis 33 and boundary line 13 is P.When out-of-bounds, the axis of automatic mower 11 The intersection point side of line 33 run trace in other words and boundary line 13 forms an acute angle angle O, as it can be seen, then, controls Module can control the automatic mower 11 directional steering to this acute angle of reduction, and keep walking when turning to, and leaves boundary Turning back in boundary, in boundary of turning back, rear steering completes the most again, after having turned to, the axis 33 of automatic mower 11 and boundary line 13 Point of intersection, is similarly formed an acute angle angle P, as it can be seen, this angle P's with P as starting point is positioned on boundary line Bearing of trend and to educate the bearing of trend on one side on boundary line contrary the position of angle O with O as starting point.

Due in this grass cutting action system, trigger the predeterminated position relation turned to be predeterminable range be zero, institute and track Line can intersect with boundary line, turns to front and turns to the axis 33 of rear automatic mower 11 and the summit meeting of the angle of boundary line 13 Separately, but it is readily understood that according to the difference of described predeterminable range, in figure trajectory can upper and lower translation, thus trajectory and The position of intersecting point of boundary line 13 can change, and even overlaps or does not has, but the angle of two angles of axis 33 and boundary line 13 Degree is constant.Simplify say, with trigger turn to time axis 33 and boundary line 13 intersection point for boundary, boundary line 13 is divided into To both direction extend both sides, then turn to front axis 33 can and wherein side acutangulate, and turn to rear axis 33 can and The relative opposite side extended to other direction acutangulates.

If automatic mower 11 vertically hits boundary line 13, understand after turning to and wherein side acutangulate, and in turning to afterwards Axis 33 meeting acutangulates with the relative opposite side extended to other direction.

For a better understanding of the present invention, describe the automatic mower 11 of the present invention referring to Fig. 8 typically turning to Change in location in journey.

Such as Fig. 8, first the side of automatic mower 11 can breast the tape, and when breasting the tape, the opposite side of automatic mower 11 and Boundary line 13 has a segment distance, as it can be seen, be d₀, automatic mower 11 starts at this moment and turns to, foregoing, if left First side breasts the tape, and automatic mower 11 is turned right, and breasts the tape in right side, and automatic mower 11 turns left, and wherein side is breasted the tape the most automatic Walking arrangement turns to opposite side.Still such as figure, having turned to, after automatic mower 11 enters in boundary, automatic mower 11 The distance of a lateral extent boundary line 13 extended line of boundary line 13 in other words first breasted the tape be d₁, and opposite side distance border The distance of line 13 extended line of boundary line 13 in other words is d₂, as it can be seen, turn to rear d₁Less than d₂, i.e. automatic mower 11 turns It is near for keeping the lateral extent boundary line relatively opposite side first breasted the tape backward.

On implementing, when boundary detecting module detect the side of described housing 21 and boundary first reach to preset away from From time, send signal, described control module and then control described walking module to control module, drive automatic running device 1 from Described side turns to opposite side, described in when having turned to, the described side of described automatic running device 1 is little to the distance of boundary Distance in described opposite side to boundary.

By above description it can be seen that automatic running device 11 after keeping turning to the boundary line of intersection point opposite side Angle be also acute angle, or automatic running device first close to the side on border to the distance of boundary less than described opposite side On the premise of the distance of boundary, within having turned to working range with less corner, its crank degree is at most 180 degree, and If corner in the opposite direction, then reaching identical final angle, crank degree is at least 180 degree.

Above-mentioned steering mode makes the walking of the automatic running device 1 being finally reached have directivity, if with walking automatically Working range is divided into two parts by the boundary vertical line of the point of intersection of equipment 1 and boundary, then turn to the rear automatic running device can be from During originally a part moves to another part, without resting on prior partial.So, what automatic running device can be more frequent patrols Boat, to different regions, adds working region and covers efficiency, and be easier to be difficult to away from some original automatic running devices The region gone out is walked out.

In above-mentioned steering procedure, boundary detecting module is qualitatively to the judgement of angle, only judges automatic mower Which side first hits boundary line, the most accordingly, turns to opposite side, and corner is less than 180 degree；The most only judge The boundary line of which side of automatic mower 11 and intersection point 41 acutangulates, and then turns to the direction reducing this acute angle accordingly Dynamic, last and opposite side angle is also acute angle, then proceedes to straight-line travelling.

But, in order to reach more preferably effect, boundary detecting module can also be quantitative to the judgement of angle, i.e. monitors Determine the axis of the automatic mower when breasting the tape and the angle value of boundary line.On this automatic mower, its implementation is such as Lower described:

Displacement monitoring element can be provided with, for monitoring automatic mower walking within a certain period of time on automatic mower 11 Distance, owing to displacement and speed are relevant amounts, this automatic mower 11 monitors automatic mower by the monitoring speed of travel Displacement, displacement monitoring element is specifically as follows the rotary speed sensor of rotary speed of monitoring driving wheel, or directly monitoring oneself The acceleration transducer of the speed of motor mower 11, or other can monitor the element of automatic mower 11 speed.

Before turning to and actually occurring, two border sensing elements 35 of automatic mower 11 can successively be breasted the tape and send out respectively Sending signal of breasting the tape to control module, displacement monitoring element can be monitored within the time period that boundary line sensing element 35 is successively breasted the tape, The displacement of automatic mower 11.Meanwhile, the distance between two boundary line sensing elements 35 is a known fixed value, Thus, according to the distance between two boundary line sensing elements 35, and two boundary line sensing elements 35 of automatic mower 11 Successively by the displacement of boundary line 13, the angle between automatic mower 11 and boundary line 13 when breasting the tape can be calculated. It may also be said that the border sensing element of control module record both sides sends respectively reaches a predeterminable range between himself and boundary Signal time within, or the border sensing element of both sides send respectively the signal himself arrived outside boundary time it In, the distance of automatic running device walking, calculate the angle value between described axis and boundary.Then control element according to This angle can calculate suitable steering angle accordingly, and automatic mower 11 can be made to keep a fixing angle to leave limit Boundary line, it is possible to so that automatic mower 11 leaves the angle of boundary line with the angle of change.In the situation that can calculate angle value Under, the angle turned to can be less than 90 degree

Owing to the signal of isolated island 15 and the signal of boundary line 13 are identical, it is all periodic current signal, therefore, When hitting isolated island 13 automatic mower 11 by by with hit boundary line 13 same in the way of judge orientation and be diverted away from every Li Island 15.

Owing to not having boundary line signal around obstacle 17, thus automatic mower 11 is after finding obstacle 17, can not be straight Switch through to, and first shut down, then retreat and turn again to.But, owing to this kind of mode can reduce work efficiency, therefore, automatically cut Grass machine 11 a set of obstacle remote sensing module can also be set, actual bump against obstacle before just find obstacle 17 and carry out turn to, preferably , obstacle sensoring can monitor automatic mower 11 equally and hit the angle of obstacle 17 so that with and aforesaid limit Boundary line 13 turns to similar mode to turn to, and improves efficiency.Such as, obstacle remote sensing module can be to be located on automatic mower 11 Ultrasonic emitting element and two ultrasound wave being respectively provided at automatic mower both sides receive elements, ultrasonic by the two of both sides Ripple receives the time difference that element receives the ultrasonic signal of reflection, it is judged that with distance and the angle of obstacle.

It may be noted that what the above-mentioned description turning particularly to structure and mode was merely exemplary, be not to the present invention Limitation.

As it was previously stated, boundary detecting module can be qualitatively to the judgement of angle, it is also possible to be quantitative, be qualitatively Refer to that boundary detecting module only judges which side in the both sides of the intersection point of automatic running device 1 and boundary acutangulates angle, so The rear mutually deserved direction towards this acute angle of reduction rotates, and holding turns to rear and opposite side angle to be also acute angle.Quantitative Refer to that boundary detecting module can interpolate that automatic running device and boundary corner cut degree really, and turn towards the direction reducing acute angle Dynamic, and select steering angle according to concrete angle, reach to optimize the purpose of steering angle, optimize steering angle and can refer to that reduction turns to Angle, it is also possible to refer to ensure to eject angle within the specific limits, it is also possible to refer to path optimizing, increase coverage rate or reduction is turned back Number of times.

Also as before, boundary 3 can have multiple, and is not limited to boundary line signal or the obstacle of current type, also Can be the body of wall in house, other acousto-optic-electric sideband signals etc..Accordingly, boundary 3 detecting module is multiple, as infrared ray passes Sensor, ultrasonic sensor etc., the difference according to boundary 3 character can be corresponding different.Typically for the boundary of entity, for reality Turning now to, automatic running device can not bump against boundary, and therefore the distance of the predetermined place turned to and practical limit can be longer, sensing Device is remote sensing type, all without bumping against boundary 3 during to ensure to turn to.And for the boundary 3 of signal formula, the predetermined distance turned to can be relatively Short, very close to or bumped against border and just turned to, due to inertia, the real trace turned to may be crossing with boundary 's.Certainly, as the case may be, the boundary 3 of signal formula turn to judge point can also arrange the same with entity boundary, holding One segment distance so that automatic running device is non-intersect with boundary when turning to, when i.e. turning to automatic running device 11 boundary away from From more than or equal to zero.

As previously mentioned, it is judged that distance and the mode of angle between automatic running device 1 and boundary line can have multiple, no It is limited to this specific embodiment manner described.For example, it is also possible to use the GPS navigation system being similar to automobile navigation, in control In the memorizer of molding block, the map of built-in working region and position, boundary line and direction, set GPS navigation in automatic running device Module, then information and GPS information can judge angle and distance when automatic running device hits boundary line, so according to the map The aforesaid steering mode of rear use turns to.And for example, use acquisition technology, automatic running device is installed photographic head, logical Cross the image recognition to environment and judge to breast the tape direction and distance is also feasible.In the present invention, it is more importantly to judge Turning to strategy and turning rearwardly direction behind direction.

And for example, above-mentioned automatic mower 11 realizes by laying respectively at the border sensing element 35 of the both sides of housing 21 Angle judges and steering direction determines, but, only realize also being feasible by a border sensing element 35.

Explaining with reference to Fig. 9 and rely on a sensor to determine the principle turning to orientation, automatic mower 11 can cross boundary line, After breasting the tape, the steering angle of automatic mower 11 is fixing, thus its turning track is also substantially stationary, such as dotted line institute Show, but the direction of boundary line 13 is unknown, figure illustrates position, typical boundary line 13,3 borders.Hypothetical boundary line 13 It is perpendicular to the direction, axis when the direction of travel of automatic mower 11 is breasted the tape in other words, then during automatic mower 11 out-of-bounds and limit The intersection point in boundary line 13 is O, and when entering boundary, intersection point is P, and the walking path of automatic mower 11 is camber line OP.The length of camber line OP is permissible As a datum length, for judging the axis 33 when automatic mower 11 is breasted the tape and the angular relationship of boundary line 13.As The left side of the intersection point of when really automatic mower 11 is breasted the tape and boundary line 13 acutangulates, then two intersection point such as arcs of automatic mower 11 Shown in line OA, the length of OA is less than OP；If when automatic mower 11 is breasted the tape, the left side with the intersection point of boundary line 13 becomes obtuse angle, then Two intersection points of automatic mower 11 are as shown in camber line OB, and the length of OB is more than OP, and so, detection automatic mower 11 is in out-of-bounds And enter the distance of walking between boundary, it is compared with OP, then can obtain automatic mower 11 and the angular relationship of boundary line 13. Corresponding action can be taked subsequently, as returned again to when travel distance is more than OP.

Concrete, when only border sensing element 35, automatic mower 11 travels to boundary line 13, until this limit Boundary's sensing element 35 senses and self is positioned at above boundary line 13, and now border sensing element 35 sends, to control module, letter of breasting the tape Number；After control module receives signal of breasting the tape, send instruction to walking module, turn to default angle, travel in border, this Time control module can not judge that whether this steering direction is axis 33 and the boundary line 13 reducing automatic mower 11 The direction of non-obtuse angle, and owing to automatic mower 11 keeps walking, therefore border sensing element 35 can be crossed border and arrives Out-of-bounds；After turning to or turning to, border sensing element 35, from out-of-bounds returning in boundary, again passes by above boundary line 13；Control mould Block can be crossed for twice the time spent by boundary line 13 by record delimitation sensing element 35, and by itself and one or more fiducial times Relatively, if the time of consuming less than the first fiducial time preset, then judges that steering direction is towards reducing automatic mower 11 and hits Axis 33 during line and the direction of the acute angle of boundary line 13；If the consuming time is equal to this preset reference time or is positioned at Between two fiducial times, then judge that steering direction is towards reducing the axis 33 when automatic mower 11 is breasted the tape and boundary line The direction of the right angle angle of 13；If the time expended more than a fiducial time, then judges that steering direction is towards reducing automatically Axis 33 when hay mover 11 is breasted the tape and the direction at the obtuse angle of boundary line 13.

After judging steering direction, the also the most corresponding axis having judged automatic mower 11 during former breasting the tape and limit The angular relationship in boundary line 13, and turn to direction and the angular relationship of boundary line 13 of rear automatic mower 11.Subsequently, automatically cut Grass machine 11 can take corresponding action, such as, is towards reducing axis when automatic mower 11 is breasted the tape at steering direction During the direction of the obtuse angle angle between 33 and boundary line 13, control automatic mower 11 counter steering, make automatic mower 11 Travel direction, turn in other words after axis 33 become blunt with the axis 33 when breasting the tape with automatic mower 11 of boundary line 13 Angle angle side acutangulates.

In order to judge the direction and the relation of former travel direction that turn to for the first time, optionally, permissible on automatic mower 11 Being provided with displacement detecting element, the border sensing element 35 of detection automatic mower 11 is got over for twice between line, automatic mower 11 row Sail how many distances, then this distance has been compared with one or more reference ranges, it is judged that steering direction, its process and principle It is similar to aforesaid compare with fiducial time, does not repeats them here.Certainly, automatic mower 11 can also record twice simultaneously More the time interval between line and operating range, increase the accuracy judged.

Above-mentioned forward method maintains equally and keeps walking in whole steering procedure, and leaving boundary line time side To for becoming obtuse angle angle side to acutangulate with the axis 33 when breasting the tape with automatic mower 11 of boundary line 13, there is direction Property, still it is substantially better than prior art.

It may be noted that the steering mode of the present invention is advantageous particularly when by narrow zone, Figure 10 and Figure 11 is not respectively Using and use the automatic running device path comparison diagram at narrow zone of this path planning mode, dotted line is walking path. During it is apparent that do not use this path planning mode, automatic running device 1 leaves the extremely inefficient of narrow zone, needs Turn back and the most just can leave narrow zone, and leave and substantially rely on fortune, it is impossible to know the time left；And use this road After the planning mode of footpath, automatic running device 1 is provided with directivity, can leave narrow zone, warp after the turning back of finite number of time Actual measuring and calculating, at a typical narrow zone, does not uses the method averagely to need just can leave for 5 minutes, and uses this method After, it is only necessary to half a minute just may exit off.

It should also be noted that common automatic running device 1, either hay mover or vacuum cleaner, boundary 3 will run into Time shut down, the most just can turn to.Because it is the most frequent to run into boundary 3, therefore this is for the work of automatic running device 1 Efficiency impact greatly, causes time flower being operated on braking/shut down and starting rather than in reality having 15%；And And, start and shut down the life-span of the mechanical organ that also can affect automatic running device 1 frequently, also waste energy.And the present invention Automatic running device 1 can greatly reduce the number of times of shutdown/brake.When turning to, automatic running device drives towards in other words The position relationship that boundary arrival are preset starts, and to having turned to, automatic running device keeps walking, drives motor guarantor in other words Hold driving wheels.Thus greatly improve the whole efficiency of hay mover, enhance efficiency, saved energy, energy-conserving and environment-protective, carried High battery, the more grass or carried out more work in unit cells time internal cutting

Through statistics, after using this path planning, in the case of same Full Charge Capacity, automatic running device 1 can be with multiplexing Make the path of about 20%, be effectively utilized the inertia of automatic running device 1 own, reached splendid energy-saving effect.Meanwhile, same In the working time of sample, use the automatic running device of this method to walk about than the automatic running device not using this method more The length of 35%, greatly improves work efficiency.Thus, for maximized raising work efficiency, automatic running device 1 wraps Including such a pattern, when being operated task, hay mover remains walking when turning to, and does not shuts down.Certainly, above-mentioned Steering mode can be the one of the various modes of the path planning of automatic running device, and automatic running device is only detecting Starting this pattern when being positioned at narrow zone or corner areas, detection mode can be: the most quickly bumps against border, in other words, In the predetermined time, bump against boundary line and reach pre-determined number.

Same in order to obtain the path of optimization, especially for optimizing the speed leaving narrow zone further, the present invention's Detailed description of the invention additionally provides another kind of path planning mode.This path planning mode is by running into boundary 3 tailing edge circle Limit 3 walking one segment distance realizes quickly leaving narrow zone.Automatic running device, after boundary 3, is first carried out slightly Rotation, make direction of travel consistent with boundary 3 bearing of trend, then along boundary 3 bearing of trend walk one section of default distance, The most again turning in boundary 3, after i.e. turning to startup, before completing, automatic running device is walked a segment distance along boundary. The concrete mode of a segment distance of walking can be time of presetting of automatic running device walking or walking predeterminable range, preset away from From preferably 20cm to 100cm.

Fig. 9 is the walking path schematic diagram of the automatic mower 11 that have employed this path planning.It is such as Figure 12, similar, Automatic mower 11 has the border sensing element 35 of the both sides being positioned at housing 21.After travelling a segment distance, automatic mower 11 will bump against boundary line 13, and non-perpendicular when breasting the tape, first the border sensing element 35 of side will breast the tape and send to control module Breasting the tape signal, control module judges to judge accordingly axis 33 and the angular relationship of boundary line 13 of hay mover 11, then, control Molding block instruction walking module to reducing axis 33 and the acute angle of boundary line 13 or the directional steering of right angle angle, in turning to or After turning to, the border sensing element 35 crossing boundary line 13 at script returns in boundary, and another border sensing element 35 is still on boundary Time outer, stop steering procedure, start to walk along boundary line 13.

When walking along boundary line 13, control module corrects travel direction at any time, it is ensured that aforesaid border sensing unit Part 35 is positioned at boundary, and another border sensing element 5 aforesaid is positioned at out-of-bounds, i.e. ensures the magnetic direction that two inductance sense On the contrary, so, automatic mower 11 side all the time is positioned at boundary, and opposite side is positioned at out-of-bounds, it is achieved across boundary line 13 ascender line Walking.When certain side of automatic mower 13 in boundary to out-of-bounds or from out-of-bounds in boundary, then the magnetic field that two inductance sense Direction can become identical, and automatic mower direction in making this side return to boundary or out-of-bounds accordingly slightly turns to, and makes two electricity The magnetic direction sensed keeps contrary.By such mode, control module controls walking module and keeps two inductance to arrive The distance of boundary line is equal.But, above-mentioned cross-border line walking mode and the number of inductance the most not necessarily, if control Module controls walking module and keeps inductance constant to the distance of boundary line, then both can walk along boundary line, this is apart from permissible For such as 10cm etc., the most now automatic running device is walked at boundary line skidding.

In order to make the route travelled along the line more straight, improve wheel efficiency, it is preferred that control module not only monitors two electricity The magnetic field size sensed of sense, the magnetic direction that the most also two inductance of monitoring sense, and keep two inductance to sense Magnetic direction contrary, equal in magnitude.So, be equivalent to keep two inductance equal to the distance of boundary line 13, it is achieved automatically Hay mover 11 is linearly walked.When the travel direction of automatic mower 11 deviates the bearing of trend of boundary line 13, two inductance senses The magnetic field size that should arrive can become different, and automatic mower 11 is accordingly to the side that the magnetic field size making inductance sense is identical To slightly turning to, two inductance are made to keep the magnetic field size sensed identical, in opposite direction.

After the distance that walking along the line is preset, the control module instruction walking module of automatic mower 11 returns again to, Leaving boundary line 13 and return in boundary, the direction that the continuity of this steering direction turns to for the first time, the angle turned to is less than or equal to 90 degree.

Above-mentioned steering mode, substantially pass through 3 steps, turns to i.e. for the first time, walks along the line, and second time turns to.So And, it is also feasible for omitting first step, i.e. automatic mower 11 is breasted the tape and is directly entered walking states along the line afterwards, by school The orientation of walking just along the line reaches the effect turned to for the first time, in this embodiment, needs to keep

Above turn particularly to be merely exemplary with exhumation process, can be there to be various deformation form.

Such as, boundary 2 can be that border can also be for obstacle etc., and the form on border can be leading with current signal Line, it is also possible to for physical boundary, or the border that other sound and optic signals are formed.

And for example, it is judged that when breasting the tape or when distance boundary 3 reaches predeterminable range, the axis 33 of automatic running device 1 and boundary Limit 3 angle can be the bilateral border sensing element 35 in the present embodiment, it is also possible to for GPS map navigation system or other can The system of row.

And for example, the mode of walking along the line can be the cross-line walking in the present embodiment but it also may for against boundary line one The distance walking that section is predetermined.The predeterminable range of walking along the line preferably 20 centimetres to 100 centimetres in the present embodiment, but this is pre- If distance can be according to the job specification of automatic running device 1, the size and shape feature of map changes accordingly, it is also possible to for Freely can be set by operator.

Former steering direction is kept to leave boundary line, automatic running device 1 again by a segment distance of walking along boundary line 13 Further increasing the efficiency leaving narrow zone, comparison diagram 8 and Fig. 9 is it will be seen that along the mode that turns again to after row, leave narrow Number of turns and travel distance required for narrow region are the most less.

Claims

1. an automatic running device, for walking in the working range limited by boundary and working, including:

Housing, housing has longitudinal axis；

Walking module, is installed on housing, and described walking module drives automatic running device walking and turns to, and walking module includes wheel Group and the driving motor of driving wheels walking；

Boundary detecting module, the position relationship between detecting automatic running device and boundary, described boundary detecting module includes point It is not positioned at the left side of the axis of housing and the border sensing element on right side；

Energy module, is installed on housing, provides energy for automatic running device；

Control module, is electrically connected with walking module and boundary detecting module；

Described automatic running device drive towards boundary and arrive preset position relationship rear steering to sail out of boundary, in default position When putting relation, described boundary is divided into two sides, described predeterminated position relation to be one of them limit by the intersection point with described axis Boundary's sensing element arrives outside boundary, it is characterised in that:

When arriving described default position relationship, if left side is closer to boundary, then automatic running device turns to clockwise；If it is right Side is closer to boundary, then automatic running device turns to counterclockwise；

The signal of the position relationship between representative automatic running device and boundary that control module sends according to boundary detecting module, Walking module is made to perform to turn to so that when having turned to, the axis of an automatic running device side with boundary all the time acutangulates Or right angle, another side of this boundary when turning to beginning with the axis of automatic running device at an acute angle or a right angle.

Automatic running device the most according to claim 1, it is characterised in that: walking module drives automatic running device to subtracting The direction of acute angle or right angle angle formed by little axis and boundary rotates.

Automatic running device the most according to claim 2, it is characterised in that: the corner of described rotation is less than 180 degree, is more than Equal to 90 degree.

Automatic running device the most according to claim 1, it is characterised in that: described border sensing element is relative to axis It is arranged symmetrically with, is positioned at the front portion of housing.

Automatic running device the most according to claim 1, it is characterised in that: described position relationship is, described axis and The angle of the side of boundary intersection point both sides is acute angle or right angle or obtuse angle.

Automatic running device the most according to claim 5, it is characterised in that: first the border sensing element of described side is sent out Give himself arrive the signal outside boundary to control module after, control module judge to be positioned at the boundary of the described side of axis and Described axis acutangulates angle.

Automatic running device the most according to claim 1, it is characterised in that: described automatic running device is automatically to mow Machine, also includes being positioned at the cutting assembly below housing and driving this cutting assembly to carry out the cutting motor cut.

Automatic running device the most according to claim 1, it is characterised in that: drive towards boundary also from described automatic running device Arriving the position relationship preset to start, to having turned to, described automatic running device keeps walking.

Automatic running device the most according to claim 1, it is characterised in that: after turning to startup, before completing, automatically Walking arrangement is walked a segment distance along boundary.

10. an automatic working system, including:

Boundary, for limiting the working range of automatic working system, it is characterised in that:

Also include the automatic running device described in aforementioned any claim.

11. automatic working systems according to claim 10, it is characterised in that: described boundary includes that boundary line signal occurs Element and the boundary line of this boundary line signal generating element of connection, described boundary line signal generating element sends week on boundary line Phase property current signal.

The forward method of 12. 1 kinds of automatic running devices, described automatic running device is at the work model limited by boundary Enclose interior walking and work, it is characterised in that comprising the following steps:

Automatic running device drives towards boundary；

Automatic running device monitoring self and the position relationship of boundary；

When reaching a predeterminated position relation between automatic running device and boundary, between detecting automatic running device and boundary Angular relationship, the most described boundary is divided into two sides, described boundary detecting module to include point by the intersection point with described axis Not being positioned at the left side of the axis of housing and the border sensing element on right side, described predeterminated position relation is the sense of one of them border Element is answered to arrive outside boundary；

Automatic running device turns to and sails out of boundary, and is always axis and the boundary of automatic running device when making to have turned to One side of limit at an acute angle or a right angle, another side of this boundary when turning to beginning with the axis Cheng Rui of automatic running device Angle or right angle.

The forward method of 13. automatic running devices according to claim 12, it is characterised in that: automatic running device is to subtracting Acute angle or the direction of right angle angle between self axis and boundary little rotate.

The forward method of 14. automatic running devices according to claim 12, it is characterised in that: after turning to startup, Before completing, automatic running device is walked a segment distance along boundary.

The forward method of 15. automatic running devices according to claim 12, it is characterised in that: after turning to startup, Before completing, automatic running device is along boundary walking Preset Time or predeterminable range.

The forward method of 16. automatic running devices according to claim 15, it is characterised in that: described predeterminable range is 20 Centimetre between 100 centimetres.

The forward method of 17. automatic running devices according to claim 12, it is characterised in that described automatic running device Both sides, axis be respectively provided with a border sensing element, described predeterminated position relation be one of them border sensing element away from Arriving predeterminable range from boundary, the angular relationship of described detecting automatic running device and boundary further includes steps of

It is positioned at after the border sensing element of automatic running device side detects and himself arrive this predeterminable range, to walking automatically The control module of equipment sends one and breasts the tape signal；

It is positioned at after the border sensing element of automatic running device opposite side detects and himself arrive this predeterminable range, to automatic row Walk the control module of equipment to send one and breast the tape signal；

Control module judges the side first detecting the sensing element place, border himself arriving this predeterminable range and boundary shape Acutangulate angle.

The forward method of 18. automatic running devices according to claim 12, it is characterised in that described predeterminated position relation Arriving outside boundary for one of them border sensing element, the angular relationship of described detecting automatic running device and boundary is wrapped further Include following steps:

Be positioned at the border sensing element of automatic running device side detect automatic running device arrive boundary outer after, to automatic row Walk the control module of equipment to send one and breast the tape signal；

Be positioned at the border sensing element of automatic running device opposite side detect automatic running device to boundary outer after, to automatic row Walk the control module of equipment to send one and breast the tape signal；

Control module judges that the side first detecting the sensing element place, border himself being positioned at outside boundary is formed sharp with boundary Angle angle.