| CPC G05D 1/0214 (2013.01) [A01D 34/008 (2013.01); A63B 47/02 (2013.01); G05D 1/0257 (2013.01); G05D 1/244 (2024.01); A01D 34/64 (2013.01); A01D 2101/00 (2013.01)] | 9 Claims |
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1. A working robot system comprising:
a working robot configured to perform work while autonomously traveling;
a non-energization wire configured to partition a working area or an active area of the working robot; and
a controller,
wherein:
the working robot includes a wire detector configured to detect the wire;
the controller includes a processor;
the processor is configured to control the working robot to autonomously travel within an area partitioned by the wire, based on a detection signal from the wire detector;
the wire detector is a wire detection sensor configured to transmit a detection wave to the wire and receive a reflected wave from the wire;
the wire detection sensor is a sensor for radar detection at a frequency equal to or higher than an extremely high frequency;
the wire has a form feature to determine whether the working robot exists inside or outside the area surrounded by the wire;
the form feature is that:
detection markers are continuously arranged at different intervals along a longitudinal direction of the wire,
the wire includes a combination of a wire that is thick in diameter and a wire that is thin in diameter, or
one of an outer surface of the wire facing the inside of the area and an outer surface of the wire facing the outside of the area is uneven; and
the wire detector scans the detection wave and the processor determines whether the working robot exists inside the area surrounded by the wire based on the form feature of the wire.
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