CN113448327B - Operation control method of automatic walking equipment and automatic walking equipment - Google Patents
Operation control method of automatic walking equipment and automatic walking equipment Download PDFInfo
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- CN113448327B CN113448327B CN202010228212.0A CN202010228212A CN113448327B CN 113448327 B CN113448327 B CN 113448327B CN 202010228212 A CN202010228212 A CN 202010228212A CN 113448327 B CN113448327 B CN 113448327B
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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
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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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
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/20—Land use
- G05D2107/23—Gardens or lawns
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
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- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An operation control method of automatic walking equipment and the automatic walking equipment. The invention simultaneously sets the positioning signal receiving unit and the inertial navigation unit on the automatic walking equipment, can determine the invalid signal area in the working area through traversing the working area, and then judges whether the area is safe or not through comparing the signal coverage conditions at two sides of the invalid signal area, and can drive the automatic walking equipment to pass through the area to perform operation after confirming the safety of the invalid signal area. Therefore, the invention can solve the problem that the existing automatic walking equipment influences the operation effect due to the lack of positioning signals.
Description
Technical Field
The invention relates to the field of garden tools, in particular to an operation control method of automatic walking equipment and the automatic walking equipment.
Background
Mowing robots are a common type of autonomous walking device that can move autonomously in real time, continuously, outdoors. The intelligent mowing robot is used as an automatic walking device and is suitable for cleaning vegetation on hills, terraces, plains and other land areas and weeds in lawns. The device has the advantages of simplicity in operation and high working efficiency. The common schools and the beautification of green streets are all completed by using the automatic walking equipment. In abroad, many households use self-walking equipment to weed their gardens.
Along with the improvement of the living standard of people, the requirements of people on the operation efficiency of the automatic walking equipment are also continuously improved. An intelligent automatic walking device with a path planning function and capable of automatically traversing a working area is generated. Some devices with high technology content are used for determining the range of a working area and the position of a machine through positioning signals by carrying or installing a GNSS module. It is also possible to outline the obstacle to generate coordinates, bypassing the obstacle by the positioning module. Some devices can detect collisions by hall principle, or they can also avoid obstacles by means of ultrasound or the like.
However, positioning methods such as GPS are greatly disturbed by the outside. Normally, a shelter such as a rain shed or the like under a big tree can shield GPS signals, and an island is formed in a working area of the automatic walking equipment. In the existing RTK positioning technology, islands (or called shadow areas) with weak satellite signals also exist. In these islands, the automatic walking equipment cannot obtain accurate positioning signals, so that mowing in the island area is incomplete. In some cases, the self-walking device will not work because it cannot be positioned in the island area, or will work abnormally because of inaccurate positioning. Island areas with missing positioning signals affect the operation effect of the automatic walking equipment and the actual use of the machine.
Disclosure of Invention
The invention provides an operation control method of automatic walking equipment and the automatic walking equipment, aiming at the defects of the prior art. The invention adopts the following technical scheme.
Firstly, in order to achieve the above object, a method for controlling the operation of an automatic walking device is provided, which comprises the steps of: driving the automatic walking equipment to traverse the whole working area, recording whether positioning signals received by the automatic walking equipment at all positions are valid or not in the traversing process, adjusting the running direction of the automatic walking equipment according to whether the positioning signals are valid or not, and determining an invalid signal area; and the automatic walking equipment continuously runs into the invalid signal region only when the invalid signal region meets the crossing condition when running to one side edge of the invalid signal region along the planned path.
Optionally, the method for controlling operation of the automatic walking device according to any one of the foregoing embodiments, wherein the specific manner of adjusting the operation direction of the automatic walking device according to whether the positioning signal is effective is: and when the positioning signal is invalid, driving the automatic walking equipment to turn around and continue to traverse in the opposite direction.
Optionally, the method for controlling operation of the automatic walking device according to any one of the foregoing embodiments, wherein the step of driving the automatic walking device to traverse the entire working area to determine the invalid signal area specifically includes: driving the automatic walking device to traverse the working area in a first direction, recording whether the positioning signals received at each position are valid or not in the traversing process, and driving the automatic walking device to adjust the running direction of the automatic walking device when the positioning signals are invalid each time; driving the automatic walking equipment to traverse the working area in a second direction, recording whether the positioning signals received at each position are valid or not in the traversing process, and driving the automatic walking equipment to adjust the running direction of the automatic walking equipment when the positioning signals are invalid each time; the area formed by connecting the positions where the positioning signals are invalid in the traversal process of the two directions is marked as an invalid signal area.
Optionally, the method for controlling operation of the walking device according to any one of the preceding claims, wherein the second direction is perpendicular to the first direction.
Optionally, the method for controlling operation of the automatic walking device according to any one of the above, wherein the starting point for driving the automatic walking device to traverse the working area along the second direction is located at any one of the following positions: any corner of the working area falls; any section of boundary line of the working area; and the edge of the area, which is obtained after traversing the working area in the first direction and is invalid in the positioning signal, is on an extension line of the second direction.
Optionally, in the method for controlling operation of the automatic walking device according to any one of the foregoing, the automatic walking device is further driven to operate simultaneously in a process of traversing the working area in the first direction; and in the process of traversing the working area in the second direction, driving the automatic walking equipment to operate at a position which is not traversed when the automatic walking equipment operates in the first direction, or driving the automatic walking equipment to operate at a position where the operation effect does not meet the requirement according to the detection condition of the sensing device on the operation effect.
Optionally, in the method for controlling operation of an automatic walking device according to any one of the foregoing, when an effective positioning signal is covered on the other side of the ineffective signal area along the running direction of the automatic walking device, it is determined that the ineffective signal area meets a crossing condition.
Optionally, in the method for controlling operation of an automatic walking device according to any one of the foregoing, when the automatic walking device determines that the ineffective signal area meets the crossing condition, the automatic walking device continues to operate from one side to the other side of the ineffective signal area along the heading before reaching the edge of the ineffective signal area according to the heading signal of the inertial navigation unit.
Optionally, in the method for controlling operation of the automatic walking device according to any one of the preceding claims, the automatic walking device further turns around or turns to other directions when detecting the obstacle according to the obstacle signal detected by the obstacle detecting unit during the course of continuing to run from one side to the other side of the invalid signal region along the course before the course reaches the edge of the invalid signal region satisfying the traversing condition.
Optionally, in the method for controlling operation of an automatic walking device according to any one of the preceding claims, when the obstacle detection unit of the automatic walking device detects an obstacle, the automatic walking device turns around along the original path and leaves the invalid signal area, and then performs the next traversal according to the preset path.
Optionally, the method for controlling operation of the automatic walking device according to any one of the foregoing, wherein the specific step of determining whether the other side of the ineffective signal area is covered with the effective positioning signal includes: searching whether a position where a positioning signal is effective exists in the direction along the course before the automatic walking equipment reaches the edge of the ineffective signal area, and if so, judging that the effective positioning signal is covered on the other side of the ineffective signal area; otherwise, judging that the other side of the invalid signal region is not covered with the valid positioning signal.
Optionally, in the method for controlling operation of the automatic walking device according to any one of the above, when the effective positioning signal is lost in the operation process of the automatic walking device, the automatic walking device moves to a position closest to the position covered by the effective positioning signal according to the heading signal of the inertial navigation unit, and then continues to operate; and if the effective positioning signal is received again in the invalid signal area, the automatic walking equipment continues to run to the other side of the invalid signal area along the course before the automatic walking equipment reaches the edge of the invalid signal area according to the positioning signal.
Meanwhile, the invention also provides an automatic walking device, which comprises: a positioning signal receiving unit for receiving a positioning signal; the inertial navigation unit is used for sensing the course of the automatic walking equipment and generating a course signal; the control unit is used for driving the automatic walking equipment to traverse the whole working area, recording whether the positioning signals received by the automatic walking equipment at all positions are valid or not in the traversing process, adjusting the running direction of the automatic walking equipment and determining an invalid signal area according to whether the positioning signals are valid or not; the control unit is used for driving the automatic walking equipment to continue to run towards the inside of the invalid signal area only when the invalid signal area meets the crossing condition every time the automatic walking equipment runs to one side edge of the invalid signal area along the planned path.
Optionally, the automatic walking device of any one of the above, further comprising an obstacle detection unit, configured to detect an obstacle; the control unit also drives the automatic walking equipment to turn around or turn to other directions when the obstacle detection unit detects an obstacle.
Optionally, the self-walking device of any one of the above, wherein the positioning signal includes any one of a GPS satellite positioning signal, a laser positioning signal, a radio frequency positioning signal, or a combination thereof; the positioning signal receiving unit comprises any one or combination of a GPS satellite signal receiving unit, a GNSS satellite signal receiving unit, a laser signal receiving unit and a radio frequency signal receiving unit.
Advantageous effects
The invention is provided with a positioning signal receiving unit and an inertial navigation unit on the automatic walking equipment. The invention can determine the invalid signal area through traversing the working area, and then judge whether the area is safe or not through comparing the signal coverage conditions at two sides of the invalid signal area, and after confirming that the invalid signal area safely meets the traversing condition, the invention can drive the automatic walking equipment to enter the area and run to the other side of the area, thereby safely realizing the operation of the whole working area. The invention can solve the problem that the operation effect is affected due to the lack of effective positioning signals of the existing automatic walking equipment through the guidance of the inertial navigation unit.
Furthermore, in the process of traversing the working area to determine the invalid signal area, when the intensity of the positioning signal does not reach the threshold range or the precision of the positioning signal does not reach the requirement each time, the positioning signal is considered invalid, and the automatic walking equipment is driven to turn around. Therefore, the automatic walking equipment is protected from losing the position coordinate information in the invalid signal area, and the situation that the automatic walking equipment encounters an obstacle or a boundary of a working area in the area and cannot effectively avoid the obstacle or the boundary of the working area is avoided. In order to ensure the traversing effect on the working area, the invention further realizes the coverage of the whole working area by controlling the automatic walking equipment to respectively traverse the working area in two different directions.
In order to improve the working efficiency of the automatic walking equipment, the invention can further control the operation of the automatic walking equipment by setting the starting point position of the second traversal working area or according to the detection of the operation effect by the sensing device. Therefore, the invention can avoid the repeated coverage of the same area in the traversal process and ensure more uniform operation effect to a certain extent.
The automatic walking equipment can also correct the course according to the received effective positioning signal after the effective positioning signal is obtained in the ineffective signal area or the effective positioning signal is obtained in the ineffective signal area, and gradually returns to the planning path which the automatic walking equipment should operate from the position which is originally guided by the inertial navigation unit and has course deviation. Therefore, the invention can further ensure that the working area is traversed uniformly so as to ensure the operation effect on the whole working area.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, and do not limit the invention. In the drawings:
FIG. 1 is a schematic illustration of the operation of the self-propelled apparatus of the present invention traversing a work area in a first direction;
FIG. 2 is a schematic diagram of the manner in which the automated walking device of the present invention traverses a work area in a second direction;
FIG. 3 is a schematic illustration of the manner in which the autonomous walk apparatus of the present invention operates in an inactive signal region;
fig. 4 is a schematic view of an adjustment path of the walking device in the present invention.
In the figure, 1 denotes a base station; 2 represents an invalid signal region; 3 represents an obstacle; 4 represents a boundary line; 5 denotes a traversing path; 6 represents an actual path; 7 denotes an adjustment path.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that each exists alone or both exist.
The meaning of "inner and outer" in the present invention means that the direction from the non-working area to the inside of the working area is inner and vice versa with respect to the working area itself; and not to a particular limitation of the mechanism of the device of the present invention.
The meaning of "left and right" in the present invention means that when a user is facing the working area of the automatic walking device, the left side of the user is the left side, and the right side of the user is the right side, but is not a specific limitation to the device mechanism of the present invention.
"connected" as used herein means either a direct connection between components or an indirect connection between components via other components.
The invention provides automatic walking equipment, which comprises a walking wheel driving system, a driving mechanism and a control mechanism, wherein the walking wheel driving system is used for driving walking wheels to drive the automatic walking equipment to walk; the automatic walking device also comprises a working unit, such as a mowing blade and the like, which is used for carrying out corresponding mowing and other working operations on the working area of the automatic walking device in the walking process; in order to accurately control the automatic walking equipment, a control unit is further arranged in the automatic walking equipment and is used for outputting driving signals and control signals to the walking wheel driving system and the operation unit to control the automatic walking equipment to walk or perform corresponding operation on a working area.
The self-walking device operates in the work area shown in fig. 1. The working area may be enclosed by a boundary line 4 or set inside the machine according to a map and positioning system. Inside the working area there is an area of invalid signal marked by shading in the figure due to plant, building or terrain effects. When the automatic walking equipment runs to the area, effective positioning signals cannot be accurately obtained, so that the position and the direction of the automatic walking equipment cannot be identified, and heading deviation is easy to occur or the automatic walking equipment cannot walk along a correct path.
To overcome this, the present invention provides a positioning signal receiving unit and an inertial navigation unit on the automatic walking device at the same time. The positioning signal receiving unit is used for receiving positioning signals and can be used for positioning and guiding in the area A, the area B and the area C similar to those in the figure 1; the inertial navigation unit can sense the heading of the automatic walking equipment and generate a heading signal.
The control unit of the automatic walking equipment is simultaneously connected with the positioning signal receiving unit and the inertial navigation unit and is used for controlling the automatic walking equipment to operate according to the following steps:
and driving the automatic walking equipment to traverse the whole working area, recording whether the positioning signals received at each position are valid or not in the traversing process, adjusting the running direction of the automatic walking equipment according to whether the positioning signals are valid or not, and determining an invalid signal area 2. Among other things, whether or not the positioning signal is valid may generally be done according to the following manner: after receiving satellite signals, a satellite navigation module of the automatic walking equipment automatically judges whether the acquired satellite signals are accurate or not, and the satellite navigation module feeds back judgment information of whether accurate GPS signals exist or not in real time; alternatively, the method can be used as an ideal judging mode for judging whether the positioning signal is effective or not according to whether the strength of the positioning signal reaches the threshold value or not.
In the process that the control unit correspondingly outputs the driving signal to control the automatic walking equipment to walk along the planned path, the automatic walking equipment also judges the invalid signal area 2 when the automatic walking equipment runs to one side edge of the invalid signal area 2 along the planned path, and only when the other side of the invalid signal area 2 is covered with the valid positioning signal, the area is considered to meet the crossing condition, so that the automatic walking equipment continues to run into the invalid signal area 2.
Therefore, the invention can determine the invalid signal area through traversing the working area, judge whether the area is safe or not and meet the traversing condition through comparing the signal coverage conditions at two sides of the invalid signal area, and drive the automatic walking equipment to traverse the area after confirming the safety of the invalid signal area, thereby safely realizing the operation of the whole working area. In the process of crossing the invalid signal area, the problem that the operation effect is influenced due to the lack of an effective positioning signal of the existing automatic walking equipment can be solved through the guidance of the inertial navigation unit.
Specifically, the control procedure described above may correspond to switching between several modes of operation of the autonomous device:
the automatic walking equipment is firstly set to run in a tracking mode and an escape mode to traverse the working area, in the traversing process, the working range and specific positions are determined through GPS positioning signals, and the intensity or precision of the positioning signals received at each position is recorded at the same time, for example, whether the positioning signals are cm-level positioning signals needed by people, namely, are named as 'fixed' in the profession or are non-cm-level signals such as sub-meter or meter-level positioning signals. Non-centimeter level signals such as sub-meter or meter level positioning signals have larger errors, and can be considered as invalid positioning signals in the island area together with other positioning signals with poorer positioning accuracy. The traversal of the "tracking mode+escape mode" may be set as: the method comprises the steps of reciprocating in a working area along one direction, recording the intensity or precision of a positioning signal received by the automatic walking equipment at each position in the process of traversing the working area, recording current position information when the intensity or precision of the received positioning signal does not reach a threshold range or a positioning requirement each time and considering that the position does not have an accurate GPS signal, executing a return instruction by adopting an escape mode, and driving the automatic walking equipment to turn around to continue traversing in the opposite direction. The escape mode can protect the automatic walking equipment from losing the position coordinate information in the invalid signal area in the traversal process, and avoid the situation that the automatic walking equipment encounters an obstacle or a boundary of a working area in the area and cannot effectively avoid.
In the traversing process, in order to ensure that the positions which can receive effective positioning signals completely cover all working areas, the invention can carry out two traversals on the working areas in a better implementation mode, and the two traversals are respectively carried out along different directions, so that the missing of the blind area A generated by one traversal in the figure 1 can be effectively avoided. In this implementation manner, the specific step of driving the automatic walking device to traverse the working area to determine the invalid signal area 2 includes: firstly, driving the automatic walking equipment to traverse a working area in a first direction, recording the intensity or precision of a positioning signal received at each position in the traversing process, and driving the automatic walking equipment to turn around and continue traversing in the opposite direction when the intensity of the received positioning signal does not reach a threshold range or the precision of the received positioning signal does not reach the requirement each time; then, driving the automatic walking equipment to traverse the working area in a second direction, recording the intensity or precision of the received positioning signals at each position in the traversing process, and driving the automatic walking equipment to turn around and continue traversing in the opposite direction when the positioning signals are received each time and the requirements are not met; thus, the area formed by connecting the positions, in which the strength or the accuracy of the positioning signal does not reach the requirement in the traversal process of the two directions, is marked as an invalid signal area 2.
Wherein, in order to avoid blind areas in the traversal process, the second direction may be further set to be perpendicular to the first direction. For example, the automatic walking device can be driven to traverse longitudinally and transversely for one time respectively, whether accurate GPS signals exist or not is fed back according to the satellite navigation module, if not, position information that the GPS cannot be accurately positioned is recorded, and the island range is determined.
After the working area of the automatic walking equipment is traversed in the ' tracking mode and the ' escape mode ', the automatic walking equipment walks along a planned path and performs operations such as mowing and the like in the working area according to the received effective positioning signals. In this process, when the invalid signal region 2 obtained in the previous mode is encountered, the condition corresponding to the region grasped in the process of traversing the working region is automatically judged: when the other side of the invalid signal area 2 is covered with an effective positioning signal, especially when judging that two ends of each line segment on a planned path covered by the island area can obtain the effective positioning signal, the island area is considered to be safe to be traversed, so that a traversing mode is entered, and a traversing instruction is executed to perform operation in the island. In the 'traversing mode', the automatic walking device continues to run from one side of the invalid signal region 2 to the other side along the course before reaching the edge of the invalid signal region 2 according to the course signal of the inertial navigation unit. Thus, the self-walking device of the invention can control the course stabilization thereof through the inertial navigation module during the execution of the traversing mode. In some implementations, the principle of triggering the hall through collision and the ultrasonic principle can be adopted in the process, and when the obstacle detection units such as the hall sensing device and/or the ultrasonic sensing device arranged on the automatic walking equipment detect the obstacle signal, the automatic walking equipment is driven to turn around or turn to other directions to avoid the obstacle in the island. Particularly, after the obstacle detection units such as the Hall sensing device and/or the ultrasonic sensing device detect the obstacle signals, the automatic walking equipment can be controlled to turn around, return along the original path to leave the island area, and pass through for the next time according to the preset path, so that the automatic walking equipment is prevented from getting lost in the island.
Therefore, the invention can effectively solve the problem that the robot in the area without the positioning signals such as GPS and the like cannot mow, and effectively avoid the conditions of abnormal shutdown and the like of the robot under the condition without the positioning signals such as GPS and the like. The invention can lead the environment range of the intelligent automatic walking equipment to be wider, lead the automatic walking equipment to work more reliably, lead the grass cut to be more beautiful and greatly reduce the abnormal shutdown condition of the automatic walking equipment.
In a more specific implementation, the present invention provides a control method for an automatic walking device, comprising the steps of:
step 1: a base station 1 for returning and charging the automatic walking equipment is arranged in a working area, under the condition that no entity boundary line is arranged in the system, the automatic walking equipment can be remotely controlled to walk a circle along the boundary of a working area 4 of the automatic walking equipment, the position of the automatic walking equipment is obtained through GPS positioning signals, the data of a plurality of position points are recorded, the position points are connected and fitted into the boundary, and the range of the working area is determined and stored;
step 2: the working area of the automatic walking equipment is traversed firstly by adopting a tracking mode and an escape mode, a conventional working mode such as a mowing mode can be synchronously executed in the process, and meanwhile, the range of an invalid signal area 2 or an island which is not covered with an effective positioning signal is determined by the traversing mode. The specific implementation steps of the process are as follows:
In the tracking mode: the walk-behind device first traverses mowing in a longitudinal or other first direction and then traverses mowing in a lateral or second direction within the work area. The two mowing directions can be adjusted, namely, first mowing is performed along the transverse direction and then second mowing is performed along the longitudinal direction, or only one mowing is performed along two different directions, such as along a diagonal direction or other directions. The directions of the two traversals of mowing are preferably perpendicular to each other, and the design can effectively surround the island area from the periphery of the working area inwards through the two traversals, so that mowing omission is prevented.
The escape mode is specifically: in the traversing mowing process of the tracking mode, when a signal blind area or a shadow area (namely an island or an invalid signal area 2) is encountered, the automatic walking equipment executes a return command by adopting an escape mode and turns around so as to traverse and mow at other positions. The running track of the robot can be shown by referring to the running mode of the robot in the area B in fig. 1.
Step 3: driving the automatic walking equipment to run, mowing in a working area, and judging whether to execute a traversing mode when encountering an invalid signal area 2: judging whether the other side of the invalid signal region 2 is covered with an effective positioning signal according to the range of the invalid signal region 2 determined in the traversal process, thereby confirming whether the island crossing is safe or not; if the safety is judged, executing a traversing mode to enable the automatic walking equipment to mow the area in the island; otherwise, the automatic walking equipment can be correspondingly driven to turn around or wind to the other side of the island along the edge of the area to continue running. The traversing mode is as follows: the automatic walking device automatically judges which areas are island which is not traversed before according to the condition that whether the mowing is traversed in the working area or not in the previous two times, as shown in fig. 3, and is a schematic diagram of judging whether the traversing is safe in a traversing mode, when the automatic walking device walks transversely, an ineffective signal area 2 missing mowing is encountered, at this time, whether the traversing of the area is safe needs to be judged, and the judging mode is specifically as follows: according to the previous two times of traversing path planning, a traversing path 5 passing through the island region 2 can be obtained, the traversing path 5 is a route obtained by performing path planning according to a working region map formed by the previous two times of traversing, whether signals exist at two ends of a traversing path segment 5 or not is judged, if the signals exist at the two ends, the traversing island region 2 is considered to be safe, so that traversing instructions are executed, and an inertial navigation unit is used for guiding to drive automatic walking equipment to traverse a mowing path along the traversing path segment 5; if one end has no signal, which indicates that one side of the area cannot enter, it is determined that it is unsafe to traverse the island, and a return mode can be executed. Or, it may also find out whether there is a position in the direction where the strength of the positioning signal reaches the threshold range or where the accuracy of the positioning signal reaches the requirement along the heading before the automatic walking device reaches the edge of the ineffective signal area 2, by this way, it is determined whether the ineffective signal area is safe: if the position where the strength of the positioning signal reaches a threshold range or the precision of the positioning signal reaches a requirement exists, judging that the other side of the invalid signal area 2 is covered with an effective positioning signal; otherwise, judging that the other side of the invalid signal region 2 is not covered by the valid positioning signal, and accordingly performing a traversing or returning mode correspondingly. The judgment method for whether the dead zone island is safe or not has small operation amount, is simple, is not easy to misjudge and accurate in judgment, and can greatly improve the safety of crossing the island.
During the actual running process, during the execution of the traversing, the traversing mode ideally needs to control the automatic walking device to make one traversing along the traversing path line segment 5. However, since in an island area, an accurate satellite positioning signal cannot be received, an inertial navigation unit can be used to replace a positioning signal receiving unit to perform positioning navigation on a machine in the island area. However, due to the accumulation over time, errors may occur in the positioning of the inertial navigation unit, causing the self-propelled device to walk along the actual path 6 within the island area, deviating from the predetermined path in the manner of fig. 4. In order to solve the problem, the inertial navigation module is adopted in the island to control the automatic walking equipment to walk along the preset course, and after the moving direction of the automatic walking equipment is controlled to move to the other side of the invalid signal area 2 along the first course in fig. 4, the automatic walking equipment can be further controlled to move to the original planning path of the automatic walking equipment along the adjusting path 7 according to the valid positioning signal. Therefore, the invention can realize the stable running course of the automatic walking equipment in the island area by utilizing the guiding function of the inertial navigation module, and correct the deviation of inertial navigation by adjusting the path 7, thereby avoiding the error problem of positioning navigation of the conventional inertial navigation module.
In the island, if the obstacle 3 is not encountered, the obstacle avoidance in the island can be performed by the principle of triggering a Hall through collision or the principle of detecting the reflected signal of the obstacle by utilizing ultrasonic waves. Namely, when the Hall sensing component or the ultrasonic sensing component of the automatic walking equipment detects that an obstacle is encountered, the automatic walking equipment is driven to turn around and continue to work.
The actual path 6 of the automatic walking device walking in the island area is affected by many factors, for example, course control is performed in the island area by adopting an inertial navigation combination mode, and errors of different degrees occur in the inertial navigation positioning navigation along time accumulation, so that the automatic walking device is difficult to accurately walk according to a preset traversing path, and the actual path 6 of the automatic walking device traversing the island deviates from the original preset traversing path 5 as shown in fig. 4. Therefore, when the automatic walking device leaves the island area, the automatic walking device needs to be controlled to execute the adjustment path 7 to return to the original planning path, and then the next crossing is completed or the traversing and the operation of the working area are completed.
When the device works in an island area, the inertial navigation unit is usually adopted for positioning, if the phenomenon of recovery of positioning signals such as GPS (global positioning system) occurs in the island area, the positioning signal receiving unit can directly reuse the effective positioning signals received by the positioning signal receiving unit to position the automatic walking equipment again, the positioning data of the inertial navigation unit are corrected according to the data corresponding to the positioning signals such as the GPS, and the inertial navigation unit continues to run to the other side of the invalid signal area 2 along the heading before the inertial navigation unit reaches the edge of the invalid signal area 2 so as to improve the positioning precision of the inertial navigation unit.
In the running process of other modes such as a traversing mode, signals of the automatic walking equipment can be lost sometimes, for example, after the automatic walking equipment passes through an island and enters an area A, satellite positioning signals can be lost suddenly due to the influence of external factors. The search mode may be used to resume positioning at this point. The search mode is as follows: when the positioning signal is lost in the running process of the automatic walking equipment, the automatic walking equipment moves to a position which is closest to the position covered with the effective positioning signal according to the heading signal of the inertial navigation unit, and then continues to resume running according to the effective positioning signal. That is, in the searching mode, the automatic walking device searches for a better signal position closest to the lost signal position, and moves the automatic walking device to the better signal position, at this time, the automatic walking device can acquire accurate positioning information again, and then resumes executing the previous working modes such as the traversing mode according to the positioning information. Therefore, the invention can avoid the problem that the automatic walking equipment is stopped when the signal loss condition happens accidentally.
Thus, the invention can effectively work the whole working area of the automatic walking equipment, especially the island area formed by the lack of effective positioning signals. After the operation is finished, the automatic walking equipment can be correspondingly driven to continue to execute subsequent work, or the automatic walking equipment returns to the base station 1 for charging.
In a preferred implementation manner, in the above operation process, as shown in fig. 1, when the working area is traversed for the first tracking and escaping, during the first time of traversing along the longitudinal direction, the automatic walking device may select an angular position D of the boundary map as a starting position, perform normal tracking traversal mowing in the area C, and perform the escaping mode to execute the return command in the area B when the automatic walking device encounters the island area 2 with poor signal, where the automatic walking device does not enter the island of the ineffective signal area 2, and meanwhile, the automatic walking device cannot traverse the island area, so that the grass in the area a cannot be cut. After the traversal process shown in fig. 1 is completed, a second tracking+escape traversal mowing process shown in fig. 2 is performed. And when the automatic walking equipment encounters an island formed by the invalid signal area 2, a return command is executed in an F area by adopting an escape mode, and when the automatic walking equipment performs the second time of the transverse traversal mowing, the automatic walking equipment can cut grass in an A area. Therefore, through the twice-different-direction tracking mode and the twice-different-direction escape mode, the automatic walking equipment can realize complementation of mowing areas, and can ensure that areas except island areas in a working area do not miss mowing.
In addition, the mowing starting point position of the second tracking mode can be selected and set according to the actual mowing condition. The first selected mode is as follows: and selecting a vicinity of one corner of the working area boundary map as a starting point position. The second selection mode is as follows: the mowing start position in the second tracking mode may select other points (e.g., G point) on the boundary as the start position. Alternatively, the starting point for driving the walking device to traverse the working area in the second direction may be set at a position on an extension line of the area edge in the second direction where the intensity of the positioning signal obtained after traversing the working area in the first direction does not reach the threshold range or where the accuracy of the positioning signal does not reach the required level. In particular, it may be set at point G like that in fig. 2. The automatic walking device is located on the left side boundary or the right side boundary, the ordinate of the G point is the same as or is close to the ordinate of the lowest part of the island region 2, and the automatic walking device starts to walk upwards from the G point to mow grass, so that the second tracking mode does not need to repeatedly walk through the completely mowed region in the working region, the automatic walking device can directly supplement mowing and traversing for the island region and the non-mowed region, mowing efficiency is greatly improved, and energy consumption of the automatic walking device is reduced.
In addition, in the traversing process, the automatic walking equipment can be driven to operate at the same time. In order to ensure that the mowing of the working area is uniform, in the process of traversing the working area in the second direction, the automatic walking equipment can be further arranged to work at a position which is not traversed when the automatic walking equipment runs in the first direction, or the automatic walking equipment is driven to work at a position where the working effect does not meet the requirement according to the detection condition of the sensing device on the working effect. For example, during the second tracking and traversing mowing, for the first mowed area, the control system of the automatic walking device can control the mowing system to execute a mowing command according to the mowing actual condition of the area. There are two ways to determine the mowing condition at this location: one is to install a grass height recognition sensor on the machine, and to use the grass height recognition sensor to recognize the grass height below the machine, if the grass height is lower than or equal to a set threshold, then control the grass cutting system not to execute the grass cutting command, control the grass cutting motor to stop working, and if the grass height is higher than the set threshold, then control the grass cutting system to execute the grass cutting command; the second is to control whether to execute the mowing command in the second time according to the mowing information recorded in real time by the first time mowing machine, specifically, the machine records each position coordinate point in real time in the first time mowing, records whether the mowing is completed in each position coordinate point, stores the information in a memory inside the machine, reads the information in the memory in real time at each position coordinate point in the second time mowing, and judges whether to execute the mowing command in the second time according to the stored information whether to complete mowing.
In some implementations, the self-propelled device of the present invention may be configured to enable positioning of the self-propelled device via any one or combination of GPS satellite positioning signals, laser positioning signals, radio frequency positioning signals. In order to accurately obtain the signals, the positioning signal receiving unit is generally correspondingly arranged in the automatic walking equipment and correspondingly comprises: any one of a GPS satellite signal receiving unit, a GNSS satellite signal receiving unit, a laser signal receiving unit, a radio frequency signal receiving unit (e.g., UWB signal receiving unit), or a combination thereof.
Taking satellite positioning signals as an example. When the automatic walking equipment executes the conventional mowing mode in a traversing mode of a tracking mode and an escape mode, the corresponding satellite navigation module automatically judges whether the acquired satellite signals are accurate or not after receiving the satellite signals, and the satellite navigation module feeds back judging information of whether the accurate GPS signals exist or not in real time and sends the judging information to a control system of the automatic walking equipment. Therefore, the control system of the automatic walking equipment can control the automatic walking equipment to move according to the judgment information of whether the satellite navigation module feeds back the accurate GPS signal or not: when the judgment information is that the GPS signal is not accurate, the control system of the automatic walking equipment records the current position information, and at the moment, the escape mode is adopted to execute the return instruction, so that the area with poor signal is far away; and when the judgment information indicates that the accurate GPS signal exists, the control system of the automatic walking equipment controls the automatic walking equipment to continuously execute the tracking mode to perform conventional mowing. The recorded information on the positioning signals formed by traversing mowing can form a map of the working area. The blank area in the middle of the map is an island formed by inaccurate satellite signals, and the receiving condition of positioning signals is correspondingly recorded at each position of the periphery of the island. And automatically generating an island area range according to the point set of the position information without the accurate GPS signal recorded by the automatic walking equipment control system so as to further correspondingly judge whether to cut grass in the area or not in the subsequent grass cutting operation process.
The foregoing is a description of embodiments of the invention, which are specific and detailed, but are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (15)
1. An operation control method of automatic walking equipment is characterized by comprising the following steps:
driving the automatic walking equipment to traverse the whole working area, recording whether positioning signals received by the automatic walking equipment at all positions are valid or not in the traversing process, adjusting the running direction of the automatic walking equipment according to whether the positioning signals are valid or not, and determining an invalid signal area (2);
the automatic walking equipment judges the invalid signal region 2 when the automatic walking equipment moves to one side edge of the invalid signal region 2 along a planned path, considers that the region meets the crossing condition only when the other side of the invalid signal region 2 is covered with an effective positioning signal, and continues to move into the invalid signal region 2 only when the invalid signal region 2 meets the crossing condition.
2. The method for controlling the operation of the automatic walking device according to claim 1, wherein the specific way of adjusting the operation direction of the automatic walking device according to whether the positioning signal is valid is: and when the positioning signal is invalid, driving the automatic walking equipment to turn around and continue to traverse in the opposite direction.
3. The method of controlling the operation of a self-propelled device according to claim 1, wherein the step of driving the self-propelled device through its entire working area to determine the invalid signal area (2) comprises in particular: driving the automatic walking device to traverse the working area in a first direction, recording whether the positioning signals received at each position are valid or not in the traversing process, and driving the automatic walking device to adjust the running direction of the automatic walking device when the positioning signals are invalid each time;
driving the automatic walking equipment to traverse the working area in a second direction, recording whether the positioning signals received at each position are valid or not in the traversing process, and driving the automatic walking equipment to adjust the running direction of the automatic walking equipment when the positioning signals are invalid each time;
the area formed by connecting the positions where the positioning signals are invalid in the traversal process of the two directions is marked as an invalid signal area (2).
4. A running control method of a walking device as claimed in claim 3, wherein said second direction is perpendicular to said first direction.
5. A running control method of a self-traveling device according to claim 3, wherein a starting point for driving the self-traveling device to traverse its work area in the second direction is located at any one of: any corner of the working area falls;
any section of boundary line of the working area;
and the edge of the area, which is obtained after traversing the working area in the first direction and is invalid in the positioning signal, is on an extension line of the second direction.
6. The operation control method of the self-traveling device according to any one of claims 3 to 5, wherein the self-traveling device is driven to operate simultaneously in traversing the work area in the first direction;
and in the process of traversing the working area in the second direction, driving the automatic walking equipment to operate at a position which is not traversed when the automatic walking equipment operates in the first direction, or driving the automatic walking equipment to operate at a position where the operation effect does not meet the requirement according to the detection condition of the sensing device on the operation effect.
7. The running control method of the automatic walking device according to claim 1, wherein when the automatic walking device is covered with an effective positioning signal on the other side of the ineffective signal area (2) along the running direction thereof, the ineffective signal area (2) is judged to satisfy a crossing condition.
8. The operation control method of the self-walking device according to claim 1 or 7, characterized in that the self-walking device continues to operate from one side of the invalid signal region (2) to the other side along the heading before reaching the edge of the invalid signal region (2) according to the heading signal of the inertial navigation unit thereof when the invalid signal region (2) is judged to satisfy the crossing condition.
9. The operation control method of the self-traveling device according to claim 8, wherein the self-traveling device further turns around or turns to other directions when an obstacle is detected according to an obstacle signal detected by the obstacle detecting unit thereof in a process of continuing to travel from one side to the other side of the invalid signal region (2) along the course before reaching the edge of the invalid signal region (2) satisfying the crossing condition.
10. The operation control method of the automatic walking device according to claim 9, wherein when the obstacle detection unit of the automatic walking device detects an obstacle, the automatic walking device turns around along the original path to leave the invalid signal area (2), and then makes the next crossing according to the preset path.
11. The method of controlling the operation of the automatic walking device according to claim 7, characterized in that the specific step of determining whether the other side of the invalid signal zone (2) is covered with an valid positioning signal comprises: searching whether a position where a positioning signal is effective exists in the direction along the course before the automatic walking equipment reaches the edge of the ineffective signal area (2), and if so, judging that the effective positioning signal is covered on the other side of the ineffective signal area (2); otherwise, judging that the other side of the invalid signal region (2) is not covered with the valid positioning signal.
12. The method for controlling the operation of the automatic walking equipment according to claim 1, wherein when the effective positioning signal is lost in the operation process of the automatic walking equipment, the automatic walking equipment moves to a position which is closest to the inertial navigation unit and is covered with the effective positioning signal according to the heading signal of the inertial navigation unit, and then the automatic walking equipment continues to operate;
and if the effective positioning signal is received again in the invalid signal area (2), the automatic walking equipment continues to run to the other side of the invalid signal area (2) along the course before the automatic walking equipment reaches the edge of the invalid signal area (2) according to the positioning signal.
13. An automatic walking apparatus, comprising:
a positioning signal receiving unit for receiving a positioning signal;
the inertial navigation unit is used for sensing the course of the automatic walking equipment and generating a course signal;
the control unit is used for driving the automatic walking equipment to traverse the whole working area of the automatic walking equipment, recording whether the positioning signals received by the automatic walking equipment at all positions are valid or not in the traversing process, adjusting the running direction of the automatic walking equipment according to whether the positioning signals are valid or not and determining an invalid signal area (2); the control unit is used for judging the invalid signal region (2) each time the automatic walking equipment moves to one side edge of the invalid signal region (2) along a planned path, and only when an effective positioning signal is covered on the other side of the invalid signal region (2), the region is considered to meet a crossing condition, and only when the invalid signal region (2) meets the crossing condition, the automatic walking equipment is driven to continue to move into the invalid signal region (2).
14. The automatic walking apparatus of claim 13, further comprising an obstacle detection unit for detecting an obstacle;
the control unit also drives the automatic walking equipment to turn around or turn to other directions when the obstacle detection unit detects an obstacle.
15. The self-propelled device of claim 13 or 14, wherein the positioning signals comprise any one of a GPS satellite positioning signal, a laser positioning signal, a radio frequency positioning signal, or a combination thereof;
the positioning signal receiving unit comprises any one or combination of a GPS satellite signal receiving unit, a GNSS satellite signal receiving unit, a laser signal receiving unit and a radio frequency signal receiving unit.
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