CN111913479A - Walking control method, device and equipment of self-moving equipment and storage medium - Google Patents
Walking control method, device and equipment of self-moving equipment and storage medium Download PDFInfo
- Publication number
- CN111913479A CN111913479A CN201910386147.1A CN201910386147A CN111913479A CN 111913479 A CN111913479 A CN 111913479A CN 201910386147 A CN201910386147 A CN 201910386147A CN 111913479 A CN111913479 A CN 111913479A
- Authority
- CN
- China
- Prior art keywords
- difference value
- signal
- self
- rotation speed
- signal intensity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000003860 storage Methods 0.000 title claims abstract description 18
- 230000006870 function Effects 0.000 claims description 41
- 238000004590 computer program Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 6
- 230000001965 increasing effect Effects 0.000 description 5
- 239000013307 optical fiber Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a walking control method, a walking control device, walking control equipment and a storage medium of self-moving equipment. Wherein, the method comprises the following steps: acquiring a first side boundary signal and a second side boundary signal acquired by acquisition components on two sides of mobile equipment in real time; acquiring a signal intensity difference value between a first side boundary signal and a second side boundary signal; calculating a target rotation speed difference value corresponding to the signal intensity difference value by using a rotation speed difference value fitting function matched with the value interval where the acquired signal intensity difference value is located; and adjusting the rotating speed of the first side runner and/or the second side runner according to the target rotating speed differential. The embodiment of the invention can timely carry out walking control according to the signal intensity difference value of the two acquisition components, ensure that the boundary line is positioned in the middle of the two acquisition components, avoid overlarge distance of the self-moving equipment from deviating from the boundary line, enable the walking of the self-moving equipment to be smoother and improve the walking speed.
Description
Technical Field
The embodiment of the invention relates to the technical field of control of self-moving equipment, in particular to a walking control method, a walking control device, walking control equipment and a storage medium of the self-moving equipment.
Background
The self-moving equipment does not need manual operation and control and can carry out automatic operation in a working area. Generally, a method for controlling automated operation from a mobile device is as follows: the method comprises the steps of dividing a working area in advance, laying a boundary line in the working area, and arranging a boundary signal generator on the boundary line. The boundary line is connected with the signal generator, so that the boundary line can generate a signal detected by the self-moving equipment, and the self-moving equipment is controlled to walk along the boundary line through the signal to perform automatic operation. For example, the self-moving device is a lawn mowing robot. The working area of the lawn mowing robot is the lawn area. By laying the boundary line on the lawn area, the mowing robot can be controlled to walk along the boundary line to perform automatic mowing operation.
In the prior art, two sensors are correspondingly arranged on two sides of the self-moving equipment, the two sensors are used for respectively detecting signals sent by boundary lines, and whether the walking position of the self-moving equipment is adjusted between the two sensors is detected according to the signals. When the boundary line is detected to be between the two sensors, the self-moving equipment walks linearly; when it is detected that the two sensors are on one side of the boundary line, a position adjustment is made from the mobile device so that the boundary line is always located between the two sensors.
The inventor finds that in the process of implementing the invention, the prior art has the defects that the self-moving equipment is adjusted only when two sensors are detected to be on one side of the boundary line, the walking control is not timely enough, the walking of the self-moving equipment is not smooth enough, and the walking speed of the self-moving equipment is reduced.
Disclosure of Invention
The embodiment of the invention provides a walking control method, a walking control device, walking control equipment and a storage medium of self-moving equipment, which are used for optimizing the existing walking control mode and improving the timeliness of behavior control.
In a first aspect, an embodiment of the present invention provides a method for controlling walking of a self-moving device, including:
acquiring a first side boundary signal and a second side boundary signal acquired by two side acquisition components of the mobile equipment in real time, wherein the two side acquisition components are symmetrically arranged on two sides of a symmetry axis by taking the moving direction of the mobile equipment as the symmetry axis;
acquiring a signal intensity difference value between a first side boundary signal and a second side boundary signal;
calculating a target rotation speed difference value corresponding to the signal intensity difference value by using a rotation speed difference value fitting function matched with the value interval where the acquired signal intensity difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of the self-moving equipment deviating the boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on two sides of the symmetry axis on the self-moving equipment;
and adjusting the rotating speed of the first side runner and/or the second side runner according to the target rotating speed differential.
In a second aspect, an embodiment of the present invention further provides a walking control apparatus for a self-moving device, including:
the signal acquisition module is used for acquiring a first side boundary signal and a second side boundary signal acquired by two side acquisition components of the mobile equipment in real time, wherein the two side acquisition components are symmetrically arranged on two sides of a symmetry axis by taking the moving direction of the mobile equipment as the symmetry axis;
a difference value obtaining module, configured to obtain a signal intensity difference value between the first side boundary signal and the second side boundary signal;
the rotating speed difference value acquisition module is used for calculating a target rotating speed difference value corresponding to the signal intensity difference value according to a value interval where the acquired signal intensity difference value is located and by using a rotating speed difference value fitting function matched with the value interval where the signal intensity difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of the self-moving equipment deviating the boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on two sides of the symmetry axis on the self-moving equipment;
and the rotating speed adjusting module is used for adjusting the rotating speed of the first side rotating wheel and/or the second side rotating wheel according to the target rotating speed differential.
In a third aspect, an embodiment of the present invention further provides a self-moving device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, further including: the acquisition components are positioned on two sides of the mobile equipment in the moving direction as a symmetry axis and are used for acquiring boundary signals; when the processor executes the computer program, the walking control method of the self-moving device according to the embodiment of the invention is realized.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the walking control method of the self-moving device according to the embodiment of the present invention.
The technical scheme of the embodiment of the invention calculates the target rotating speed difference corresponding to the signal intensity difference value by acquiring the first side boundary signal and the second side boundary signal acquired by the two side acquisition parts of the mobile equipment in real time, using the rotating speed difference fitting function matched with the numerical value interval according to the numerical value interval of the signal intensity difference value between the first side boundary signal and the second side boundary signal, and then adjusting the rotating speed of the first side rotating wheel and/or the second side rotating wheel according to the target rotating speed differential, solves the problems that the self-moving equipment can be adjusted only when two sensors are detected at one side of the boundary line and the walking control is not timely enough in the prior art, and can carry out the walking control in time according to the signal intensity difference value of the two acquisition parts when the self-moving equipment walks along the boundary line, the boundary line is ensured to be positioned in the middle of the two acquisition components, the phenomenon that the distance of the self-moving equipment deviating from the boundary line is too large is avoided, the self-moving equipment can walk more smoothly, and the walking speed of the self-moving equipment is improved.
Drawings
Fig. 1a is a flowchart of a walking control method of a mobile device according to an embodiment of the present invention;
FIG. 1b is a waveform diagram of a boundary signal sampled when the boundary line is in the middle of two collecting components;
FIG. 1c is a schematic diagram of the corresponding relationship between the lateral distance of the collecting component from the boundary line and the signal intensity;
FIG. 1d is a graph showing the relationship between the distance from the mobile device to the offset boundary line and the signal strength difference;
fig. 1e is a schematic diagram of a walking control process of a self-moving device according to an embodiment of the present invention;
fig. 2 is a flowchart of an information obtaining method according to a second embodiment of the present invention;
fig. 3 is a flowchart of an information obtaining method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a walking control device of a self-moving apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a self-moving device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
For ease of understanding, the main inventive concepts of the embodiments of the present invention are briefly described. First, the inventors address the main problems in the prior art: when the two sensors are detected to be positioned on one side of the boundary line, the self-moving equipment is adjusted, the walking control is not timely enough, so that the walking of the self-moving equipment is not smooth enough, the walking speed of the self-moving equipment is reduced, whether the situation that the boundary line is positioned in the middle of the two sensors can be determined according to the acquired signal intensity difference value when the two sensors are respectively positioned on the two sides of the boundary line is considered, and the rotating speed of a first side rotating wheel and/or a second side rotating wheel of the self-moving equipment is adjusted according to the acquired signal intensity difference value when the boundary line is not positioned in the middle of the two sensors, so that the walking control is timely performed according to the relative positions of the two sensors and the boundary line when the self-moving equipment walks along the boundary line, the boundary line is ensured to be positioned in the middle of the two sensors, and the, the walking of the self-moving equipment is smoother, and the walking speed of the self-moving equipment is improved.
Based on the above thought, the inventor creatively proposes that the first side boundary signal and the second side boundary signal acquired by the two side acquisition components of the mobile device are acquired in real time; acquiring a signal intensity difference value between a first side boundary signal and a second side boundary signal; calculating a target rotation speed difference value corresponding to the signal intensity difference value by using a rotation speed difference value fitting function matched with the value interval where the acquired signal intensity difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of the self-moving equipment deviating the boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on the self-moving equipment and are positioned on two sides of the symmetry axis; and adjusting the rotating speed of the first side runner and/or the second side runner according to the target rotating speed differential. Therefore, when the boundary line is between the two acquisition components, the signal intensity difference value between the first side boundary signal and the second side boundary signal is used for calculating the target rotating speed difference value between the first side rotating wheel and the second side rotating wheel of the self-moving equipment, and the rotating speed of the first side rotating wheel and/or the rotating speed of the second side rotating wheel are/is adjusted according to the target rotating speed difference, so that the boundary line is ensured to be positioned in the middle of the two acquisition components.
Example one
Fig. 1a is a flowchart of a walking control method of a mobile device according to an embodiment of the present invention. The embodiment is applicable to the case of performing walking control on the self-moving device, and the method can be executed by the walking control device of the self-moving device provided by the embodiment of the invention, and the device can be realized in a software and/or hardware manner and can be generally integrated in the self-moving device. Such as a mowing robot. As shown in fig. 1a, the method of this embodiment specifically includes:
Wherein, from mobile device includes two runners: a first side runner and a second side runner. The rotating wheel is used for helping the self-moving equipment to move on the ground. The first side rotating wheel and the second side rotating wheel are symmetrically arranged on two sides of the symmetry axis by taking the moving direction of the mobile equipment as the symmetry axis. The first side rotating wheel and the second side rotating wheel are provided with corresponding power motors. The self-moving device can independently drive the first side wheel and the second side wheel and change the rotating speed of the first side wheel and the second side wheel. When the rotating speeds of the first side wheel and the second side wheel are consistent, the self-moving equipment moves along a straight line. When the rotating speeds of the first side wheel and the second side wheel are different, the self-moving equipment correspondingly turns to the side with the slower rotating speed.
The boundary line may be a wire. And laying a boundary line in a working area of the self-moving equipment, and arranging a boundary signal generator on the boundary line. The boundary line connects the boundary signal generator. The boundary signal generator is used for generating a conduction signal and conducting the conduction signal to the boundary line. The conduction through the boundary line is transmitted to the whole boundary line. The conduction signal generated by the boundary signal generator may be a current signal or a current signal.
Optionally, the conduction signal generated by the boundary signal generator is a current signal. According to the law of electromagnetic induction, the boundary line through which current flows can generate a magnetic field in space. The magnetic field signal emitted into the space by the boundary line is the boundary signal of the boundary line.
The parts are gathered to both sides include: a first acquisition component and a second acquisition component. The first collecting component and the second collecting component are symmetrically arranged on two sides of the symmetry axis by taking the moving direction of the mobile equipment as the symmetry axis. The first collecting component and the first side wheel are positioned on the same side. The second collecting component and the second side wheel are positioned on the same side. The distance from the first acquisition component to the symmetry axis is equal to the distance from the second acquisition component to the symmetry axis. The first collecting component and the second collecting component can respectively and independently collect boundary signals sent by the boundary lines to obtain a first side boundary signal and a second side boundary signal.
Optionally, the first collecting member and the second collecting member each include an inductance element. Inductive elements are common electronic components that detect a magnetic field signal and convert the magnetic field signal into a voltage signal. The first side boundary signal and the second side boundary signal are voltage signals. The magnitude of the intensity of the voltage signal is related to the magnitude of the intensity of the magnetic field signal. The positive and negative voltages of the voltage signal may reflect the direction of the magnetic field signal. Therefore, after the first side boundary signal and the second side boundary signal are acquired in real time, whether the first acquisition component and the second acquisition component are respectively positioned on two sides of the boundary line can be determined according to the positive and negative values of the first side boundary signal and the second side boundary signal. If the positive and negative values of the first side boundary signal and the second side boundary signal are the same, the first collecting component and the second collecting component are positioned on the same side of the boundary line; and if the positive and negative values of the first side boundary signal and the second side boundary signal are opposite, the first collecting component and the second collecting component are respectively positioned on two sides of the boundary line.
Optionally, if it is determined that the first collecting component and the second collecting component are located on the same side of the boundary line according to the positive and negative values of the first side boundary signal and the second side boundary signal, the driving device controls the self-moving device to rotate in situ until the positive and negative values of the first side boundary signal and the second side boundary signal are opposite, that is, the first collecting component and the second collecting component are located on two sides of the boundary line respectively.
And if the first acquisition component and the second acquisition component are determined to be respectively positioned at two sides of the boundary line according to the positive and negative values of the first side boundary signal and the second side boundary signal, acquiring a signal intensity difference value between the first side boundary signal and the second side boundary signal.
Specifically, the signal strength difference value is calculated according to the following formula:
S＝l_signal–r_signal，
wherein, S is a signal strength difference value, l _ signal is the signal strength of the first side boundary signal, and r _ signal is the signal strength of the second side boundary signal.
Fig. 1b is a waveform diagram of a boundary signal sampled when the boundary line is in the middle of two collecting components. The first side boundary signal and the second side boundary signal are voltage signals. The ordinate is the signal strength. The unit of signal strength is V. The abscissa is the number of sampling points. One sample point is collected every 40 microseconds. As shown in fig. 1b, when the boundary line is in the middle of the two collecting members, the signal strength of the first side boundary signal and the signal strength of the second side boundary signal are substantially the same and the phases are opposite. Therefore, when the signal intensity difference value between the first side boundary signal and the second side boundary signal is equal to 0 or within a small data interval, the boundary line can be judged to be in the middle of the two acquisition components.
Fig. 1c is a schematic diagram of the corresponding relationship between the transverse distance of the collecting component from the boundary line and the signal intensity. The boundary signal collected by the collecting part is a voltage signal. The ordinate is the signal strength. The unit of signal strength is V. The abscissa is the lateral distance. The unit of the transverse distance is cm. As shown in fig. 1c, when the lateral distance of the collecting part from the boundary line is less than 10cm, the lateral distance of the collecting part from the boundary line is proportional to the signal intensity of the boundary signal collected by the collecting part. The greater the lateral distance, the greater the signal strength.
Therefore, the signal strength difference value between the first side boundary signal and the second side boundary signal is greater than 0, which indicates that the transverse distance from the first acquisition component to the boundary line is greater than the transverse distance from the second acquisition component to the boundary line, that is, the mobile device turns to the direction in which the first acquisition component is located. The signal intensity difference value between the first side boundary signal and the second side boundary signal is smaller than 0, which indicates that the transverse distance from the first collecting component to the boundary line is smaller than the transverse distance from the second collecting component to the boundary line, that is, the direction from the mobile device to the second collecting component is.
For example, the first acquisition component is to the left of the axis of symmetry. The second acquisition component is to the right of the axis of symmetry. The signal strength difference value between the first side boundary signal and the second side boundary signal is greater than 0, and the fact that the self-moving equipment turns to the left side of the boundary line is indicated. The signal strength difference value between the first side boundary signal and the second side boundary signal is greater than 0, which indicates that the self-moving equipment turns to the right side of the boundary line.
Fig. 1d is a graph showing the relationship between the distance from the mobile device to the boundary line and the signal strength difference. The first acquisition component is to the left of the axis of symmetry. The second acquisition component is to the right of the axis of symmetry. The first side boundary signal and the second side boundary signal are voltage signals. The abscissa is a distance from the mobile device to offset the boundary line, and the ordinate is a signal intensity difference value between the first side boundary signal and the second side boundary signal. The unit of the signal strength difference value is V. The distance is in cm. The range of the signal intensity difference value is-56. The distance offset from the mobile device by the boundary line may be a perpendicular distance from the start of the symmetry axis to the boundary line. When the starting point is on the left side of the boundary line, the distance is negative; when the starting point is on the right side of the boundary line, the distance is positive. The distance of the boundary line offset from the mobile equipment ranges from-6 to 6.
As shown in fig. 1d, when the signal strength difference value is equal to 0, the distance from the mobile device to the boundary line is equal to 0, and the start point of the symmetry axis is located on the boundary line, i.e. the boundary line is between the two boundary sensors; when the signal intensity difference value is larger than 0 and smaller than 56, the distance of the mobile equipment from the offset boundary line is smaller than 0, and the starting point of the symmetry axis is offset to the left side of the boundary line; when the signal strength difference value is less than 0 and greater than-56, the distance of the mobile device from the boundary line is greater than 0, and the starting point of the symmetry axis is shifted to the right side of the boundary line. The larger the absolute value of the signal strength difference value is, the larger the absolute value of the distance that is offset from the mobile device by the boundary line is.
Therefore, it can be seen that the signal strength difference value between the first side boundary signal and the second side boundary signal has a corresponding relationship with the distance from the mobile device to the offset boundary line, and the direction and the size of the distance from the mobile device to the offset boundary line can be measured according to the signal strength difference value.
103, calculating a target rotation speed difference value corresponding to the signal intensity difference value by using a rotation speed difference value fitting function matched with the value interval where the acquired signal intensity difference value is located according to the value interval where the acquired signal intensity difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of the mobile equipment deviating the boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on two sides of the symmetry axis on the mobile equipment.
Wherein the target rotation speed difference is a reference value for adjusting the rotation speed. When the direction of the first acquisition component, which is turned by the mobile equipment, is determined according to the signal intensity difference value, the rotating speed of the first side rotating wheel is adjusted to be larger than that of the second side rotating wheel, and the difference value between the rotating speed of the first side rotating wheel and that of the second side rotating wheel is equal to the target rotating speed difference value. When the direction of the second acquisition component, which is turned from the mobile equipment, is determined according to the signal intensity difference value, the rotating speed of the second side rotating wheel is adjusted to be larger than that of the first side rotating wheel, and the difference value between the rotating speed of the second side rotating wheel and that of the first side rotating wheel is equal to the target rotating speed difference value.
The distance from the mobile device to the boundary line and the corresponding relationship between the signal strength difference values are shown in fig. 1 d.
Optionally, if the signal strength difference value is smaller than the first numerical threshold and larger than the second numerical threshold, the target rotation speed difference value corresponding to the signal strength difference value is calculated according to the following rotation speed difference value fitting function:
diff_speed＝(S-MIDDLE_CHECK_MAX)/(S1-MIDDLE_CHECK_MAX)，
wherein diff _ speed is a target rotation speed difference value, S is a signal intensity difference value, and S is1The first numerical threshold is a first numerical threshold, the MIDDLE _ CHECK _ MAX is a second numerical threshold, the first numerical threshold is larger than the second numerical threshold, and the second numerical threshold is larger than 0.
The first numerical threshold may be 56. The second numerical threshold may be 5. When the signal strength difference is smaller than 56 and larger than 5, the distance of the mobile device from the boundary line is smaller than 0, and the starting point of the symmetry axis is shifted to the left side of the boundary line.
Optionally, if the signal strength difference value is smaller than the third numerical threshold and larger than the fourth numerical threshold, the target rotation speed difference value corresponding to the signal strength difference value is calculated according to the following rotation speed difference value fitting function:
diff_speed＝(MIDDLE_CHECK_MIN-S)/(MIDDLE_CHECK_MIN–S2)，
wherein diff _ speed is a target rotation speed difference value, S is a signal intensity difference value, MIDDLE _ CHECK _ MIN is a third numerical threshold, and S is a third numerical threshold2Is a fourth numerical threshold, the third numerical threshold is greater than the fourth numerical threshold, and the third numerical threshold is less than 0.
The third numerical threshold may be-5. The fourth numerical threshold may be-56. When the signal intensity difference value is less than-5 and greater than-56, the distance from the mobile device to the boundary line is greater than 0, and the starting point of the symmetry axis is shifted to the right side of the boundary line.
Optionally, if the signal intensity difference value is smaller than the second numerical threshold and larger than the third numerical threshold, it is determined that the boundary line is located right in the middle of the two collecting components, the target rotation speed differential does not need to be calculated, and the rotation speed does not need to be adjusted. The second numerical threshold may be 5. The third numerical threshold may be-5.
And 104, adjusting the rotating speed of the first side rotating wheel and/or the second side rotating wheel according to the target rotating speed differential.
In one embodiment, when the starting point of the symmetry axis is shifted to the left of the boundary line, i.e. from the direction in which the mobile device turns to the first collecting member, the rotation speed of the first side-wheel and/or the second side-wheel is adjusted such that the rotation speed of the first side-wheel is greater than the rotation speed of the second side-wheel and the difference from the rotation speed of the second side-wheel is equal to the target rotation speed difference.
Specifically, the rotating speed of the second side runner is kept unchanged, and the rotating speed of the first side runner is increased until the rotating speed of the first side runner is greater than the rotating speed of the second side runner, and the difference between the rotating speed of the first side runner and the rotating speed of the second side runner is equal to the target rotating speed difference. Or the rotating speed of the second side runner is reduced, and the rotating speed of the first side runner is increased until the rotating speed of the first side runner is greater than that of the second side runner, and the difference value between the rotating speed of the first side runner and that of the second side runner is equal to the target rotating speed difference value. Or reducing the rotation speed of the second side runner, keeping the rotation speed of the first side runner unchanged until the rotation speed of the first side runner is greater than the rotation speed of the second side runner, and the difference value between the rotation speed of the first side runner and the rotation speed of the second side runner is equal to the target rotation speed difference value.
In another embodiment, when the starting point of the symmetry axis is shifted to the right of the borderline, i.e. from the direction in which the mobile device is turned towards the second collecting member, the rotational speed of the first side wheel and/or the second side wheel is adjusted such that the rotational speed of the second side wheel is greater than the rotational speed of the first side wheel and the difference from the rotational speed of the first side wheel is equal to the target rotational speed difference.
Specifically, the rotating speed of the first side runner is kept unchanged, and the rotating speed of the second side runner is increased until the rotating speed of the second side runner is greater than the rotating speed of the first side runner, and the difference between the rotating speed of the second side runner and the rotating speed of the first side runner is equal to the target rotating speed difference. Or the rotating speed of the first side runner is reduced, and the rotating speed of the second side runner is increased until the rotating speed of the second side runner is greater than the rotating speed of the first side runner, and the difference value between the rotating speed of the second side runner and the rotating speed of the first side runner is equal to the target rotating speed difference value. Or the rotating speed of the first side runner is reduced, the rotating speed of the second side runner is kept unchanged until the rotating speed of the second side runner is greater than the rotating speed of the first side runner, and the difference value between the rotating speed of the first side runner and the rotating speed of the second side runner is equal to the target rotating speed difference value. Fig. 1e is a schematic diagram of a walking control process of a mobile device according to an embodiment of the present invention (the left side of the diagram is shifted from the mobile device to the right by a larger distance, and the right side of the diagram is shifted from the mobile device to the right by a smaller distance). As shown in fig. 1e, the self-moving device 10 includes two wheels: a first side runner 11 and a second side runner 12. The first side wheel 11 and the second side wheel 12 are symmetrically arranged on two sides of the symmetry axis with the moving direction of the mobile device as the symmetry axis. The self-moving device 10 includes two acquisition components: a first acquisition component 13 and a second acquisition component 14. The first collecting part 13 and the second collecting part 14 are symmetrically arranged on both sides of the symmetry axis with the moving direction of the mobile device as the symmetry axis. To the right of the borderline 16 from the start 15 of the symmetry axis of the mobile device 10. Keeping the rotation speed of the first side runner 11 unchanged, and increasing the rotation speed of the second side runner 12 until the rotation speed of the second side runner 12 is greater than the rotation speed of the first side runner 11 and the difference value with the rotation speed of the first side runner 11 is equal to the target rotation speed difference value. The target rotational speed difference determined when the offset distance is large is larger than the target rotational speed difference determined when the offset distance is small. The larger the offset distance, the larger the target rotational speed difference.
The embodiment of the invention provides a walking control method of self-moving equipment, which comprises the steps of acquiring a first side boundary signal and a second side boundary signal acquired by two side acquisition parts of the self-moving equipment in real time, taking the moving direction of the self-moving equipment as a symmetry axis, symmetrically arranging the two side acquisition parts on the two sides of the symmetry axis, calculating a target rotating speed difference corresponding to a signal strength difference value according to a numerical value interval of the signal strength difference value between the first side boundary signal and the second side boundary signal by using a rotating speed difference value fitting function matched with the numerical value interval, adjusting the rotating speed of a first side rotating wheel and/or a second side rotating wheel according to a target rotating speed differential, solving the problem that the self-moving equipment can only adjust when two sensors are detected to be positioned on one side of a boundary line in the prior art, the problem that the walking control is not timely enough can be when walking along the boundary line from the mobile device, and the walking control is carried out in time according to the signal intensity difference value of two collection parts, ensures that the boundary line is located the positive centre of two collection parts, avoids the distance from the mobile device skew boundary line too big, makes the walking from the mobile device more level and smooth, improves the walking speed from the mobile device.
Example two
Fig. 2 is a flowchart of an information obtaining method according to a second embodiment of the present invention. In this embodiment, the obtaining a signal strength difference value between the first side boundary signal and the second side boundary signal may include: and when the acquisition components are determined to be respectively positioned at two sides of the boundary line, acquiring a signal intensity difference value between the first side boundary signal and the second side boundary signal.
Correspondingly, as shown in fig. 2, the method of the present embodiment includes:
If the signal intensity difference value is smaller than the first numerical threshold and larger than the second numerical threshold, calculating a target rotation speed difference value corresponding to the signal intensity difference value according to the following rotation speed difference value fitting function:
diff_speed＝(S-MIDDLE_CHECK_MAX)/(S1-MIDDLE_CHECK_MAX)，
wherein diff _ speed is a target rotation speed difference value, S is a signal intensity difference value, and S is1The first numerical threshold is a first numerical threshold, the MIDDLE _ CHECK _ MAX is a second numerical threshold, the first numerical threshold is larger than the second numerical threshold, and the second numerical threshold is larger than 0.
The first numerical threshold may be 56. The second numerical threshold may be 5. When the signal strength difference is smaller than 56 and larger than 5, the distance of the mobile device from the boundary line is smaller than 0, and the starting point of the symmetry axis is shifted to the left side of the boundary line.
If the signal intensity difference value is smaller than the third numerical threshold and larger than the fourth numerical threshold, calculating a target rotation speed difference value corresponding to the signal intensity difference value according to the following rotation speed difference value fitting function:
diff_speed＝(MIDDLE_CHECK_MIN-S)/(MIDDLE_CHECK_MIN–S2)，
wherein diff _ speed is a target rotation speed difference value, S is a signal intensity difference value, MIDDLE _ CHECK _ MIN is a third numerical threshold, and S is a third numerical threshold2Is a fourth numerical threshold, the third numerical threshold is greater than the fourth numerical threshold, and the third numerical threshold is less than 0.
The third numerical threshold may be-5. The fourth numerical threshold may be-56. When the signal intensity difference value is less than-5 and greater than-56, the distance from the mobile device to the boundary line is greater than 0, and the starting point of the symmetry axis is shifted to the right side of the boundary line.
And 204, adjusting the rotating speed of the first side runner and/or the second side runner according to the target rotating speed differential.
The embodiment of the invention provides a walking control method of self-moving equipment, which is characterized in that when the acquisition components are respectively positioned at two sides of a boundary line, obtaining the signal intensity difference value between the first side boundary signal and the second side boundary signal, according to the value interval of the acquired signal intensity difference value, calculating a target rotation speed difference value corresponding to the signal intensity difference value by using a rotation speed difference value fitting function matched with the value interval, determining the target rotation speed difference value, the value interval and the rotation speed difference value fitting function according to the corresponding relation between the distance of the mobile equipment deviating from the boundary line and the signal intensity difference value, and when the acquisition components are respectively positioned at two sides of the boundary line, and calculating a target rotating speed difference value according to the signal intensity difference value, and performing walking control in time according to the target rotating speed difference value, so that the walking of the self-moving equipment is smoother, and the walking speed of the self-moving equipment is improved.
EXAMPLE III
Fig. 3 is a flowchart of an information obtaining method according to a third embodiment of the present invention. The present embodiment may be combined with each optional solution in one or more of the above embodiments, and in the present embodiment, the method may further include: after the sensing signal of the charging station is detected by the charging signal acquisition component, the rotating speeds of the first side rotating wheel and the second side rotating wheel are adjusted according to preset deceleration parameters, so that the self-moving equipment is decelerated to approach the charging station; the sensing signal of the charging station has a preset coverage range.
Correspondingly, as shown in fig. 3, the method of the present embodiment includes:
And 304, adjusting the rotating speed of the first side runner and/or the second side runner according to the target rotating speed differential.
Wherein, the charging station below sets up signal generator. The signal generator may generate a sensing signal different from the boundary signal. The sensing signal of the charging station has a preset coverage range. The coverage may be 1 meter.
A charging signal acquisition component is arranged on the mobile equipment. The charging signal acquisition component can acquire a sensing signal of the charging station. The charging signal acquisition component can receive the sensing signal of the charging station within the coverage range.
After the self-moving equipment detects the sensing signal of the charging station through the charging signal acquisition component, the rotating speeds of the first side rotating wheel and the second side rotating wheel are adjusted according to the preset deceleration parameters, the rotating speeds of the first side rotating wheel and the second side rotating wheel are synchronously reduced, the self-moving equipment is decelerated to be close to the charging station, and the charging station is conveniently connected.
The embodiment of the invention provides a walking control method of self-moving equipment, which is characterized in that after a charging signal acquisition component detects a sensing signal of a charging station, the rotating speeds of a first side rotating wheel and a second side rotating wheel are adjusted according to a preset deceleration parameter, so that the self-moving equipment decelerates to be close to the charging station, the sensing signal of the charging station has a preset coverage range, the problems that the self-moving equipment does not decelerate when reaching the charging station, the force for connecting the charging station is too large, and the docking is not correct are solved, the self-moving equipment can decelerate to be close to the charging station, and the charging station can be conveniently connected.
Example four
Fig. 4 is a schematic structural diagram of a walking control device of a self-moving device according to a fourth embodiment of the present invention. As shown in fig. 4, the apparatus may be configured in a self-moving device, including: a signal obtaining module 401, a difference value obtaining module 402, a rotation speed difference value obtaining module 403, and a rotation speed adjusting module 404.
The signal acquiring module 401 is configured to acquire a first side boundary signal and a second side boundary signal acquired by two side acquiring components of the mobile device in real time, where the two side acquiring components are symmetrically arranged on two sides of a symmetry axis, and a moving direction of the mobile device is used as the symmetry axis; a difference value obtaining module 402, configured to obtain a signal strength difference value between the first side boundary signal and the second side boundary signal; a rotation speed difference obtaining module 403, configured to calculate a target rotation speed difference corresponding to the signal strength difference value according to a value interval where the obtained signal strength difference value is located, by using a rotation speed difference fitting function matched with the value interval where the signal strength difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of the self-moving equipment deviating the boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on two sides of the symmetry axis on the self-moving equipment; and a rotation speed adjusting module 404, configured to adjust a rotation speed of the first side runner and/or the second side runner according to the target rotation speed differential.
The embodiment of the invention provides a walking control device of self-moving equipment, which is characterized in that a first side boundary signal and a second side boundary signal acquired by two side acquisition parts of the self-moving equipment are acquired in real time, a rotating speed difference fitting function matched with a numerical value interval is used according to the numerical value interval of a signal intensity difference value between the first side boundary signal and the second side boundary signal to calculate a target rotating speed difference value corresponding to the signal intensity difference value, then the rotating speed of a first side rotating wheel and/or a second side rotating wheel is adjusted according to the target rotating speed difference, the problems that the self-moving equipment can be adjusted and the walking control is not timely enough when the self-moving equipment walks along a boundary line in the prior art are solved, the walking control can be timely performed according to the signal intensity difference value of the two acquisition parts when the self-moving equipment walks along the boundary line, the boundary line is ensured to be positioned in the middle of the two acquisition components, the phenomenon that the distance of the self-moving equipment deviating from the boundary line is too large is avoided, the self-moving equipment can walk more smoothly, and the walking speed of the self-moving equipment is improved.
On the basis of the foregoing embodiments, the difference value obtaining module 402 may include: and the signal acquisition unit is used for acquiring a signal intensity difference value between the first side boundary signal and the second side boundary signal when the acquisition component is determined to be respectively positioned at two sides of the boundary line.
On the basis of the foregoing embodiments, the rotation speed difference obtaining module 403 may include: the first calculating unit is configured to calculate a target rotation speed difference value corresponding to the signal strength difference value according to the following rotation speed difference value fitting function if the signal strength difference value is smaller than the first numerical threshold and larger than the second numerical threshold:
diff_speed＝(S-MIDDLE_CHECK_MAX)/(S1-MIDDLE_CHECK_MAX)，
wherein diff _ speed is a target rotation speed difference value, S is a signal intensity difference value, and S is1The first numerical threshold is a first numerical threshold, the MIDDLE _ CHECK _ MAX is a second numerical threshold, the first numerical threshold is larger than the second numerical threshold, and the second numerical threshold is larger than 0.
On the basis of the foregoing embodiments, the rotation speed adjusting module 404 may include: and the first adjusting unit is used for adjusting the rotating speed of the first side rotating wheel and/or the second side rotating wheel, so that the rotating speed of the first side rotating wheel is greater than that of the second side rotating wheel, and the difference value between the rotating speed of the first side rotating wheel and that of the second side rotating wheel is equal to the target rotating speed difference value.
On the basis of the foregoing embodiments, the rotation speed difference obtaining module 403 may include: a second calculating unit, configured to calculate a target rotation speed difference corresponding to the signal strength difference according to the following rotation speed difference fitting function if the signal strength difference is smaller than the third numerical threshold and larger than the fourth numerical threshold:
diff_speed＝(MIDDLE_CHECK_MIN-S)/(MIDDLE_CHECK_MIN–S2)，
wherein diff _ speed is a target rotation speed difference value, S is a signal intensity difference value, MIDDLE _ CHECK _ MIN is a third numerical threshold, and S is a third numerical threshold2Is a fourth numerical threshold, the third numerical threshold is greater than the fourth numerical threshold, and the third numerical threshold is less than 0.
On the basis of the foregoing embodiments, the rotation speed adjusting module 404 may include: and the second adjusting unit is used for adjusting the rotating speed of the first side runner and/or the rotating speed of the second side runner, so that the rotating speed of the second side runner is greater than that of the first side runner, and the difference value between the rotating speed of the second side runner and the rotating speed of the first side runner is equal to the target rotating speed difference value.
On the basis of the above embodiments, the method may further include: the speed reduction module is used for adjusting the rotating speeds of the first side rotating wheel and the second side rotating wheel according to preset speed reduction parameters after the sensing signals of the charging station are detected by the charging signal acquisition component, so that the self-moving equipment is decelerated to approach the charging station; the sensing signal of the charging station has a preset coverage range.
The walking control device of the self-moving equipment can execute the walking control method of the self-moving equipment provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the walking control method of the self-moving equipment.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a self-moving device according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary self-moving device 512 suitable for use in implementing embodiments of the present invention. The self-moving device 512 shown in fig. 5 is only an example and should not bring any limitations to the function and scope of use of the embodiments of the present invention. The self-moving device 512 may be a lawn mowing robot.
As shown in FIG. 5, the nomadic device 512 is shown in the form of a general purpose computing device. Components of the self-moving device 512 may include, but are not limited to: one or more processors or processing units 516, a system memory 528, and a bus 518 that couples the various system components including the system memory 528 and the processing unit 516.
Self-moving device 512 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by the mobile device 512 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 528 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)530 and/or cache memory 532. The self-moving device 512 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 534 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 518 through one or more data media interfaces. System memory 528 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 540 having a set (at least one) of program modules 542 may be stored, for example, in system memory 528, such program modules 542 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 542 generally perform the functions and/or methods of the described embodiments of the invention.
Self-moving device 512 may also communicate with one or more external devices 514 (e.g., keyboard, pointing device, display 524, etc.), with one or more devices that enable a user to interact with the self-moving device 512, and/or with any devices (e.g., network card, modem, etc.) that enable the self-moving device 512 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 522. Also, the nomadic device 512 can communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) through the network adapter 520. As shown, the network adapter 520 communicates with the other modules of the self-moving device 512 via the bus 518. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with the self-moving device 512, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 516 of the self-moving device 512 executes various functional applications and data processing by running programs stored in the system memory 528, for example, to implement the walking control method of the self-moving device provided by the embodiment of the present invention. Namely, a first side boundary signal and a second side boundary signal acquired by two side acquisition components of the mobile equipment are acquired in real time, wherein the two side acquisition components are symmetrically arranged on two sides of a symmetry axis by taking the moving direction of the mobile equipment as the symmetry axis; acquiring a signal intensity difference value between a first side boundary signal and a second side boundary signal; calculating a target rotation speed difference value corresponding to the signal intensity difference value by using a rotation speed difference value fitting function matched with the value interval where the acquired signal intensity difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of the self-moving equipment deviating the boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on two sides of the symmetry axis on the self-moving equipment; and adjusting the rotating speed of the first side runner and/or the second side runner according to the target rotating speed differential.
EXAMPLE six
Sixth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a walking control method for a self-moving device as provided in all inventive embodiments of this application. Namely, a first side boundary signal and a second side boundary signal acquired by two side acquisition components of the mobile equipment are acquired in real time, wherein the two side acquisition components are symmetrically arranged on two sides of a symmetry axis by taking the moving direction of the mobile equipment as the symmetry axis; acquiring a signal intensity difference value between a first side boundary signal and a second side boundary signal; calculating a target rotation speed difference value corresponding to the signal intensity difference value by using a rotation speed difference value fitting function matched with the value interval where the acquired signal intensity difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of the self-moving equipment deviating the boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on two sides of the symmetry axis on the self-moving equipment; and adjusting the rotating speed of the first side runner and/or the second side runner according to the target rotating speed differential.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A walking control method of a self-moving device is characterized by comprising the following steps:
acquiring a first side boundary signal and a second side boundary signal acquired by two side acquisition components of mobile equipment in real time, wherein the two side acquisition components are symmetrically arranged on two sides of a symmetry axis by taking the moving direction of the mobile equipment as the symmetry axis;
acquiring a signal intensity difference value between the first side boundary signal and the second side boundary signal;
calculating a target rotation speed difference value corresponding to the signal intensity difference value by using a rotation speed difference value fitting function matched with the value interval where the signal intensity difference value is located according to the value interval where the obtained signal intensity difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of a self-moving device deviating from a boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on two sides of the symmetry axis on the self-moving device;
and adjusting the rotating speed of the first side runner and/or the second side runner according to the target rotating speed differential.
2. The method of claim 1, wherein obtaining a signal strength difference value between the first side boundary signal and the second side boundary signal comprises:
and when the acquisition components are determined to be respectively positioned at two sides of the boundary line, acquiring a signal intensity difference value between the first side boundary signal and the second side boundary signal.
3. The method of claim 1, wherein calculating a target rotation speed difference value corresponding to the signal strength difference value according to a value interval in which the obtained signal strength difference value is located by using a rotation speed difference value fitting function matched with the value interval comprises:
if the signal intensity difference value is smaller than a first numerical threshold and larger than a second numerical threshold, calculating a target rotating speed difference value corresponding to the signal intensity difference value according to the following rotating speed difference value fitting function:
diff_speed＝(S-MIDDLE_CHECK_MAX)/(S1-MIDDLE_CHECK_MAX)，
wherein diff _ speed is the target rotation speed difference, S is the signal intensity difference, S is1The value is a first numerical threshold, MIDDLE _ CHECK _ MAX is a second numerical threshold, the first numerical threshold is larger than the second numerical threshold, and the second numerical threshold is larger than 0.
4. The method of claim 3, wherein adjusting the rotational speed of the first side-wheel, and/or the second side-wheel, based on the target rotational speed differential comprises:
and adjusting the rotating speed of the first side rotating wheel and/or the second side rotating wheel so that the rotating speed of the first side rotating wheel is greater than that of the second side rotating wheel, and the difference value between the rotating speed of the first side rotating wheel and that of the second side rotating wheel is equal to the target rotating speed difference value.
5. The method of claim 1, wherein calculating a target rotation speed difference value corresponding to the signal strength difference value according to a value interval in which the obtained signal strength difference value is located by using a rotation speed difference value fitting function matched with the value interval comprises:
if the signal intensity difference value is smaller than a third numerical threshold and larger than a fourth numerical threshold, calculating a target rotation speed difference value corresponding to the signal intensity difference value according to the following rotation speed difference value fitting function:
diff_speed＝(MIDDLE_CHECK_MIN-S)/(MIDDLE_CHECK_MIN–S2)，
wherein diff _ speed is the target rotation speed difference value, S is the signal intensity difference value, MIDDLE _ CHECK _ MIN is a third numerical threshold, and S is2Is a fourth numerical threshold, the third numerical threshold is greater than the fourth numerical threshold, and the third numerical threshold is less than 0.
6. The method of claim 5, wherein adjusting the rotational speed of the first side-wheel, and/or the second side-wheel, based on the target rotational speed differential comprises:
and adjusting the rotating speed of the first side rotating wheel and/or the second side rotating wheel so that the rotating speed of the second side rotating wheel is greater than that of the first side rotating wheel, and the difference value between the rotating speed of the second side rotating wheel and that of the first side rotating wheel is equal to the target rotating speed difference value.
7. The method of any one of claims 1-6, further comprising:
after the sensing signal of the charging station is detected by the charging signal acquisition component, adjusting the rotating speeds of the first side rotating wheel and the second side rotating wheel according to a preset deceleration parameter so as to enable the self-moving equipment to decelerate to approach the charging station;
the sensing signal of the charging station has a preset coverage range.
8. A walking control device from a mobile device, comprising:
the mobile equipment comprises a signal acquisition module, a signal acquisition module and a signal processing module, wherein the signal acquisition module is used for acquiring a first side boundary signal and a second side boundary signal acquired by two side acquisition components of the mobile equipment in real time, and the two side acquisition components are symmetrically arranged on two sides of a symmetry axis by taking the moving direction of the mobile equipment as the symmetry axis;
a difference value obtaining module, configured to obtain a signal strength difference value between the first side boundary signal and the second side boundary signal;
the rotating speed difference value acquisition module is used for calculating a target rotating speed difference value corresponding to the signal intensity difference value according to a value interval where the acquired signal intensity difference value is located and by using a rotating speed difference value fitting function matched with the value interval where the signal intensity difference value is located; the numerical interval and the rotation speed difference value fitting function are determined by the corresponding relation between the distance of a self-moving device deviating from a boundary line and the signal intensity difference value, and the target rotation speed difference value is the rotation speed difference value between a first side rotating wheel and a second side rotating wheel which are positioned on two sides of the symmetry axis on the self-moving device;
and the rotating speed adjusting module is used for adjusting the rotating speed of the first side rotating wheel and/or the second side rotating wheel according to the target rotating speed differential.
9. A self-propelled device including a memory, a processor, and a computer program stored on the memory and executable on the processor, further comprising: the acquisition components are positioned on two sides of the mobile equipment taking the moving direction as a symmetry axis and are used for acquiring boundary signals; wherein the processor, when executing the computer program, implements a walking control method of a self-moving device as claimed in any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a walking control method of a self-moving device according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910386147.1A CN111913479B (en) | 2019-05-09 | 2019-05-09 | Walking control method, device, equipment and storage medium of self-mobile equipment |
| PCT/CN2019/119632 WO2020224229A1 (en) | 2019-05-09 | 2019-11-20 | Travel control method and apparatus for self-moving device, device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910386147.1A CN111913479B (en) | 2019-05-09 | 2019-05-09 | Walking control method, device, equipment and storage medium of self-mobile equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111913479A true CN111913479A (en) | 2020-11-10 |
| CN111913479B CN111913479B (en) | 2024-03-19 |
Family
ID=73050994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910386147.1A Active CN111913479B (en) | 2019-05-09 | 2019-05-09 | Walking control method, device, equipment and storage medium of self-mobile equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111913479B (en) |
| WO (1) | WO2020224229A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113365302A (en) * | 2021-04-19 | 2021-09-07 | 中国移动通信集团设计院有限公司 | Equal signal line/area generating method and device, equipment and computer program |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009077239A1 (en) * | 2007-12-19 | 2009-06-25 | Robert Bosch Gmbh | Device for landscape maintenance |
| CN104737698A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
| CN107168304A (en) * | 2017-03-29 | 2017-09-15 | 浙江亚特电器有限公司 | A kind of grass-removing robot control method |
| CN107479099A (en) * | 2017-09-30 | 2017-12-15 | 深圳拓邦股份有限公司 | A kind of electromagnetic field detection device, movable equipment and Boundary Recognition system |
| CN108089575A (en) * | 2016-11-23 | 2018-05-29 | 苏州宝时得电动工具有限公司 | From positioning device for mobile equipment and method |
-
2019
- 2019-05-09 CN CN201910386147.1A patent/CN111913479B/en active Active
- 2019-11-20 WO PCT/CN2019/119632 patent/WO2020224229A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009077239A1 (en) * | 2007-12-19 | 2009-06-25 | Robert Bosch Gmbh | Device for landscape maintenance |
| CN104737698A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
| CN108089575A (en) * | 2016-11-23 | 2018-05-29 | 苏州宝时得电动工具有限公司 | From positioning device for mobile equipment and method |
| CN107168304A (en) * | 2017-03-29 | 2017-09-15 | 浙江亚特电器有限公司 | A kind of grass-removing robot control method |
| CN107479099A (en) * | 2017-09-30 | 2017-12-15 | 深圳拓邦股份有限公司 | A kind of electromagnetic field detection device, movable equipment and Boundary Recognition system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113365302A (en) * | 2021-04-19 | 2021-09-07 | 中国移动通信集团设计院有限公司 | Equal signal line/area generating method and device, equipment and computer program |
| CN113365302B (en) * | 2021-04-19 | 2022-11-01 | 中国移动通信集团设计院有限公司 | Equal signal line/area generating method and device, equipment and computer program |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111913479B (en) | 2024-03-19 |
| WO2020224229A1 (en) | 2020-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11846524B2 (en) | Method and apparatus for reconstructing motion track, storage medium, and electronic device | |
| US11313951B2 (en) | Ground detection method, electronic device, and vehicle | |
| CN102509887B (en) | Servo system for tracking moving target by linear variable-coefficient servo driving radar antenna | |
| CN109606384B (en) | Vehicle control method, device, equipment and storage medium | |
| CN111070205B (en) | Pile alignment control method and device, intelligent robot and storage medium | |
| JP2022520902A (en) | Speed planning methods, equipment, devices and storage media | |
| WO2023201964A1 (en) | Vehicle following target determination method and apparatus, and device and medium | |
| CN111836185B (en) | Method, device, equipment and storage medium for determining base station position coordinates | |
| CN104964683A (en) | Closed loop correction method for indoor environment map creation | |
| CN111402413B (en) | Three-dimensional visual positioning method and device, computing equipment and storage medium | |
| CN112509169A (en) | Scheduling and inspection method and system for artificial intelligent robot | |
| CN108983762A (en) | Control method, device and the automated guided vehicle of automated guided vehicle | |
| CN111913479A (en) | Walking control method, device and equipment of self-moving equipment and storage medium | |
| CN111220988B (en) | Map data processing method, device, equipment and medium | |
| CN107943026B (en) | Mecanum wheel inspection robot and inspection method thereof | |
| CN114228703B (en) | Automatic parking method, system, vehicle and storage medium | |
| CN106301133A (en) | Automobile permanent magnet synchronous motor Zero positioning system, method and electric machine controller | |
| CN112665506B (en) | Method, device, equipment and storage medium for detecting installation deviation of positioning device | |
| CN113030648B (en) | Power cable fault point position determining method and device and terminal equipment | |
| CN205310270U (en) | General removal chassis control system | |
| CN204009578U (en) | A kind of positioning mobile robot | |
| CN107092253A (en) | Method, device and server for controlling unmanned vehicle | |
| CN106888691A (en) | A kind of intelligent grass-removing return method and returning device | |
| CN113377104A (en) | Robot position control method and device based on differential model | |
| CN110091334A (en) | Tracking robot, tracking travel control method, system and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |