SELF-MOVING DEVICE AND LOCOMOTION CONTROL METHOD THEREOF

摘要

A self-moving device and a walking control method thereof are provided. The self-moving device comprises an outer frame (100), and a base body (200) rotatably connected on the outer frame (100). The base body (200) is provided with a control unit and a walking unit. A fixing pin (300) is connected to the base body (200). One end of the fixing pin (300) is movably fixed to the base body (200), and the other end is a pin head (320). A pin slot (110) is correspondingly provided in the outer frame (100). When the pin head (320) is engaged and fixed within the pin slot (110), the base body (200) is fixedly connected to and engaged with the outer frame (100). When the pin head (320) is separated from the pin slot (110), the base body (200) is able to rotate with respect to the outer frame (100). A detection mechanism is provided on the base body (200). When the detection mechanism detects that the pin head (320) is engaged and fixed within the pin slot (110), the control unit, according to a detection signal of the detection mechanism, controls the walking unit to execute a corresponding movement command. The present device and method thereof can accurately and effectively detect a connection state between the base body (200) and the outer frame (100), and can by means of detection and posture adjustment, ensure that the base body (200) and the outer frame (100) perform walking when in an engaged state. The structure is simple and sensitivity is high.

主权项

1. A self-moving device, comprising an outer frame and a base body rotatably connected on the outer frame, wherein the base body is provided with a control unit and a walking unit,
characterized in that, a fixing pin is connected to the base body, one end of the fixing pin is movably fixed to the base body and the other end of the fixing pin is a pin head, and a pin slot is correspondingly provided in the outer frame; when the pin head is engaged and fixed within the pin slot, the base body is fixedly connected to and engaged with the outer frame; and when the pin head is separated from the pin slot, the base body is able to rotate with respect to the outer frame; and the base body is provided with a detection mechanism, and when the detection mechanism detects that the pin head is engaged and fixed within the pin slot, the control unit, according to a detection signal of the detection mechanism, controls the walking unit to execute a corresponding movement command.