CN113050647A - Operation control method and device for self-moving equipment - Google Patents
Operation control method and device for self-moving equipment Download PDFInfo
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- 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
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- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The application relates to an operation control method and device of self-moving equipment, belonging to the technical field of automatic control, wherein the method comprises the following steps: acquiring inclination angle data acquired by an inclination angle sensor; determining whether the inclination angle data belongs to a preset safety range; when the inclination angle data do not belong to the preset safety range, working according to a preset safety strategy; the problem that the self-moving equipment cannot identify the inclination angle and possibly causes the equipment to turn over can be solved; the self-moving equipment can work according to a preset safety strategy when the inclination angle data is abnormal, so that the equipment can be prevented from turning over, and the service life of the equipment is prolonged.
Description
Technical Field
The application relates to an operation control method and device of self-moving equipment, and belongs to the technical field of automatic control.
Background
Self-moving devices refer to devices that can move by themselves without user involvement, such as: mowers, sweepers, and the like.
In the process of self-moving, the self-moving device may tilt due to poor road conditions, and at this time, if the self-moving device cannot recognize the tilt and continues to move, the device may turn over, and the service life of the device may be affected.
Disclosure of Invention
The application provides an operation control method and device of self-moving equipment, which can solve the problem that the self-moving equipment cannot identify inclination, possibly causes equipment to turn over and influences the service life of the equipment. The application provides the following technical scheme:
in a first aspect, an operation control method for a self-moving device is provided, where a tilt sensor is installed on the self-moving device, the method including:
acquiring inclination angle data acquired by the inclination angle sensor;
determining whether the inclination angle data belongs to a preset safety range;
and when the inclination angle data does not belong to the preset safety range, working according to a preset safety strategy.
Optionally, the operating according to the preset security policy includes:
controlling the self-moving equipment to stop running;
alternatively, the first and second electrodes may be,
acquiring an updated safety path; and moving according to the updated safety path.
Optionally, the obtaining the updated security path includes:
determining a safety position in the driving process based on historically acquired inclination angle data which belong to the preset safety range; generating the updated safety path based on the safety position, wherein the updated safety path does not include a driving position corresponding to the inclination angle data which does not belong to the preset safety range;
alternatively, the first and second electrodes may be,
sending a path update request to the control device; the path update request is used for requesting the control device to send a path update instruction, and the path update instruction is used for indicating a mode of generating the updated safe path; generating the safety path after the path updating according to the path updating indication; the control device is used for controlling the self-moving device.
Optionally, the self-moving device is further installed with an alarm device, and the method further includes:
and when the inclination angle data does not belong to the preset safety range, outputting an alarm signal through the alarm equipment.
Optionally, before acquiring the tilt data acquired by the tilt sensor, the method further includes:
determining whether the tilt angle protection function is started;
and triggering and executing the step of acquiring the inclination angle data acquired by the inclination angle sensor when the inclination angle protection function is determined to be started.
Optionally, the determining whether the tilt angle protection function is activated includes:
determining whether a valid enabling signal of the tilt angle protection function is available; the effective starting signal is sent when the control equipment receives a starting triggering operation acting on the inclination angle protection starting button, the effective starting signal fails after receiving a closing signal of the inclination angle protection function subsequently, and the closing signal is sent when the control equipment receives a closing triggering operation acting on the inclination angle protection starting button; the control equipment is used for controlling the self-moving equipment;
when the effective starting signal exists, determining that the inclination protection function is started;
and when the effective starting signal is not available, determining that the inclination angle protection function is not started.
Optionally, the self-moving device further includes a tilt protection activation button, and the determining whether the tilt protection function is activated includes:
determining whether a start triggering operation acting on the protection start button is received;
when the starting triggering operation is determined to be received, the inclination protection function is determined to be started;
and when determining that the starting triggering operation is not received, determining that the inclination protection function is not started.
Optionally, before determining whether the inclination data belongs to a preset safety range, the method further includes:
receiving and storing the preset safety range sent by a control device, wherein the control device is used for controlling the self-moving device;
alternatively, the first and second electrodes may be,
and receiving and storing the preset safety range input by the user based on the human-computer interaction interface on the self-moving equipment.
In a second aspect, there is provided an operation control apparatus for a self-moving device having a tilt sensor mounted thereon, the apparatus comprising:
the data acquisition module is used for acquiring the inclination angle data acquired by the inclination angle sensor;
the safety detection module is used for determining whether the inclination angle data belong to a preset safety range;
and the operation control module is used for working according to a preset safety strategy when the inclination angle data does not belong to the preset safety range.
The beneficial effect of this application lies in: the method comprises the steps that an inclination angle sensor is installed on the self-moving equipment, and inclination angle data collected by the inclination angle sensor are obtained; determining whether the inclination angle data belongs to a preset safety range; when the inclination angle data do not belong to the preset safety range, working according to a preset safety strategy; the problem that the self-moving equipment cannot identify the inclination angle and possibly causes the equipment to turn over can be solved; the self-moving equipment can work according to a preset safety strategy when the inclination angle data is abnormal, so that the equipment can be prevented from turning over, and the service life of the equipment is prolonged.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of an operation control system of a self-moving device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a self-moving device provided by one embodiment of the present application;
fig. 3 is a flowchart of an operation control method of a self-moving device according to an embodiment of the present application;
fig. 4 is a flowchart of an operation control method of a self-moving device according to another embodiment of the present application;
fig. 5 is a block diagram of an operation control apparatus of a self-moving device according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
Fig. 1 is a schematic structural diagram of a control system of a self-moving device according to an embodiment of the present application, and as shown in fig. 1, the system at least includes: from a mobile device 1 and a control device 2.
The self-moving device 1 is a device that can move by itself without human intervention. Such as: the self-moving device 1 may be a mower, a sweeper, or the like, and the present embodiment does not limit the type of the self-moving device 1.
Taking the self-moving device 1 as a lawn mower as an example, the self-moving device 1 includes but is not limited to the following components:
a chassis;
a mowing mechanism located in the chassis;
a mowing driving component for driving the mowing mechanism to operate; such as: the mowing driving assembly comprises an engine, and a transmission shaft and/or a transmission gear which are connected with the engine;
a moving assembly for driving the mower to move; such as: the transmission mechanism comprises a wheel body, a transmission shaft connected with the wheel body and the like;
the movement driving component is used for driving the movement component to operate; such as: the mobile drive assembly includes a motor different from the mowing drive assembly, a drive shaft and/or a drive gear connected to the motor, and the like.
Optionally, the mowing mechanism includes a mowing head, and the mowing head includes a sheet metal knife handle, a flail knife, and a protective cover, of course, the mowing mechanism may also be a mechanism with mowing capability in other forms, and this embodiment does not limit the implementation manner of the mowing mechanism.
Optionally, the mowing mechanism further comprises a lifting assembly, the lifting assembly is used for completing lifting of the cutter head, the mowing driving assembly transmits power of the engine to the cutter head, and the transmitted power is stable and does not jump, and the rotation is smooth and frictionless in the lifting process of the cutter head.
Optionally, the moving assembly comprises four wheels mounted on the chassis, the four wheels are independently driven, and the wheels are connected with the chassis without damping.
Optionally, the generator power in the mower is a constant load, the cutting knife is a variable load due to terrain, cutting objects and cutting effects, and the engine power distribution mainly depends on self-adaptive distribution. The drive train connected to the generator includes a belt. The power generation and energy storage part in the mower consists of a power generator, a voltage stabilizing unit and a battery, and is externally connected with a dust-proof water unified charging port, so that the charging in winter is facilitated.
Of course, the above components are only illustrative, and in practical implementations, the lawn mower may also include further components, such as: the lawn mower comprises a sensing component, a power supply component, a communication component, a control component (such as a Programmable Logic Controller (PLC) or other chips with control functions), an engine working time recording instrument, a mileage instrument, a battery voltage instrument, a battery electric quantity instrument, an indicator light, a steering engine, a driver and the like, and the embodiment does not limit the components of the lawn mower.
The control device 2 is used for controlling the self-moving device 1 to work. Such as: the control of the moving speed and moving direction of the mobile device 1, the control of the start and stop of the mobile device 1, and the like are not limited in the present embodiment.
Alternatively, the control device 2 may be a device separate from the self-moving device 1, such as: a remote controller, a mobile phone, a wearable device, and the like, and the implementation manner of the control device 2 is not limited in this embodiment.
In this embodiment, referring to fig. 2, the self-moving device 1 is provided with a tilt sensor 11, and at this time, the control component 12 in the self-moving device 1 is configured to: acquiring inclination angle data acquired by an inclination angle sensor; determining whether the inclination angle data belongs to a preset safety range; and when the inclination angle data does not belong to the preset safety range, working according to a preset safety strategy.
Wherein, the control component 12 is connected with the tilt sensor 11 in communication, such as: connected by a communication bus.
Optionally, the tilt sensor 11 supports measuring tilt angles in at least two directions, such as: the tilt sensor 11 is a dual-axis tilt sensor, or a plurality of single-axis tilt sensors installed in different directions, and the present embodiment does not limit the type and number of the tilt sensors 11.
Optionally, the tilt angle data comprises a lateral tilt angle and a longitudinal tilt angle from the mobile device 1; correspondingly, the inclination angles in each direction correspond to a preset safety range one by one, or the inclination angles in all directions correspond to the same preset safety range, and the setting mode of the preset safety range is not limited in this embodiment.
The preset security policy refers to an operation policy for preventing the self-mobile device from turning on the side, such as: shutdown, or move according to the updated safe path.
Optionally, an alert device 13 is also mounted from the mobile device 1, the alert device 13 being communicatively connected to the control component 12. At this point, the control assembly 12 is also configured to: when the inclination angle data does not belong to the preset safety range, an alarm signal is output through the alarm device 13.
Optionally, the alert device 13 includes, but is not limited to: a buzzer and/or an indicator light. Accordingly, the alert signal includes, but is not limited to, an audio signal and/or a light signal. Such as: the alarm signal is that the three-color indicator light flickers for 2 times and the buzzer sounds once. Of course, in actual implementation, the alarm signal may also be implemented in other manners, and the implementation manner of the alarm signal is not limited in this embodiment.
In summary, in the embodiment, the tilt sensor is installed on the mobile device, and the tilt data acquired by the tilt sensor is acquired; determining whether the inclination angle data belongs to a preset safety range; when the inclination angle data do not belong to the preset safety range, working according to a preset safety strategy; the problem that the self-moving equipment cannot identify the inclination angle and possibly causes the equipment to turn over can be solved; the self-moving equipment can work according to a preset safety strategy when the inclination angle data is abnormal, so that the equipment can be prevented from turning over, and the service life of the equipment is prolonged.
Fig. 3 is a flowchart of an operation control method of a self-moving device according to an embodiment of the present application. The present embodiment will be described by taking as an example the case where the method is used in the self-moving apparatus 1 in the control system of the self-moving apparatus shown in fig. 1. The method at least comprises the following steps:
Optionally, before acquiring the tilt angle data acquired by the tilt angle sensor, the mobile device determines whether the tilt angle protection function is started; when it is determined that the tilt angle protection function is activated, step 301 is performed. And when the inclination angle protection function is determined not to be started, ending the process.
The manner of determining whether the tilt angle protection function is activated includes, but is not limited to, the following:
in a first mode: determining whether a valid enabling signal of the tilt angle protection function is available; the effective starting signal is sent when the control equipment receives a starting triggering operation acting on the inclination angle protection starting button, the effective starting signal fails after a closing signal of the inclination angle protection function is subsequently received, and the closing signal is sent when the control equipment receives a closing triggering operation acting on the inclination angle protection starting button; the control equipment is used for controlling the self-moving equipment; when an effective starting signal exists, determining that the inclination angle protection function is started; and when the effective starting signal is not available, determining that the inclination angle protection function is not started.
In a second mode: the self-moving device further comprises a tilt angle protection starting button. At this time, the self-mobile device determines whether a start trigger operation acting on the protection start button is received; when the fact that the starting triggering operation is received is determined, the fact that the inclination angle protection function is started is determined; and when determining that the starting triggering operation is not received, determining that the inclination angle protection function is not started.
In other embodiments, the self-moving device may also directly detect tilt data of the self-moving device without determining whether the tilt protection function is activated.
Optionally, the preset security range is stored by default in the mobile device; alternatively, the preset safety range supports updating.
When the preset safety range supports updating, before determining whether the inclination angle data belongs to the preset safety range, the method further comprises the following steps: receiving and storing a preset safety range sent by a control device, wherein the control device is used for controlling the mobile device; or receiving and storing the preset safety range input by the user based on the human-computer interaction interface on the mobile device.
Optionally, the human-computer interaction interface may be a touch screen, a keyboard, or the like, and the implementation manner of the human-computer interaction interface is not limited in this embodiment.
And 303, when the inclination angle data does not belong to the preset safety range, working according to a preset safety strategy.
Optionally, working according to a preset security policy, including but not limited to: controlling the self-moving equipment to stop running; or, acquiring an updated security path; and moving according to the updated safety path.
Controlling the self-moving equipment to stop running, comprising: and controlling the mobile driving assembly to stop running, wherein the mobile driving assembly is used for driving the mobile assembly on the mobile equipment to run, and the mobile assembly is used for driving the mobile equipment to move.
Obtaining an updated security path, comprising: determining a safety position in the driving process based on historically acquired inclination angle data which belong to a preset safety range; generating an updated safety path based on the safety position, wherein the updated safety path does not comprise a driving position corresponding to the inclination angle data which does not belong to the preset safety range; or, sending a path update request to the control device; the path updating request is used for requesting the control equipment to send a path updating instruction, and the path updating instruction is used for indicating a mode of generating an updated safe path; generating a safety path after path updating according to the path updating indication; the control device is used for controlling the self-moving device.
Wherein generating an updated secure path based on the secure location comprises: taking the safety position as the initial position of the updated safety path, and acquiring an updated driving direction, wherein the driving direction is different from the historical driving direction; and generating an updated safe path according to the starting position and the driving direction.
Path update indications include, but are not limited to: the updated driving direction. Of course, the path update indication may also be other content, and the implementation manner of the path update indication is not limited in this embodiment.
Optionally, the self-moving device is further equipped with an alarm device, and at this time, when the tilt angle data does not belong to the preset safety range, the self-moving device outputs an alarm signal through the alarm device. And then, when the inclination angle data belongs to a preset safety range, stopping outputting an alarm signal through the alarm equipment from the mobile equipment.
Optionally, when the tilt angle data belongs to the preset safety range, the mobile device continues to move, and step 301 is executed again.
In summary, in the operation control method for the mobile device provided in this embodiment, the tilt sensor is installed on the mobile device, and the tilt data acquired by the tilt sensor is acquired; determining whether the inclination angle data belongs to a preset safety range; when the inclination angle data do not belong to the preset safety range, working according to a preset safety strategy; the problem that the self-moving equipment cannot identify the inclination angle and possibly causes the equipment to turn over can be solved; the self-moving equipment can work according to a preset safety strategy when the inclination angle data is abnormal, so that the equipment can be prevented from turning over, and the service life of the equipment is prolonged.
In order to more clearly understand the operation control method of the self-moving device provided in the present application, the method is described below as an example, and with reference to fig. 4, the method at least includes the following steps:
step 42, determining whether the inclination angle data acquired by the inclination angle sensor belongs to a preset safety range; if not, go to step 43; if yes, go to step 44;
and step 44, not outputting the alarm signal through the alarm equipment, continuing to operate from the mobile equipment, and ending the process.
Fig. 5 is a block diagram of an operation control apparatus for a self-moving device according to an embodiment of the present application, and this embodiment is described by taking an example in which the apparatus is applied to the self-moving device 1 in the control system for the self-moving device shown in fig. 1. The device at least comprises the following modules: a data acquisition module 510, a security detection module 520, and an operation control module 530.
A data obtaining module 510, configured to obtain tilt data acquired by the tilt sensor;
a safety detection module 520, configured to determine whether the tilt angle data belongs to a preset safety range;
and the operation control module 530 is configured to operate according to a preset safety policy when the tilt angle data does not belong to the preset safety range.
For relevant details reference is made to the above-described embodiments.
It should be noted that: the operation control device of the self-moving device provided in the above embodiment is only illustrated by dividing the functional modules when performing the operation control of the self-moving device, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the operation control device of the self-moving device may be divided into different functional modules to complete all or part of the functions described above. In addition, the operation control device of the self-moving device provided in the above embodiment and the operation control method embodiment of the self-moving device belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.
Optionally, the present application further provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the operation control method of the self-moving device according to the above method embodiment.
Optionally, the present application further provides a computer product, which includes a computer-readable storage medium, where a program is stored, and the program is loaded and executed by a processor to implement the operation control method of the self-moving device according to the foregoing method embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. An operation control method of a self-moving device, wherein a tilt sensor is mounted on the self-moving device, the method comprising:
acquiring inclination angle data acquired by the inclination angle sensor;
determining whether the inclination angle data belongs to a preset safety range;
and when the inclination angle data does not belong to the preset safety range, working according to a preset safety strategy.
2. The method of claim 1, wherein operating according to a predetermined security policy comprises:
controlling the self-moving equipment to stop running;
alternatively, the first and second electrodes may be,
acquiring an updated safety path; and moving according to the updated safety path.
3. The method of claim 2, wherein obtaining the updated security path comprises:
determining a safety position in the driving process based on historically acquired inclination angle data which belong to the preset safety range; generating the updated safety path based on the safety position, wherein the updated safety path does not include a driving position corresponding to the inclination angle data which does not belong to the preset safety range;
alternatively, the first and second electrodes may be,
sending a path update request to the control device; the path update request is used for requesting the control device to send a path update instruction, and the path update instruction is used for indicating a mode of generating the updated safe path; generating the safety path after the path updating according to the path updating indication; the control device is used for controlling the self-moving device.
4. The method of claim 1, wherein the self-moving device is further equipped with an alert device, the method further comprising:
and when the inclination angle data does not belong to the preset safety range, outputting an alarm signal through the alarm equipment.
5. The method of claim 1, wherein prior to acquiring the tilt data collected by the tilt sensor, further comprising:
determining whether the tilt angle protection function is started;
and triggering and executing the step of acquiring the inclination angle data acquired by the inclination angle sensor when the inclination angle protection function is determined to be started.
6. The method of claim 5, wherein determining whether a tilt angle protection function is enabled comprises:
determining whether a valid enabling signal of the tilt angle protection function is available; the effective starting signal is sent when the control equipment receives a starting triggering operation acting on the inclination angle protection starting button, the effective starting signal fails after receiving a closing signal of the inclination angle protection function subsequently, and the closing signal is sent when the control equipment receives a closing triggering operation acting on the inclination angle protection starting button; the control equipment is used for controlling the self-moving equipment;
when the effective starting signal exists, determining that the inclination protection function is started;
and when the effective starting signal is not available, determining that the inclination angle protection function is not started.
7. The method of claim 5, wherein the self-moving device further comprises a tilt protection activation button, and wherein the determining whether the tilt protection function is activated comprises:
determining whether a start triggering operation acting on the protection start button is received;
when the starting triggering operation is determined to be received, the inclination protection function is determined to be started;
and when determining that the starting triggering operation is not received, determining that the inclination protection function is not started.
8. The method of claim 1, wherein prior to determining whether the tilt angle data falls within a preset safety range, further comprising:
receiving and storing the preset safety range sent by a control device, wherein the control device is used for controlling the self-moving device;
alternatively, the first and second electrodes may be,
and receiving and storing the preset safety range input by the user based on the human-computer interaction interface on the self-moving equipment.
9. An operation control apparatus for a self-moving device, wherein a tilt sensor is mounted on the self-moving device, the apparatus comprising:
the data acquisition module is used for acquiring the inclination angle data acquired by the inclination angle sensor;
the safety detection module is used for determining whether the inclination angle data belong to a preset safety range;
and the operation control module is used for working according to a preset safety strategy when the inclination angle data does not belong to the preset safety range.
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| CN103744425A (en) * | 2012-08-23 | 2014-04-23 | 苏州宝时得电动工具有限公司 | Automatic working equipment and its control method |
| CN106054902A (en) * | 2016-08-19 | 2016-10-26 | 郑晓辉 | Mine unmanned transportation fleet control system |
| CN107300872A (en) * | 2016-11-21 | 2017-10-27 | 江苏智途科技股份有限公司 | A kind of positioning navigation device and positioning navigation method of view-based access control model imaging |
| CN109634286A (en) * | 2019-01-21 | 2019-04-16 | 深圳市傲基电子商务股份有限公司 | Grass-removing robot vision barrier-avoiding method, grass-removing robot and readable storage medium storing program for executing |
| CN112119361A (en) * | 2019-09-23 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Returning control method and device for movable platform and movable platform |
| CN110723130A (en) * | 2019-10-21 | 2020-01-24 | 张桂芹 | Independently walking agricultural mechanical equipment |
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