Boundary detection method of self-walking equipment and self-walking equipment

Abstract

The invention discloses a boundary detection method of self-walking equipment and the self-walking equipment. Ferromagnetic metal substances are arranged at the boundary of the working range of the self-walking equipment and / or the periphery of an obstacle in the working range to form a metal boundary; it is determined that whether magnetic field intensity signals, detected by a metal sensor arranged on the self-walking equipment, of metal substances are continuous or not, if the magnetic field intensity signals are continuous, the metal sensor detects the metal boundary, and if the magnetic field intensity signals are discontinuous, the metal sensor does not detect the metal boundary. According to the invention, continuous ferromagnetic metal particles (powder or blocks) are buried or scattered around a required working range or around an obstacle in the working range to form a closed annular metal boundary, metal detectors are arranged around the equipment, when continuous metal substances are detected, the detected metal boundary is regarded as a metal boundary, and actions such as steering are carried out; therefore, misjudgment of metal substances in the mowing area is avoided, the boundary judgment precision is improved, and meanwhile the trouble of wiring is reduced.

Description

technical field [0001] The invention belongs to the technical field of self-propelled equipment, and in particular relates to a boundary detection method of self-propelled equipment and a self-propelled equipment. Background technique [0002] Self-propelled equipment is an intelligent robot capable of continuous and real-time autonomous movement on roads and outdoors. As a kind of self-propelled equipment, the intelligent mowing robot is suitable for clearing vegetation on hills, terraces, plains and other plots, as well as weeds in lawns. Its operation is simple and its work efficiency is high. Common schools, as well as street landscaping, are done with lawn mowers. In foreign countries, many families use lawn mowers to weed their gardens. [0003] Now the self-propelled equipment needs to bury a closed signal line under the ground to mow the work area, and a sensor is installed on the machine to sense the signal from the signal line, so as to ensure that the machine is...

AI Technical Summary

Problems solved by technology

When metal objects are used as the boundary, there may be other metal debris in the operating area of ​​the machine, such as nuts scattered in the grass, which will cause the machine to be misidentified and affect the mowing operation

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