METHOD FOR CONTROLLING MOVEMENT OF GROUND ROBOTIC COMPLEX FOR GARDENING ALONG TREE PLANTING LINE Russian patent published in 2023 - IPC B25J13/08 G01D1/02 

FIELD: robotics.

SUBSTANCE: invention can be used, for example, to control the movement of a ground mobile robotic complex for gardening along a tree planting line. The method includes installing on the frame of the said complex of movable rods with touch sensors connected to the controller; the signals from the touch sensors when they come into contact with trees are used to generate control commands via the controller for the steering motor-gearbox of the complex. In this case, the movable rods are installed on the frame of the complex with the possibility of rotation and are equipped with encoders, through which the angle of rotation of the rods is measured when they come into contact with trees, and based on the signals from the touch sensors, the distance from the said complex to the tree is determined and, using the controller, the obtained values are compared with the specified control values of the distance and angle of rotation of the moving rods, based on comparison of which control commands are generated for the steering gear motor in the form of continuing the movement of the said complex without changing course, moving towards the tree or away from the tree, stopping the movement of the complex.

EFFECT: use of the invention makes it possible to simplify the equipment for controlling the movement of the complex.

3 cl, 5 dwg