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发明公开
CN105009014A 改进的机器人作业工具 有权

改进的机器人作业工具
摘要：
公开了一种机器人作业工具(100)，用于与至少一个引导线(250；260)一起使用，该引导线适于传导电流，以在引导线的周围生成磁场。机器人作业工具具有：感测系统(510)，其适于检测磁场的强度；转向系统(540)；控制器(530)，其被配置为通过反馈控制回路(532)响应于来自感测系统的输出，控制转向系统，以使机器人作业工具沿着引导线移动。控制器被配置为：确定表示机器人作业工具与引导线之间的距离的测度，并且响应于所确定的距离测度，调整反馈控制回路的至少一个参数。
摘要（英）：

Disclosed is a robotic work tool (100) for use with at least one guiding wire (250; 260) adapted to conduct electric current to generate a magnetic field around the guiding wire. The robotic work tool has a sensing system (510) adapted to detect a strength of the magnetic field, a steering system (540), a controller (530) configured to control the steering system in response to output from the sensing system by means of a feedback control loop (532) so as to cause movement of the robotic work tool along the guiding wire. The controller is configured to: determine a measure indicative of a distance between the robotic work tool and the guiding wire, and adjust at least one parameter of the feedback control loop in response to the determined distance measure.

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