CN114375676B - Self-moving equipment, control method thereof and self-moving working system - Google Patents
Self-moving equipment, control method thereof and self-moving working system Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
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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
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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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
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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
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/185—Electrical failure alarms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a self-moving device, a control method thereof and a self-moving working system, wherein the device comprises a shell; the walking assembly comprises a driving wheel and a driving motor for driving the driving wheel; a cutting blade for cutting vegetation; the control unit is connected with the driving motor and used for controlling the rotation of the driving motor; wherein the self-mobile device further comprises: the first positioning module is connected with the control unit and used for outputting a first positioning data; the second positioning module is connected with the control unit and used for outputting second positioning data; and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute the preset countermeasures when the positioning deviation between the second positioning data and the first positioning data is larger than or equal to a first deviation threshold value. The invention can provide the self-mobile equipment which has high-precision positioning navigation and can timely and accurately find the positioning abnormality and process the abnormality.
Description
Technical Field
The present invention relates to an electric tool, and more particularly, to a self-moving apparatus, a control method thereof, and a self-moving work system.
Background
The self-mobile device can automatically mow and charge the lawn of the user, so that the user is liberated from tedious, time-consuming and labor-consuming household work such as cleaning, lawn maintenance and the like, and the self-mobile device is more and more favored by the user.
However, the mobile device is limited to a certain working area, and if the mobile device leaves the working area, a safety problem may be caused. In addition, there may be barriers in the working area, such as pits, pools, flowers, etc., and the self-moving device should avoid the barriers in the working area during working, so as to avoid accidents such as falling, trapping, etc. In order to ensure the safety of the self-mobile device and improve the working efficiency of the self-mobile device, the self-mobile device needs to be able to identify the working area, mainly including the boundary of the working area and the obstacle in the working area. In order to enable the self-mobile device to identify the working area and avoid the trouble of wiring, a method for establishing a map of the working area is generally adopted, and one way of establishing the map is to establish the map by recording the coordinates of the boundary and the obstacle of the working area so as to judge whether the self-mobile device is out of range.
The self-mobile device adopting the method needs to be provided with a navigation function so that the self-mobile device can accurately acquire the self-position in the working process. A method for realizing high-precision navigation (such as RTK real-time dynamic positioning navigation method) is to realize navigation by using a navigation module, wherein the navigation module comprises a base station and a mobile station. However, problems faced with this approach are: after the signal is interfered or the base station and the mobile station are blocked, when the received satellite signal strength is weakened, the positioning data of the self-mobile equipment is easy to generate the conditions of cycle skip, drift and even lock losing, and if the machine cannot timely process the abnormal condition at the moment, the positioning data still can be continuously used, so that the safety accident can be possibly caused.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide the self-moving equipment which has high-precision positioning navigation and can timely and accurately find positioning abnormality and process the abnormality.
In order to achieve the above object, the present invention adopts the following technical scheme:
a self-mobile device, comprising: a housing; the walking assembly comprises a driving wheel and a driving motor for driving the driving wheel to walk; a cutting blade for cutting vegetation; the control unit is connected with the driving motor and used for controlling the rotation of the driving motor; in particular, the self-mobile device further comprises: the first positioning module is connected with the control unit and used for outputting first positioning data; the second positioning module is connected with the control unit and used for outputting second positioning data; and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute a preset response action when the positioning deviation between the second positioning data and the first positioning data is larger than or equal to a first deviation threshold value.
Further, the self-mobile device further comprises an alarm unit connected with the control unit; the control unit acquires updated first positioning data output by the first positioning module after the preset countermeasures are executed; the control unit is used for controlling the alarm unit to output alarm information when the positioning deviation between the updated first positioning data and the second positioning data is greater than or equal to a first deviation threshold value; and the control unit is used for controlling the driving motor to rotate when the positioning deviation between the updated first positioning data and the second positioning data is smaller than a first deviation threshold value.
Further, the positioning accuracy of the first positioning module is higher than that of the second positioning module.
Further, the first positioning module comprises a mobile base station in a real-time dynamic positioning system.
Further, the second positioning module comprises a positioning tag in an ultra-wideband positioning system, a positioning unit in a global navigation satellite positioning system, an inertial measurement unit in an inertial navigation system or an image acquisition device in a visual positioning system.
A positioning system of a self-moving device, comprising a self-moving device as described above, in particular, the positioning system further comprising: a stationary object as a reference object disposed within an operational area of the self-moving device, wherein the operational area is a work area having a boundary; the first positioning data of the first positioning module are positioning data under a longitude and latitude coordinate system, the second positioning data of the second positioning module are positioning data under a local coordinate system, and the local coordinate system is a coordinate system taking the fixed object as an origin; the control unit converts the first positioning data in the longitude and latitude coordinate system into equivalent first positioning data in the local coordinate system, controls the driving motor to reduce the rotating speed and controls the first positioning module to execute preset countermeasures when the positioning deviation between the equivalent first positioning data and the second positioning data is larger than or equal to a first deviation threshold value; or the control unit converts the positioning data in the local coordinate system into equivalent second positioning data in the longitude and latitude coordinate system, and controls the driving motor to reduce the rotating speed and controls the first positioning module to execute the preset countermeasures when the positioning deviation between the first positioning data and the equivalent second positioning data is larger than or equal to a first deviation threshold value.
Further, the first positioning module outputs first relative position data between the self-mobile device and the fixed object at the current moment under the longitude and latitude coordinate system; the second positioning module outputs second relative position data between the self-moving device and the fixed object at the current moment under the local coordinate system; and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute the preset countermeasures when the relative position deviation between the first relative position data and the second relative position data is larger than or equal to a second deviation threshold value.
A motion control method for a self-moving device, the self-moving device comprising at least a housing; the walking assembly comprises a driving wheel and a driving motor for driving the driving wheel to walk; a cutting blade for cutting vegetation; the control unit is connected with the driving motor and used for controlling the rotation of the driving motor; the first positioning module is used for outputting first positioning data; a second positioning module outputting second positioning data, the method comprising: and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute a preset response action when the positioning deviation between the second positioning data and the first positioning data is larger than or equal to a first deviation threshold value.
Further, a fixed object serving as a reference object is arranged in an operation area of the self-moving equipment, wherein the operation area is a working area with a boundary; the first positioning data of the first positioning module are positioning data under a longitude and latitude coordinate system, the second positioning data of the second positioning module are positioning data under a local coordinate system, and the local coordinate system is a coordinate system taking the fixed object as an origin; the control unit converts the first positioning data in the longitude and latitude coordinate system into equivalent first positioning data in the local coordinate system, controls the driving motor to reduce the rotating speed and controls the first positioning module to execute the preset countermeasures when the positioning deviation between the equivalent first positioning data and the second positioning data is larger than or equal to a first deviation threshold value; or the control unit converts the positioning data in the local coordinate system into equivalent second positioning data in the longitude and latitude coordinate system, and controls the driving motor to reduce the rotating speed and controls the first positioning module to execute the preset countermeasures when the positioning deviation between the first positioning data and the equivalent second positioning data is larger than or equal to a first deviation threshold value.
Further, the first positioning module outputs first relative position data between the self-mobile device and the fixed object at the current moment under the longitude and latitude coordinate system; the second positioning module outputs second relative position data between the self-moving device and the fixed object at the current moment under the local coordinate system; and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute the preset countermeasures when the relative position deviation between the first relative position data and the second relative position data is larger than or equal to a second deviation threshold value.
The invention has the advantages that: the self-moving equipment has high-precision positioning navigation, and can timely and accurately find positioning abnormality and perform abnormality processing.
Drawings
FIG. 1 is a block diagram of a self-mobile device as one embodiment;
FIG. 2 is a circuit block diagram of a self-mobile device as one embodiment;
FIG. 3 is a partial circuit block diagram of a self-mobile device as one embodiment;
FIG. 4 is a schematic diagram of a positioning system of a self-moving device as one embodiment;
FIG. 5 is a schematic diagram of a localization anomaly trajectory, as one embodiment;
FIG. 6 is a flow diagram of a method of self-mobile device control as one embodiment;
fig. 7 is a flow chart of a control method of the self-mobile device as an embodiment.
Detailed Description
The invention is described in detail below with reference to the drawings and the specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the embodiment of the invention, the self-moving device is a self-walking mower, and in other embodiments, the self-moving device can also be an automatic cleaning device, an automatic irrigation device, an automatic snowplow and other devices suitable for unattended operation.
As shown in fig. 1 and 2, the self-propelled mower 100 may be used to automatically perform mowing and trimming of grass in a lawn. The self-walking mower 100 at least comprises a housing 101, a cutting blade 102 arranged below the mower body, a driving wheel 201, a driving motor 202 controlling the driving wheel 201 to walk, a control unit 10, a power supply device 30, a first positioning module 41, a second positioning module 42, an interaction interface 50 and an alarm unit 60. It will be appreciated that mower 100 also includes a cutting motor 103 which drives cutting blade 102. The control unit 10 controls the cutting blade 102 of the driving wheel 201 by controlling the driving motor 202 and the cutting motor 103, respectively.
It will be appreciated that, as shown in fig. 3, a drive circuit 203 is further connected between the drive motor 202 and the control unit 10, and a drive circuit 104 is further connected between the cutter motor 103 and the control unit 10. The driving circuit 203 and the driving circuit 104 have the same circuit configuration and each include a plurality of switching elements Q1, Q2, Q3, Q4, Q5, and Q6. Each gate terminal of the switching element is electrically connected with a corresponding controller and is used for receiving a control signal from the control unit. Each drain or source of the switching element is connected to a stator winding of the respective motor. The switching elements Q1-Q6 receive control signals from the control unit to change the respective conductive states and thereby the current applied by the power supply to the stator windings of the motor. In one embodiment, switching elements Q1-Q6 in drive circuits 203 and 104 may be three-phase bridge driver circuits including six controllable semiconductor power devices (e.g., FETs, BJTs, IGBTs, etc.), or any other type of solid state switch, such as IGBTs, BJTs, etc.
The self-propelled mower further includes a power supply device 30, optionally, the power supply device 30 is implemented as at least one battery pack, and is connected to the self-propelled mower via a battery pack interface on the self-propelled mower to provide power to the cutting motor 22 and the drive motor 202.
In one embodiment, the self-walking mower 100 is further provided with an interactive interface 50 for interaction with a user, wherein the interactive interface 50 can display the operation status information of the self-walking mower, and is provided with keys or switches for the user to control the starting and operation of the self-walking mower. The interactive interface 50 is connected with the control unit 10, and when a user transmits a control instruction through a key or a switch, the control unit 10 obtains the control instruction for analysis and outputs a response to a corresponding controller so as to control the operation of the self-walking mower.
The control unit 10, disposed within the self-propelled mower, may include a PCBA assembly having associated components such as a capacitor, an inductor, etc. It will be appreciated that at least some of the modules in the control unit 10 may also be mounted to one or more mobile terminals. The mobile terminal can be an intelligent mobile device such as a computer and a smart phone as an upper computer of the self-walking mower. The self-walking mower transmits signals to the mobile terminal through the communication device, the control unit 10 operates on the mobile terminal, calculates and analyzes the position information of the self-walking mower, and transmits signals to control the self-walking mower to operate.
In the present embodiment, the positioning module 40 includes a first positioning module 41 and a second positioning module 42. The first positioning module 41 can obtain the first positioning data to realize accurate positioning in the walking process of the self-walking mower. In the embodiment of the present application, the first positioning module 41 is a mobile base station in a Real-time kinematic (RTK) system, and the first positioning module 41 collects first positioning data by adopting an RTK positioning technology. In the application, the adopted RTK positioning technology can achieve accurate positioning navigation of centimeter-level errors. The first positioning module 41 is connected to the control unit 10, and the control unit 10 stores therein map information of a current working area of the mower, the map marking at least a boundary of the working area, an obstacle in the area, and a fixed object (e.g., a charging pile, a tree, etc.) as a reference. The first positioning module 41 transmits the acquired satellite navigation data, i.e., the first positioning data, to the control unit 10, and the control unit 10 controls the driving motor 202 to rotate according to the navigation data, thereby driving the driving wheel 201 to walk along the route indicated by the navigation data. The map in the control unit 10 may be a map in which the coordinate positions of the working boundary, the obstacle, etc. are downloaded and marked in a third party application, or may be a map created by recording the boundary coordinates of the area, the obstacle coordinates, etc. by a user holding the mobile base station, manually operating the mower to carry the mobile base station, or by mounting the mobile base station with other auxiliary equipment, etc. in the area to be worked.
The second positioning module 42 outputs second positioning data during walking of the mower 100, which is not used for walking navigation of the mower, but is used as comparison data when the control unit 10 performs whether or not there is positioning abnormality detection in the first positioning module. In the embodiment of the present application, the positioning accuracy of the second positioning module 42 is smaller than the positioning accuracy of the first positioning module 41. For example, when the positioning accuracy of the first positioning module is in the centimeter level, the positioning accuracy of the second positioning module 42 only needs to reach the sub-meter level or the meter level. In particular, the positioning accuracy of the second positioning module 42 is not strictly required, but it is required to ensure that the second positioning module 42 has higher positioning stability, that is, the positioning accuracy of the second positioning module 42 is more stable in a fixed use scenario, for example, the positioning accuracy is stable at a fixed value or floats with the fixed value as a base point.
In one implementation, the second positioning module 42 may include a positioning tag in an Ultra Wide Band (UWB) positioning system, where the second positioning module 42 obtains second positioning data during walking of the mower using UWB positioning technology. In one implementation, the second positioning module 42 may include a positioning unit in a global navigation satellite positioning system (Global Navigation Satellite System, GNSS) from which second positioning data, i.e. GNSS positioning information, is obtained. In one implementation, the second positioning module 42 may include an inertial measurement unit (Inertial Measurement Unit, IMU) in the inertial navigation system and acquire inertial navigation positioning data therefrom.
In one implementation, the second positioning module 42 may include an image acquisition device 70 in a visual positioning system that obtains second positioning data during mower travel by way of visual positioning. In particular, the image capture device 70 may be a binocular camera. As shown in fig. 1, the image pickup device 70 may be installed at the upper side of the front end of the self-walking mower so as to photograph a fixed object such as a charging pile, a tree, or a manually set marker in a work area when the mower is operating normally.
In one embodiment, after the control unit 10 obtains the first positioning data collected by the first positioning module 41 and the second positioning data collected by the second positioning module 42, the control unit calculates the positioning deviation of the two positioning data to detect whether the first positioning module 41 has abnormal positioning. Specifically, when the positioning deviation is greater than or equal to the first deviation threshold, the control unit 10 considers that the first positioning module 41 has abnormal positioning, and in order to avoid an accident caused by abnormal navigation positioning, the control unit 10 controls the driving motor 202 to reduce the rotation speed, and controls the first positioning module 41 to execute a preset coping action. The rotation speed of the driving motor 202 may be reduced to a preset value, or may be reduced to zero directly, i.e. the rotation is stopped. The preset response may be a reset operation as an abnormality response method when a positioning abnormality occurs in the first positioning module 41. Alternatively, the control unit 10 may also control the cutting motor to reduce the rotation speed at the same time.
In order to more clearly illustrate the process of detecting the positioning abnormality of the first positioning module 41 by the control unit 10 through the first positioning data and the second positioning data, the present application will be described with reference to the trajectory chart shown in fig. 5. Fig. 4 is a moving track formed when the mower respectively adopts the first positioning data and the second positioning data as navigation data of walking. Assuming that the second positioning data of the second positioning module 42 forms a running trace of 1, the first positioning data of the first positioning module 41 forms a running trace of 2. Since the positioning accuracy of the first positioning module 41 is in the order of centimeters and the positioning accuracy of the second positioning module is in the order of sub-meters or meters, when no positioning abnormality occurs in the first positioning module 41, a deviation distance exists between the track line 1 and the track line 2 all the time, but the deviation distance remains substantially unchanged, that is, the shapes of the two track lines are substantially the same. If the first positioning module 41 has abnormal positioning (e.g., abnormal positioning data of the module has such abnormal positioning as skip, drift, etc.), the deviation distance between the track lines 1 and 2 will be suddenly changed (including suddenly increased or decreased). As shown in fig. 4, starting from point a, the deviation distance between the track lines 1 and 2 suddenly increases, and the first positioning module 41 is considered to have a positioning abnormality at point a. Accordingly, the control unit 10 may determine whether the first positioning module 41 has a positioning abnormality by comparing the deviation between the first positioning data and the second positioning data.
In one embodiment, after the first positioning module 41 is restarted, the control unit 10 acquires updated first positioning data after the first positioning module is restarted again, calculates a positioning deviation between the data and the second positioning data, and if the recalculated positioning deviation is still greater than or equal to the first deviation threshold, controls the alarm unit 60 to output alarm information. Alternatively, the alarm unit 60 may prompt an alarm in a buzzer manner, output an alarm in a voice message manner, or output an alarm message in a text, picture, animation or the like manner to be displayed in the interactive interface 50.
In one embodiment, as shown in fig. 4, the positioning system including the mower 100 described above further includes a stationary object charging peg 200 disposed within the mower operating area. In one implementation, mower 100 may walk to charging stake 200 for automatic charging according to the first positioning data of first positioning module 41. It should be noted that, in the positioning system of the present application, the charging pile 200 is also used as a reference object in the mower operation area, the second positioning module 42 uses the charging pile 200 as the origin of coordinates to establish a local coordinate system, and the second positioning data is the positioning coordinates in the local coordinate system. And the first positioning data acquired by the first positioning module 41 are positioning coordinates in a longitude and latitude coordinate system. The control unit 10 may convert the first positioning data in the longitude and latitude coordinate system into equivalent first positioning data in the local coordinate system, and when the positioning deviation between the equivalent first positioning data and the second positioning data is greater than or equal to a first deviation threshold value, control the driving motor to reduce the rotation speed, and control the first positioning module to execute the reset operation; or converting the positioning data in the local coordinate system into equivalent second positioning data in the longitude and latitude coordinate system, and controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute the resetting operation when the positioning deviation between the first positioning data and the equivalent second positioning data is larger than or equal to a first deviation threshold value.
In one implementation, the first control module 41 may calculate first relative position data between the mower and the charging pile in the longitude and latitude coordinate system based on the first positioning data, and the second control module 42 may calculate second relative position data between the mower and the charging pile in the local coordinate system based on the second positioning data. Further, the control unit 10 controls the driving motor to reduce the rotation speed and controls the first positioning module to execute the reset operation when the relative position deviation between the first relative position data and the second relative position data is greater than or equal to the second deviation threshold. Alternatively, the control unit 10 may calculate the first relative position data and the second relative position data from the acquired first positioning data and second positioning data. In particular, the second positioning module 42 is equipped with an image acquisition device 70, and the image acquisition device 70 acquires the second positioning data of the current mower or calculates the second relative positioning data between the mower and the charging pile only when a predetermined fixed object such as the charging pile 200 is photographed.
In an alternative implementation manner, the first positioning module 41 and the second positioning module 42 are two independent positioning modules, the power-on control of the two positioning modules is not mutually affected, and when the first positioning module 41 performs the reset operation, the second positioning module 42 can keep the power-on state all the time, or the second positioning module 42 also performs the reset operation simultaneously. Alternatively, the power-off and the restarting of the two positioning modules are controlled by the control unit 10, and the control unit 10 may control the positioning modules to power-off and restart by controlling a switching element (not shown in the figure) connected between the positioning modules and the control unit.
In the embodiment of the invention, the high-precision positioning data is adopted to navigate for walking of the mower, and the other group of positioning data is compared with the high-precision positioning data for navigation so as to determine whether the positioning module for navigation has positioning abnormality or not, thereby improving the timeliness and accuracy of positioning abnormality detection while ensuring that the self-walking mower has high-precision positioning navigation. Meanwhile, when the first positioning module is detected to have positioning abnormality, the module is reset and restarted, and the probability of abnormality recovery is improved on the premise of not affecting the positioning navigation precision.
A flow diagram for a self-mobile device control method will be described below in connection with fig. 6, the method comprising the steps of:
s101, first positioning data generated by a first positioning module are acquired.
S102, second positioning data generated by a second positioning module are acquired.
S103, judging whether the positioning deviation between the first positioning data and the second positioning data is larger than or equal to a first deviation threshold value, if so, turning to a step S104, otherwise, continuing to judge.
S104, the driving motor reduces the rotating speed and controls the first positioning module to execute the reset operation.
After step S104, the control flow of the self-mobile device as shown in fig. 7 further includes the following steps:
s105, acquiring updated first positioning data generated by the first positioning module.
S106, judging whether the positioning deviation between the updated first positioning data and the second positioning data is larger than or equal to a first deviation threshold value, if so, turning to a step S107, otherwise, continuing to judge.
S107, the control alarm unit outputs alarm information.
The above-described manner may be performed by a software program written in the control unit.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A self-mobile device, comprising:
a housing;
the walking assembly comprises a driving wheel and a driving motor for driving the driving wheel to walk;
a cutting blade for cutting vegetation;
the control unit is connected with the driving motor and used for controlling the rotation of the driving motor;
characterized in that the self-mobile device further comprises:
the first positioning module is connected with the control unit and used for outputting first positioning data;
the second positioning module is connected with the control unit and used for outputting second positioning data;
and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute a preset response action when the positioning deviation between the second positioning data and the first positioning data is larger than or equal to a first deviation threshold value.
2. The self-mobile device of claim 1, wherein the self-mobile device comprises a base,
the self-mobile device further comprises an alarm unit connected with the control unit;
the control unit acquires updated first positioning data output by the first positioning module after the preset countermeasures are executed;
the control unit is used for controlling the alarm unit to output alarm information when the positioning deviation between the updated first positioning data and the second positioning data is greater than or equal to a first deviation threshold value;
and the control unit is used for controlling the driving motor to rotate when the positioning deviation between the updated first positioning data and the second positioning data is smaller than a first deviation threshold value.
3. The self-mobile device of claim 1, wherein the self-mobile device comprises a base,
the positioning precision of the first positioning module is higher than that of the second positioning module.
4. The self-mobile device of claim 1, wherein the self-mobile device comprises a base,
the first positioning module comprises a mobile base station in a real-time dynamic positioning system.
5. The self-mobile device of claim 1, wherein the self-mobile device comprises a base,
the second positioning module comprises a positioning tag in an ultra-wideband positioning system, a positioning unit in a global navigation satellite positioning system, an inertial measurement unit in an inertial navigation system or an image acquisition device in a visual positioning system.
6. A positioning system for a self-moving device, comprising the self-moving device according to any one of claims 1-5, wherein the positioning system further comprises:
a stationary object as a reference object disposed within an operational area of the self-moving device, wherein the operational area is a work area having a boundary;
the first positioning data of the first positioning module are positioning data under a longitude and latitude coordinate system, the second positioning data of the second positioning module are positioning data under a local coordinate system, and the local coordinate system is a coordinate system taking the fixed object as an origin;
the control unit converts the first positioning data in the longitude and latitude coordinate system into equivalent first positioning data in the local coordinate system, controls the driving motor to reduce the rotating speed and controls the first positioning module to execute preset countermeasures when the positioning deviation between the equivalent first positioning data and the second positioning data is larger than or equal to a first deviation threshold value; or alternatively
The control unit converts the positioning data in the local coordinate system into equivalent second positioning data in the longitude and latitude coordinate system, controls the driving motor to reduce the rotating speed when the positioning deviation between the first positioning data and the equivalent second positioning data is larger than or equal to a first deviation threshold value, and controls the first positioning module to execute the preset countermeasures.
7. The system of claim 6, wherein the system further comprises a controller configured to control the controller,
the first positioning module outputs first relative position data between the self-mobile device and the fixed object at the current moment under the longitude and latitude coordinate system;
the second positioning module outputs second relative position data between the self-moving device and the fixed object at the current moment under the local coordinate system;
and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute the preset countermeasures when the relative position deviation between the first relative position data and the second relative position data is larger than or equal to a second deviation threshold value.
8. A motion control method for a self-moving device, the self-moving device comprising at least a housing; the walking assembly comprises a driving wheel and a driving motor for driving the driving wheel to walk; a cutting blade for cutting vegetation; the control unit is connected with the driving motor and used for controlling the rotation of the driving motor; the first positioning module is used for outputting first positioning data; a second positioning module for outputting second positioning data, the method comprising:
and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute a preset response action when the positioning deviation between the second positioning data and the first positioning data is larger than or equal to a first deviation threshold value.
9. The method of claim 8, wherein the step of determining the position of the first electrode is performed,
a fixed object serving as a reference object is arranged in an operation area of the self-mobile device, wherein the operation area is a working area with a boundary;
the first positioning data of the first positioning module are positioning data under a longitude and latitude coordinate system, the second positioning data of the second positioning module are positioning data under a local coordinate system, and the local coordinate system is a coordinate system taking the fixed object as an origin;
the control unit converts the first positioning data in the longitude and latitude coordinate system into equivalent first positioning data in the local coordinate system, controls the driving motor to reduce the rotating speed and controls the first positioning module to execute the preset countermeasures when the positioning deviation between the equivalent first positioning data and the second positioning data is larger than or equal to a first deviation threshold value; or alternatively
The control unit converts the positioning data in the local coordinate system into equivalent second positioning data in the longitude and latitude coordinate system, controls the driving motor to reduce the rotating speed when the positioning deviation between the first positioning data and the equivalent second positioning data is larger than or equal to a first deviation threshold value, and controls the first positioning module to execute the preset countermeasures.
10. The method of claim 9, wherein the step of determining the position of the substrate comprises,
the first positioning module outputs first relative position data between the self-mobile device and the fixed object at the current moment under the longitude and latitude coordinate system;
the second positioning module outputs second relative position data between the self-moving device and the fixed object at the current moment under the local coordinate system;
and the control unit is used for controlling the driving motor to reduce the rotating speed and controlling the first positioning module to execute the preset countermeasures when the relative position deviation between the first relative position data and the second relative position data is larger than or equal to a second deviation threshold value.
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