WO2014029357A1

WO2014029357A1 - Automatic working device and control method thereof

Info

Publication number: WO2014029357A1
Application number: PCT/CN2013/082149
Authority: WO
Inventors: 鲍瑞那图强尼; 王家达
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2012-08-23
Filing date: 2013-08-23
Publication date: 2014-02-27
Also published as: CN103744425A; CN103744425B

Abstract

An automatic working device (1) and a control method thereof. The control method comprises the following steps: a tilt sensor (153) detects gradient of the automatic working device (1), and sends the gradient information to a main control module (14); the main control module (14) identifies the running scene of the automatic working device (1); the main control module (14) executes the corresponding preset control program according to the running scene, and the operation of the automatic working device (1) is controlled by the preset control program based on the gradient. When the automatic working device (1) walks on a tilt surface or in other special instances, the work and the walk is adjusted opportunely according to the gradient and the current running scene, so as to ensure the automatic working device (1) work normally all the time and increase the walking work area and the efficiency of the automatic working device (1).

Description

Automatic working equipment and control method thereof

The present invention relates to an automatic working device and a control method therefor.

Background technique

With the continuous advancement of science and technology, various automatic working equipments have begun to slowly enter people's lives, such as auto vacuum cleaners and automatic lawn mowers. The automatic working device has a walking device, a working device, and an automatic control device, so that the working device can be detached from the operation of the human being, and automatically walks and performs work within a certain range, when the energy storage device of the automatic working device is f 4 ^ It can automatically return to the charging station for charging and then continue to work. This kind of automatic work equipment frees people from the tedious and time-consuming work of housework such as house cleaning and lawn trimming, saving people's time and bringing convenience to people's lives.

When the automatic working equipment is automatically walking, it is often necessary to follow the preset walking path. For example, in order to improve the working efficiency of the automatic working equipment, the automatic working equipment is allowed to walk along a preset path in the working area, and automatic work can be avoided. The equipment repeats walking work; In order to allow the automatic working equipment to conveniently return to the charging station, people set the charging station on the boundary line of the working area, and let the automatic working equipment walk along the boundary line to return to the charging station and the like.

However, when the automatic working equipment is walking on an inclined surface, the walking path of the automatic working equipment may be deviated due to the influence of gravity. Especially when the automatic working equipment is going downhill, the speed of the automatic working equipment is faster under the action of gravity. If the preset walking route is curve or steering, the automatic working equipment will miss the curve or the speed due to the too fast walking speed. Steering, deviating from the preset walking path, making the automatic working equipment repeat work in the working area, or missing part of the area is not working, or the automatic working equipment needs to be charged, it can not smoothly return to the charging station. Automated work equipment is less efficient, has a lower quality of work, and may run out of power because it cannot be returned to the charging station. Automatic work equipment is less reliable in automatic operation.

In addition, gardens and lawns often have natural or artificial slopes. Intelligent lawn mowers have limited power and are not suitable for walking and cutting on slopes with high slopes. At high altitudes, the intelligent mowing machine turns directly away from the slope. This can cause the lawn on the slope to be uncut, affecting the aesthetics of the garden or lawn.

Summary of the invention

In order to solve the above technical problems, the present invention provides a method for controlling an automatic working device that is intelligent and has a wide working range.

In order to achieve the above object, the technical solution provided by the present invention is: A method for controlling an automatic working device, the automatic working device comprising: a walking module, driving an automatic working device to walk; a working module, performing a predetermined work; and an energy storage module, The automatic working device provides energy; the main control module controls the operation of the automatic working device; the tilt sensor senses the inclination of the automatic working device, and the control method comprises the following steps: the tilt sensor detects the inclination of the automatic working device, The tilt information is sent to the main control module; the main control module identifies the running scene of the automatic working device; the main control module executes a corresponding preset control program according to the running scenario, and the preset control program controls the automatic working device to operate according to the tilt.

Preferably, in the preset control program, the main control module determines whether the automatic working device is located on the inclined surface according to the inclination, and if so, controls the automatic working device to continue to run on the inclined surface.

Preferably, the running scenario includes returning to the scene, and the automatic working device returns to the docking station along the preset path in the returning scene; when the running scene is the returning scene, the preset control program is correspondingly returned to the control program, and the returning control program is The main control module detects the walking state of the automatic working device, and controls the walking module of the automatic working device based on the inclination and the walking state to keep walking along the preset path when the inclined surface is on the inclined surface.

Preferably, the return control program includes: when detecting that the automatic working device descends along an inclined surface whose inclination is greater than or equal to a preset value, controlling a walking speed of the automatic working device based on the inclination.

Preferably, the automatic working device reduces the supply of walking energy or provides a braking force opposite to the direction of travel.

Preferably, the automatic working device controls the walking speed in a manner inversely proportional to the inclination.

Preferably, the return control program includes, when the automatic working device deviates from the preset path, returns to the preset path by turning or retreating. Preferably, the return control program includes: when detecting that the automatic working device is walking in a direction at an angle to the oblique direction, the automatic working device corrects the walking direction to walk along the preset path.

Preferably, the automatic working device corrects the walking direction by supplying more energy to the driving wheels on one side than the driving wheels on the other side.

Preferably, the preset path is a boundary line of a working area of the automatic working device.

Preferably, the running scenario includes a working scenario. In the working scenario, the automatic working device walks in the working area through the walking module, and performs a predetermined work through the working module. When the running scenario is a working scenario, the preset control program is correspondingly working. a control program, in the work control program, when the tilt sensor detects that the tilt is greater than or equal to a preset value, the main control module controls the automatic working device to walk along the zigzag path.

Preferably, the walking direction of the automatic working equipment on each section of the zigzag path is at an angle to the inclined direction of the inclined surface.

Preferably, the main control module adjusts the walking speed in inverse proportion according to the magnitude of the inclination.

Preferably, the preset value is between 3 degrees and 3 degrees.

In order to achieve the above object, the technical solution provided by the present invention is: an automatic working device, comprising: a walking module, driving an automatic working device to walk; a working module, performing a predetermined work; an energy storage module, providing energy for the automatic working device; The module controls the operation of the automatic working device; the tilt sensor senses the inclination of the automatic working device, the tilt sensor detects the inclination of the automatic working device, and sends the tilt information to the main control module; the main control module identifies the running scene of the automatic working device; The main control module executes a corresponding preset control program according to the running scenario, and the preset control program controls the automatic working device to operate according to the inclination.

Preferably, the running scenario includes returning to the scene, and the automatic working device returns to the docking station along the preset path in the returning scene; when the running scene is the returning scene, the preset control program is correspondingly returned to the control program, and the returning control program is The main control module detects the walking state of the automatic working device, and controls the walking module of the automatic working device based on the inclination and the walking state to keep walking along the preset path when the inclined surface is on the inclined surface. Preferably, the return control program includes: when detecting that the automatic working device descends along an inclined surface whose inclination is greater than or equal to a preset value, controlling a walking speed of the automatic working device based on the inclination.

Preferably, the return control program includes, when the automatic working device deviates from the preset path, returns to the preset path by turning or retreating.

Preferably, the return control program includes, when detecting that the automatic working device is traveling in an angle at an angle to the oblique direction, the automatic working device corrects the walking direction to travel along the preset path.

Preferably, the preset value is between 3 degrees and 3 degrees.

In order to achieve the above object, another technical solution provided by the present invention is: A method for controlling an automatic working device, the control method comprising the following steps: the automatic working device moves along a preset path in a working area; detecting the automatic The degree of tilt of the working device; detecting the walking state of the automatic working device; controlling the walking mode of the automatic working device based on the tilting degree and the walking state to keep walking along the preset path when on the inclined surface. Preferably, the preset path is a boundary line of an working area of the automatic working device.

Preferably, the control method further includes the following steps: when detecting that the automatic working device descends along an inclined surface whose inclination degree is greater than or equal to a preset value, controlling a walking speed of the automatic working device based on the inclination degree.

Preferably, the automated working device reduces the energy required to supply walking.

Preferably, the automatic working device provides a braking force that is opposite to the direction of travel.

Preferably, the automatic working device controls the walking speed in a manner inversely proportional to the degree of tilt.

Preferably, when the automatic working device deviates from the boundary line, the boundary line is returned by turning or retreating.

Preferably, the control method further comprises the step of: when detecting that the automatic working device is traveling in a direction at an angle to the oblique direction, the automatic working device corrects the walking direction to walk along the preset path.

Preferably, the automatic working device determines the degree of tilt based on the data detected by the acceleration sensor or the load size of the walking module.

The invention also provides a high-reliability automatic working device: an automatic working device walking along a preset path in a working area, comprising: a housing, a walking module, driving the automatic working device to walk; a main control module, Controlling the walking module; detecting a module, detecting a walking state and a tilting degree of the automatic working device; the main control module modifying a walking mode of the automatic working device based on the tilting degree and the walking state, so that Keep walking along a preset path while sloping.

Preferably, the automatic working device is an automatic lawn mower or an automatic vacuum cleaner.

Preferably, when the detecting module detects that the automatic working device is descending along an inclined surface whose inclination is greater than a preset value, the main control module controls the traveling speed of the walking module.

Preferably, when the automatic working device deviates from the preset path, the master module controls the walking module to turn back to the preset path.

Preferably, the detecting module comprises an acceleration sensor, a tilt sensor, and a displacement transmission At least one of a sensor or a GPS module.

Preferably, when the detecting module detects that the automatic working device is walking in a direction at an angle with the tilting direction, the main control module adjusts and corrects the traveling direction of the walking module to walk along a preset path.

Preferably, the walking module comprises at least two driving wheels disposed on opposite sides of the automatic working device housing, and the main control module provides more energy to one of the driving wheels based on the inclination degree and the walking state.

Compared with the prior art, the automatic working device and the control method thereof provided by the present invention adjust the work and the walking manner according to the inclination and the current running scene when the automatic working device is operated under special circumstances such as an inclined surface. It ensures that the automatic working equipment can work normally, which improves the range and efficiency of the working work of the automatic working equipment. DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

1 is a schematic diagram of a H-moving working device provided by an embodiment of the present invention.

2 is a schematic side view of a H-moving working device according to an embodiment of the present invention.

Fig. 3 is a block diagram of a H-moving working device according to an embodiment of the present invention.

4 is a schematic diagram of a H-moving working device provided in an embodiment of the present invention. FIG. 5 is a general flowchart of a method for controlling a H-moving working device according to an embodiment of the present invention. The equipment is shown along the preset path.

Fig. 7 is a flow chart showing the first control method of the return control program of the H motion working device according to the embodiment of the present invention.

Fig. 8 is a flow chart showing a second control method of the return control program of the H motion working device according to the embodiment of the present invention.

Figure 9 is a flow chart showing a first control method of the return control program of the mobile work equipment according to the embodiment of the present invention.

Figure 10 is a schematic diagram of the walking path on the inclined surface of the automatic working device provided by the embodiment of the present invention in the work control program.

FIG. 11 is a working control program of an automatic working device according to an embodiment of the present invention. Flow chart.

among them

1. Automatic working equipment 15. Detection module

11, walking module 151, 152, boundary sensor

111a, 111b, drive wheel 153, tilt sensor

12, work module 16, user interface

13, energy storage module 17, the outer shell

14, the main control module 2, inclined surface

14, processing unit 3, boundary line

142, storage unit 5, stop station

143, control unit

detailed description

Automated work equipment can work automatically in the work area, such as automatic lawn mowers or auto vacuum cleaners, which automatically walk on the lawn or on the ground for mowing or vacuuming. Of course, the automatic working equipment is not limited to automatic lawn mowers and automatic vacuum cleaners, but can be other types of equipment, such as automatic spraying equipment or automatic monitoring equipment. Unattended operation of each job is achieved through automated work equipment.

Please refer to Figure 1 and Figure 2. The automatic working equipment 1 includes the walking module 11 and the working module.

12, energy storage module 13, main control module 14, detection module 15, user interface 16 and housing 17 for housing the above modules.

The walking module 11 is used for realizing the movement of the automatic working device 1 in the working area, and the walking module 11 comprises driving wheels 111 a, 111 b symmetrically disposed on both sides of the automatic working device 1 , and the driving wheels 111 a, 111 b are usually composed of a plurality of motors Driven separately, and the speed or steering of each motor is controllable, so that during the travel of the automatic working device 1, the steering of the drive wheels 111 a, 111 b is adjusted for flexible steering.

The working module 12 performs work for the automatic working device 1, and the working modules of different automatic working devices are different. For example, the working modules of the automatic mower include a mowing blade, a cutting motor, etc., and the mowing machine for performing the automatic mower Work; The working module of the vacuum cleaner includes a vacuum motor, a suction port, a suction pipe, a vacuum chamber, a dust collecting device, and the like for performing a vacuuming task.

The energy storage module 13 is typically a rechargeable battery that provides for the operation of the automated work equipment 1 The electric power may also be connected to an external power source for charging when the reserve power is lower than a predetermined value; preferably, the energy storage module 13 has a charging or discharging protection unit capable of protecting the charging or discharging of the energy storage module 13. Of course, the energy storage module can also be other types of energy supply devices, such as solar power devices, gasoline engines or fuel cells, etc.

The user interface 16 is disposed on the housing 17 at a position convenient for the user to see and operate, such as the top of the mobile work device 1, and the user interface 16 generally includes a display and an input button display to display menus of the automatic working device, operating parameters, etc. The notification or alarm can also be displayed to the user through the display; the input button is used for the user to input an instruction to the automatic working device 1, for example, to start, stop the automatic working device, set the operating parameters of the automatic working device, etc. In an alternative embodiment, the user interface 1 6 It can also be set separately from the automatic working device 1, such as a remote control that can be remotely controlled.

Referring to Figure 3 together, the detection module 15 is used to detect information related to the automatic working device 1 and provide detection information to the main control module 1 4 to provide parameters for the walking and working of the automatic working device. In the present embodiment, the detecting module 15 includes a tilt sensor 1 5 3 , and the tilt sensor 1 5 3 detects the inclination of the automatic working device 1 and transmits the tilt information to the main control module 14. The detection module 1 5 may also include a sensor that senses the boundary of the working area, a sensor that senses the weather condition, a sensor that senses its own geographic location, a sensor that senses its own operating parameters such as operating current, residual energy, circuitry, signal pins, and the like.

Tilt sensor 1 5 3 Detects the tilt of the automatic work machine 1. Tilt sensor 1 5 3 If it is of a normal type, only the inclination of the automatic working device 1 with respect to the horizontal plane is detected; if it is a three-axis tilt sensor, the inclination of the automatic working device 1 in three-dimensional space can be detected, including detecting the fuselage Orientation information.

The main control module 1 4 includes a processing unit 1 4 1 , a storage unit 1 4 2 and a control unit 1 4 3 , and the processing unit 1 4 1 receives the information input by the detection module 15 or the user interface 16 and, after processing, stores it in the storage. Unit 1 4 2 is for subsequent calls. The processing unit 1 4 1 confirms the running scenario in which it is located based on the information input by the detecting module 15 and other information. Other information mainly includes some internal information that is not detected by the detection module 15, such as date and time, working time, tasks currently being executed, and the like. The storage unit 1 4 2 further has a preset control program, and the control unit 1 4 3 reads the corresponding preset control program in the storage unit 1 4 2 according to the running scenario, and controls the automatic working device operation according to the preset control program, such as The walking module 1 1 and the working module 1 2 are controlled to walk and work. Referring to Fig. 4, the automatic working device 1 is in the working area, and the working area is a closed interval surrounded by a manually set boundary line 3, and the boundary line 3 can prevent the automatic working device 1 from leaving the working area; the boundary line 3 can be a wall , railings, etc.; may also be energized wires or other signal generating means, such as electromagnetic signals or optical signals; alternatively, the boundary line 3 is a virtual boundary line, such as a boundary line stored on a map within the automatic working device 1 , the automatic working equipment 1 navigates based on the internal map data, ensuring that it does not cross the boundary line or walk along the boundary line 3; alternatively, the boundary line 3 can also be a dividing line between the working area and other areas, such as grass and roads. The dividing line between the automatic working equipment 1 can identify the difference in color between the grass and the road through the image capturing device such as a camera, determine the position of the boundary, etc. The virtual boundary line or the borderless line technology can be implemented in various ways. , not listed here.

A docking station 5 is arranged in the working area, and the docking station 5 is set on the boundary line 3, and when the automatic working equipment 1 stops working, it stops at the docking station 5 and enters a sleep state; when starting work, it starts again from the docking station 5 , enter the working state. The stop station 5 can usually provide supplementary energy functions, such as charging function, charging the energy storage module 1 3; or refueling function. The stop 5 can also be just a place where the automatic work equipment is parked when it is not working. If the station 5 provides the charging function, when the energy of the energy storage module 13 is insufficient, the automatic working device 1 returns to the station 5 for charging. Preferably, the docking station 5 can provide guidance and docking for the return of the automatic working device 1, and the docking can be wirelessly guided by infrared or ultrasonic waves, or can be guided and docked through the boundary line 3.

Referring to Figure 5, the overall flow of the control method of the automatic working device 1 includes the following steps: Step S 0: Start the work. In this step, the automatic working device 1 starts to enter the running state.

Step S1: Detect the inclination. In this step, the tilt sensor 1 5 3 detects the tilt of the automatic working device 1 and transmits the tilt information to the main control module 14. Depending on the type of tilt sensor 1 5 3, the dimension of the tilt and the reference frame will vary. For example, the tilt sensor 1 5 3 can detect the tilt in three dimensions of the automatic working device 1, ie the tilt in the spatial coordinate system X y ζ relative to the X y plane, on the z-axis, relative to the yz plane, on the X-axis The degree and inclination with respect to the Xz plane and the y-axis, the preferred Xy plane is the horizontal plane. In this case, the spatial information detected by the tilt sensor 1 5 3 is rich, and more scenes can be identified, and the corresponding control program can be more specific and intelligent. Tilt sensor 1 5 3 can also Only the inclination on the X y plane and the z axis relative to the horizontal plane is detected, and the identified scene is prioritized, and the control program is also simpler.

Step S 2: Identify the running scenario. In this step, the main control module 1 4 identifies the running scenario of the automatic working device. The running scenario may be the working mode in which the automatic working device is located or the working task being executed, or the working environment in which the automatic working device is located, such as time, location, weather, inclination, etc., or may be the automatic working device itself. The running state, such as the remaining power, the workload, etc., may also be a combination of at least two of the working mode, the working environment, and the operating state. The running scenario can be a regression scene, a work scene, a rainy scene, and the like. The running scenario should conform to one or more predefined criteria. The main control module 1 4 identifies the running scenario according to the information collected by the main control module, and the information collected by the main control module 14 when determining the running scenario corresponds to the foregoing determining condition, which may specifically be the inclination, weather, and collected by the detecting module 15 The geographical location, etc., may also be the mode, state, etc. of the automatic working device 1 itself, and will not be described again.

The order in which steps S 1 and S 2 are described herein is not intended to limit their order of execution. In some embodiments, step S 1 should be before step S 2 . In other specific embodiments, step S 2 should be before step S 1 , and in some embodiments step S 1 and step S 2 are before Yes.

Step S3: Execute the corresponding preset control program according to the running scenario. In this step, in the preset control program, the main control module 1 4 controls the automatic working device 1 to operate according to the inclination. Specifically, the main control module 14 can control the operation mode of the automatic working device 1 on the inclined surface 2, such as stopping or starting the working module according to the inclination, changing the working mode of the working module 12, or increasing the output energy and issuing The signal, the change path, etc.; the action can also be specifically for controlling the walking mode of the automatic working device 1 on the inclined surface 2, that is, changing the traveling speed according to the inclination, changing the energy output to the walking module 1 1 , changing the path, and the like. Preferably, in the preset control program, the main control module 14 determines whether the automatic working device 1 is located on the inclined surface according to the inclination, and the determination is determined by whether the inclination reaches or exceeds a threshold, and the threshold can be generally set to 2 degrees to Between 5 degrees, if the judgment result is YES, the automatic working device 1 is located on the inclined surface, then the automatic working device 1 is controlled to continue to run on the inclined surface 2 to maintain normal operation, and to avoid giving up the work due to the presence of the inclined surface 2.

Through the above manner, the automatic working device 1 can control its own behavior according to the running scene and the inclination, and realize the work on the inclined surface 2, overcoming the automatic work in the past. The problem that the device cannot work on an inclined surface.

The following describes the working mode of the automatic working device 1 in different operating scenarios by using an embodiment.

Referring to Figures 6 through 9, in the first embodiment of the present invention, the automatic working device 1 is in the returning scene, that is, the automatic working device 1 returns to the stopping station 5 along the preset path. When the automatic work device 1 judges that it is performing the return task, it can recognize that it is returning to the scene.

Referring to Fig. 5, the automatic working device 1 can return to the stop station 5 by walking along the boundary line 3, and the preset path is an extended trajectory of the boundary line 3. In this embodiment, the boundary line 3 is a wire carrying an electrical signal, and the detecting module 15 includes a boundary sensor for detecting an electrical signal on the boundary line 3, preferably two two symmetrically disposed on the central axis X of the automatic working device 1, respectively. The boundary sensor 1 5 1 , 1 5 2 on the side is used to detect the positional relationship between the automatic working device 1 and the boundary line 3, for example, whether the boundary sensors 1 5 1 , 1 5 2 are respectively on both sides of the boundary line 3, and the boundary line The distance relationship between 3 and the like; when the positional relationship between the automatic working device 1 and the boundary line 3 changes, the boundary sensor 1 5 1 , 1 5 2 detects the change in the positional relationship between the automatic working device 1 and the boundary line 3 The generated change signal is sent to the main control module 1 4 , the processing unit 1 4 1 receives the change signal, and the walking mode of the walking module 1 1 is adjusted by the control unit 1 4 3 according to the amount of change, so that the automatic working device 1 and the boundary line 3 can be restored. The positional relationship between them ensures that the automatic working device 1 can walk along the boundary line. In other alternatives, only one boundary sensor may be provided. If the boundary line is of other non-electrical signal types, the boundary sensor may also be of other types, such as distance sensors, infrared sensors, ultrasonic sensors, and collision sensors. , magnetic sensors, etc.

When the automatic working device 1 recognizes that it is in the returning scene, the automatic working device 1 detects the inclination of the automatic working device 1 by the tilt sensor 1 5 3 during the walking, and the main control module 14 executes the return control program. At this time, the automatic working device 1 also detects the walking state of the automatic working device 1 through the detecting module 15. The main control module 1 4 controls the walking mode of the automatic working device 1 based on the inclination and walking state of the automatic working device 1 so as to always follow the preset path.

According to the return control program, when the automatic working device 1 descends along the inclined surface whose inclination reaches or exceeds the preset value, the main control module 14 controls the traveling speed of the walking module 1 1 or applies the braking force through the walking module 1 1 , so that the walking speed of the automatic working equipment 1 is not too fast, and the automatic working equipment 1 is prevented from being turned over due to the excessive speed when going downhill. Out of bounds. When the automatic working device 1 is downhill along the preset path, ie the boundary line 3, if the boundary sensor 1 5 1 , 1 5 2 detects that the automatic working device 1 deviates from the boundary line 3 (possibly because the downhill speed is too fast) Missing the curve or turn of the boundary line 3), the main control module 14 controls the walking module 1 1 to turn to find the boundary line 3, when the boundary sensor 1 5 1 , 1 5 2 detects that the automatic working device 1 is on the boundary line 3, the main The control module 1 4 controls the walking module 1 1 to continue walking along the boundary line. When the sensors 1 5 1 , 1 5 2 detect that the automatic working device 1 starts to deviate from the boundary line 3, it is possible that the automatic working device 1 is walking in an angle at an angle to the tilting direction, and the automatic working device 1 starts under the action of gravity. Deviating from the boundary line 3, at this time, the main control module 14 controls the amount of energy supplied to the driving wheels 1 1 1 a, 1 1 1 b of the walking module 1 1 , and constantly corrects the traveling direction of the automatic working device 1 so that it is always Walk along the boundary line 3.

Referring to Fig. 6, a return control program of the automatic working device 1 controls the walking speed to prevent the automatic working device 1 from being overturned or out of bounds when the speed is downhill. It includes the following steps:

Step S 4 0: Walk along the preset path. The automatic working device 1 automatically travels in the working area. When the power of the energy storage module 13 is insufficient, the main control module 14 controls the automatic working device 1 to walk in a straight line until the boundary sensor 1 5 1 , 1 5 2 detects the automatic The working device 1 reaches the boundary line 3, and then the automatic working device 1 starts to travel along the preset path, that is, the boundary line 3, thereby returning to the stopping station 5 to charge the energy storage module 1 4 2 .

Step S 4 1: Detect the operating state. The automatic working device 1 detects the inclination and the walking state of the automatic working device 1 during the walking along the preset path, that is, the boundary line 3, and transmits the detected data to the main control module 14 . Here, the inclination of the automatic working device 1 is the angle between the plane where the automatic working device 1 is located and the horizontal plane, and the walking state of the automatic working device 1 includes the moving direction and speed of the automatic working device 1. It should be noted that the detection module 15 can detect the inclination and the walking state of the automatic working device 1 through the same sensor. For example, the tilt sensor 1 5 3 is an acceleration sensor, and the detection can automatically calculate the work by measuring the acceleration due to gravity. The angle of inclination of the device 1 with respect to the horizontal plane; by measuring the dynamic acceleration, the direction and speed of the movement of the automatic working device 1 can be analyzed.

Alternatively, the inclination and walking state of the automatic working device 1 can also be measured by other types of sensors or sensor combinations, thereby obtaining higher measurement accuracy, such as in a tilt sensor, an acceleration sensor, a displacement sensor or a GPS module. One Or several combinations to measure. The tilt of the automatic working device 1 is detected by a tilt sensor, which is a sensor capable of detecting the tilt angle, such as a level, a gravity switch or a vibration switch, which is capable of generating an electrical signal according to a change in the angle, and is capable of judging based on the generated electrical signal The occurrence of the tilt and the magnitude of the tilt angle; the direction and speed of the movement of the automatic working device 1 are detected by an acceleration sensor, a displacement sensor or a GPS module.

Optionally, the inclination and the walking state of the automatic working device 1 can also be determined by detecting the load of the walking module 1 1 . For example, the detecting module 15 detects the current of the driving wheel motor. When the automatic working device 1 is downhill, Under the action of gravity, the load of the walking module 1 1 is reduced, and the current detected by the detecting module 15 is also reduced.

Step S 4 2: Determine if it is downhill. The main control module 1 4 receives the operation data of the automatic working device 1 transmitted from the detecting module 1 5 , and the storage unit 1 4 2 stores the data when the automatic working device 1 is in the horizontal stationary state, and the processing unit 1 4 1 takes the step S 1 The data of the detected running state is processed, compared with the data of the automatic working device 1 in the horizontal stationary state, and the magnitude of the inclination of the automatic working device 1 and whether the automatic working device 1 is in the downhill state, that is, tilting is determined. The surface walks from a height to a low place.

Step S 4 3: Control the walking speed. When the automatic working device 1 is inclined on the inclined surface with the inclination greater than or equal to the predetermined value and traveling down the boundary line 3, the control unit 1 4 3 controls the walking speed of the automatic working device 1 based on the magnitude of the inclination. The predetermined value is between 3 degrees and 30 degrees. Preferably, the processing unit 1 4 1 of the automatic working device 1 reduces the energy supplied to the driving wheel driving wheels 1 1 1 a, 1 1 1 b by the control unit 1 4 3 , for example, reducing the supply to the driving wheels 1 1 1 a, The current or voltage of the drive motor of 1 1 1 b reduces the rotational speed of the drive motor, so that the travel speed of the automatic working device 1 is controlled within a certain range. The amount of energy reduction provided to the drive wheels 1 1 1 a, 1 1 1 b by the control unit 1 4 3 is based on the magnitude of the inclination of the automatic working device 1 , and the greater the inclination of the automatic working device 1 , the automatic working device 1 The faster the walking speed when walking downhill on an inclined plane, the less energy the control unit 14 3 provides to the driving wheel driving wheels 1 1 1 a, 1 1 1 b, avoiding the driving wheels 1 1 1 a, 1 1 1 b If the rotational speed is too fast, the walking speed of the automatic working device 1 is out of range; if the inclination of the automatic working device 1 is small, the energy supplied by the control unit 1 4 3 to the driving wheels 1 1 1 a, 1 1 1 b is greater than the inclination More time, drive the automatic working device 1 to continue walking along the boundary line 3.

Alternatively, the automatic working device 1 is in the direction of walking with the automatic working device 1 The opposite direction provides the braking force, and the walking speed of the automatic working device 1 is controlled within a certain range. The braking force can be achieved by driving the electric brake of the motor, for example, by shorting the winding of the motor to brake; or braking, connecting the resistors in the windings of the driving motor, and consuming energy on the series resistors. Or applying a DC voltage to the stator of the drive motor, the stator generates a static constant magnetic field, and the cutting magnetic field generates a braking torque when the rotor rotates, etc., which is not enumerated here. The braking force can also be provided by mechanical braking, that is, by mechanical means to catch the output shaft of the drive motor or to catch the drive wheels 1 1 1 a, 1 1 1 b , for example by means of clutches, brake pads and the like. Preferably, the size of the braking force can be adjusted based on the inclination of the automatic working device 1. The greater the inclination of the automatic working device 1, the faster the walking speed of the automatic working device 1 when walking downhill on the inclined surface. It is necessary to control the automatic working equipment 1 to reduce the walking speed by a large margin, and it is necessary to provide a large braking force; when the inclination of the automatic working equipment 1 is small, the walking speed of the automatic working equipment 1 can be reduced to a small extent or the walking is not required to be reduced. Speed, which can provide less braking force or no braking force.

Through the control method of the automatic working device 1 provided by the present invention, the automatic working device 1 controls the walking speed of the automatic working device 1 based on the inclination and the walking state, and when the automatic working device 1 is on the inclined surface whose inclination is greater than or equal to the preset value When descending along the boundary line 3, the automatic working equipment 1 always controls its walking speed within a certain range, and does not miss the steering or curve on the boundary line 3 because the downhill speed is too fast, resulting in the deviation from the boundary line, and also avoiding The problem of the automatic working equipment 1 flipping may occur, the efficiency of the walking work of the automatic working equipment is improved, the quality of the working work of the automatic working equipment 1 is ensured, and the reliability of the automatic working equipment 1 is higher.

Referring to Figure 7, the second return control program of the automatic working device 1 returns to the preset path when it detects that the automatic working device has deviated from the preset path. It comprises the following steps: Step S 5 0: Run along the preset path, ie the boundary line 3. The automatic working device 1 automatically travels in the working area. When the power of the energy storage module 13 is insufficient, the main control module 14 controls the automatic working device 1 to walk in a straight line until the boundary sensor 1 5 1 , 1 5 2 detects the automatic The working device 1 reaches the boundary line 3, and then the automatic working device 1 starts to walk along the boundary line 3, thereby returning to the stopping station 5 to charge the energy storage module 1 4 2 .

Step S 5 1: Detect the operating state. The automatic working device 1 detects the inclination and walking state of the automatic working device 1 during walking along the boundary line 3, and The detected data is passed to the main control module 14 . The inclination of the automatic working equipment 1 refers to the angle between the plane where the automatic working equipment 1 is located and the horizontal plane, and the walking state of the automatic working equipment 1 includes the moving direction and speed of the automatic working equipment 1, and the like. The detection method is similar to the first return control program, and will not be described again.

Step S 5 2: Determine if it is going downhill. The main control module 1 4 receives the operation data of the automatic working device 1 transmitted from the detecting module 1 5 , and the storage unit 1 4 2 stores the data when the automatic working device 1 is in the horizontal stationary state, and the processing unit 1 4 1 takes the step S 1 The data of the detected operating state is processed, and compared with the data of the automatic working device 1 in the horizontal stationary state, the magnitude of the inclination of the automatic working device 1 and whether the automatic working device 1 is in a downhill state are determined.

Step S 5 3: Detect the relationship between the automatic working device 1 and the boundary line 3. During the walking of the automatic working device 1 along the boundary line 3, the boundary sensor 1 5 1 , 1 5 2 detects the relationship between the automatic working device 1 and the boundary line 3, and the positional relationship between the automatic working device 1 and the boundary line 3 passes. The positional relationship between the boundary sensor 1 5 1 , 1 5 2 and the boundary line 3 is embodied. When the boundary sensors 1 5 1 and 1 5 2 are respectively on both sides of the boundary line 3 and the distance from the boundary line 3 is equal, the automatic The working device 1 is located on the boundary line 3; when the boundary sensors 1 5 1 , 1 5 2 are respectively on both sides of the boundary line 3, but the distances from the boundary line 3 are not equal, the automatic working device 1 is located on the boundary line 3 but Deviating from the boundary line 3; Automatically works when the boundary sensors 1 5 1 , 1 5 2 are both located on one side of the boundary line 3, or when one or all of the boundary sensors 1 5 1 , 1 5 2 are not detected by the boundary line Device 1 is not on boundary line 3.

The automatic working device 1 can detect the relationship with the boundary line 3 by other means, for example, only one boundary sensor 1 5 3 is set, but the distance from the boundary line is calculated by the detected signal strength or signal shape, or the boundary is captured by the image sensor. The line image calculates the distance from the boundary line based on the image information, and will not be described again.

Step S 5 4: Determine whether to deviate from the preset path. The processing unit 1 4 1 receives the data detected by the boundary sensors 1 5 1 and 1 5 2 in step S 2 3 , and the storage unit 1 4 2 stores the standard data when the automatic working device 1 and the boundary line 3 are in different positional relationships. The processing unit 1 4 1 compares the data detected by the boundary sensors 1 5 1 , 1 5 2 with the standard data in the storage unit 1 4 2 to determine the automatic working device 1 and the preset path, that is, between the boundary lines 3 Positional relationship.

According to the method of detecting the relationship with the boundary line 3 in step S 5 3, it is judged whether or not the deviation is The way from the boundary line will also change accordingly, and will not be described again.

Step S 5 5: Stop walking. When the automatic working device 1 is not on the boundary line, the processing unit 1 4 1 sends a deviation signal, and the walking module 1 1 is controlled to stop walking by the control unit 1 4 3 . During braking, the braking force can be achieved by driving the motor's electrical brakes, such as shorting the windings of the motor to brake; or braking, connecting the resistors in the windings of the drive motor, consuming energy in the string Braking on the resistor; or applying a DC voltage to the stator of the drive motor, the stator generates a static constant magnetic field, and the cutting magnetic field generates a braking torque when the rotor rotates, etc., not enumerated here. The braking force can also be provided by mechanical braking, that is, by mechanical means to catch the output shaft of the drive motor or to catch the drive wheels 1 1 1 a , 1 1 1 b , for example by means of clutches, brake pads and the like.

Step S 5 6: Return to the preset path. After the automatic working device 1 stops walking, the walking module 1 1 turns to the left or right side, or moves straight back, and the boundary sensor 1 5 1 , 1 5 2 detects the positional relationship between the automatic working device 1 and the boundary line 3, When the boundary sensors 1 5 1 , 1 5 2 are respectively on both sides of the boundary line 3, the automatic working device 1 returns to the preset path, that is, the boundary line 3.

According to the method of detecting the relationship with the boundary line 3 in the step S 5 3, the specific manner of returning to the boundary line will also change accordingly, and will not be described again.

In the second return control program, the automatic working device 1 corrects the walking path of the automatic working device 1 based on the inclination and the walking state, and when the automatic working device 1 is on the inclined surface with the inclination greater than or equal to the preset value, descends along the boundary line 3 When the steering or curve on the boundary line 3 is missed due to the acceleration of the downhill travel, causing the automatic working device 1 to deviate from the boundary line 3, the automatic working device 1 returns to the boundary line 3 by steering. The efficiency of the walking work of the automatic working equipment is improved, the quality of the walking work of the automatic working equipment is ensured, and the reliability of the automatic working equipment is higher.

Referring to Figure 8, the third return control program of the automatic work equipment 1 controls the travel direction to avoid the automatic work equipment 1 out of bounds when going downhill. It includes the following steps:

Step S 6 0: Run along the preset path. The automatic working device 1 automatically travels in the work area. In order to improve the operating efficiency of the automatic working device 1, it usually travels according to a preset path, such as walking in a straight line, walking around, walking along a zigzag path or always following the same The direction of steering to walk, etc.; walking according to a preset path, can reduce the automatic work equipment 1 repeat work in the same work area or miss some work areas There is an occurrence of the implementation work.

Step S 61: Detect the running state. The automatic working device 1 detects the inclination of the automatic working device 1 and the walking state during the walking along the boundary line 3, and transmits the detected data to the main control module 14. The inclination of the automatic working equipment 1 refers to the angle between the plane of the automatic working equipment 1 and the horizontal plane, and the walking state of the automatic working equipment 1 includes the moving direction and speed of the automatic working equipment 1, and the like. The detection method is similar to the first return control program, and will not be described again.

Step S62: It is judged whether or not walking in a direction at an angle to the tilt direction. The main control module 14 receives the operation data of the automatic working device 1 transmitted from the detecting module 15, the storage unit 142 stores the data of the automatic working device 1 in the horizontal stationary state, and the processing unit 141 displays the operating state detected in the step S1. The data is processed, compared with the data of the automatic working device 1 in the horizontal stationary state, and it is judged whether the automatic working device 1 is traveling in a direction at an angle to the oblique direction; that is, one driving wheel 111a of the automatic working device 1 is located The lowermost position of the inclined surface, and the other driving wheel 111 b is located at an upper position of the inclined surface, and the automatic working device 1 is angled or perpendicular to the line connecting the driving wheels 111 a, 111 b Walking in the direction.

Step S63: Detect the relationship between the automatic working device and the preset path. The automatic working device 1 always detects the relationship between the automatic working device 1 and the preset path during the walking along the preset path. Preferably, the preset path is the energized wire buried under the ground, and the automatic working device 1 and the pre-operation The positional relationship between the paths can be represented by the positional relationship between the boundary sensors 151, 152 and the energized wires. When the boundary sensors 151, 152 are respectively on both sides of the energized wires and the distance from the energized wires is equal, the automatic working device 1 is located on the preset path; when the boundary sensors 151, 152 are respectively on both sides of the energized wire, but the distances from the energized wires are not equal, the automatic working device 1 is on the preset path but is deviating from the preset path; The automatic working device 1 is not on the preset path when the sensors 151, 152 are both located on one side of the energized wire, or when one or all of the boundary sensors 151, 152 are not detecting the energized wire.

Alternatively, the preset path may also be routed to the automatic working device 1 by other means, such as path guidance by means of an electromagnetic signal or an optical signal generating device, or path guiding by a GPS positioning and navigation system, etc., No - enumeration.

Step S64: Determine whether to deviate from the preset path. Processing unit 141 receives step S 23 The data detected in the storage unit 1 4 2 stores the standard data when the automatic working device 1 is in a different positional relationship with the preset path, and the processing unit 1 4 1 detects the detected data and the storage unit 1 4 2 Relative to the standard data, the positional relationship between the automatic working device 1 and the preset path is judged.

Step S 6 5: Correct the walking path. When the automatic working device 1 starts to deviate from the preset path, the processing unit 1 4 1 of the automatic working device 1 is separately adjusted and transmitted to the driving wheel 1 1 1 a by the control unit 1 4 3 based on the magnitude of the inclination of the automatic working device 1 1 1 1 b of energy. For example, when the driving wheel 1 1 1 a is at a position lower than the inclined surface, in order to counteract the offset of the automatic working device 1 under the inclined surface under the action of gravity, the control unit 1 4 3 is added to the driving wheel 1 1 1 a The energy so that the automatic working device 1 does not deviate downward from the boundary line by gravity. Alternatively, the driving wheels 1 1 1 a, 1 1 1 b can be pivoted along an axis perpendicular to the plane of the automatic working device 1, and when the automatic working device 1 starts to deviate from the preset path, the processing unit 1 of the automatic working device 1 4 1 Based on the magnitude of the inclination of the automatic working device 1, the automatic working device 1 is corrected by pivoting the driving wheels 1 1 1 a, 1 1 1 b along an axis perpendicular to the plane of the automatic working device 1 by a certain angle Walking path.

In the third return control program of the automatic working device 1, the automatic working device 1 continuously corrects the traveling direction of the automatic working device 1 based on its inclination and walking state, and when the automatic working device 1 is traveling in an angle at an angle to the oblique direction When the automatic working device 1 provides more energy to the driving wheel on one side than the driving wheel on the other side, the direction of the walking is continuously corrected to prevent the automatic working device 1 from deviating from the preset walking trajectory under the action of gravity. The efficiency of the walking work of the automatic working equipment is improved, the quality of the working work of the automatic working equipment is ensured, and the reliability of the automatic working equipment is higher.

Referring to Fig. 10 to Fig. 12, in the second embodiment of the present invention, the automatic working device is in a working scene, i.e., the automatic working device 1 walks and performs work in the work area.

Referring to Figure 10, the automatic working device 1 is located on the inclined surface 2. When the automatic working device 1 recognizes that the body is in the working scene, the automatic working device 1 detects the inclination of the automatic working device 1 by the tilt sensor 1 5 3 during the walking, and the main control module 14 executes the work control program in the work control program. When the inclination reaches or exceeds the preset value, the main control module 14 controls the automatic working device 1 to walk along the zigzag path. Thus, the automatic working device 1 can realize oblique walking on the inclined surface 2, and the extending direction of at least a part of the zigzag path and the inclined direction of the inclined surface 2 are different. Compared to climbing directly in the oblique direction, There are several advantages to walking diagonally on the inclined surface 2. For example, it is most laborious to climb directly, because the direction of the force of the gravity of the automatic working device 1 in the oblique direction of the inclined surface is opposite to the direction of the walking of the automatic working device 1, and the component is basically used to hinder the rolling of the wheel set, resulting in It is difficult to climb the slope; when climbing obliquely, the direction of the component is different from the direction of the intelligent mower. The component is mainly applied in the lateral or lateral direction of the wheelset, which is offset by the friction of the surface of the inclined surface. For example, the path through which the vertical height determined by the ramp climb is longer is longer, and the climb time is longer when the speed is constant, and the resistance to be overcome per unit time is smaller, thereby increasing the resistance. The ability to climb.

In a further embodiment, the detecting module 15 detects the walking direction of the automatic working device 1, and based on the running direction, the working control program controls the extending direction of each segment in the zigzag path to be different from the tilting direction of the inclined surface 2, preferably The extension of each section and the inclined surface 2 is 30 to 60 degrees, and the path distribution is relatively uniform and the overall effort is relatively low. The detecting module 15 can detect the traveling direction in various ways. For example, by detecting the tilting direction of the automatic working device 1 in the three-dimensional space by using the 3-axis tilt sensor, the body orientation of the automatic working device 1 can be known, and it can be determined. Walking direction.

In a further embodiment, the main control module 14 adjusts the walking speed inversely proportional to the magnitude of the inclination. That is, on the inclined surface with the steeper slope, the lower the walking speed, the more balanced the slope load can be controlled to avoid the overload condition.

Referring to Figure 1 2, the working control program of the automatic working device 1 specifically includes the following steps:

S 7 0: Walking in the work area. In this step, the automatic working equipment 1 walks in the work area and performs preset work tasks such as mowing, cleaning, and the like.

5 7 1: Detect the tilt. In this step, the tilt sensor 1 5 3 detects the tilt of the automatic working device 1 and sends it to the main control module 14 . Tilt sensor 1 5 3 If it is of the normal type, only the inclination of the automatic working device 1 with respect to the horizontal plane is detected; if it is a three-axis tilt sensor, the inclination of the automatic working device 1 in the three-dimensional space can be detected, including detecting the fuselage Orientation information.

5 7 2: Determine if the tilt of the automatic work equipment reaches or exceeds the preset value. In this step, the processing unit 1 4 1 of the main control module 14 calls the tilt preset value stored in the storage unit 1 4 2, and compares the tilt and the preset value. If the inclination reaches or exceeds the preset value, the process proceeds to step S73. If the inclination does not reach the preset value, the process returns to step S71, and the inclination of the automatic working device 1 is continuously detected. Because this step mainly detects the inclined surface Slope, so usually only the inclination of the automatic working device 1 with respect to the horizontal plane is compared with the preset value. The predetermined value is between 3 and 30 degrees.

S 7 3 : Walk along a zigzag path. In this step, the main control module 14 controls the automatic working device 1 to follow the zigzag path, that is, straightly walks a road section and then turns to an angle, and then straightly walks a road section, then reversely turns an angle and then walks a straight line, so reciprocating walk. In this way, at least part of the road section is at an angle to the inclined direction of the inclined surface 2.

In this step, the parameters of the zigzag path, such as the length of each section, the angle of the steering, the walking speed, etc., are all regulated by the work control program. These parameters may be fixed, but preferably, the specific values of these parameters are controlled by a function, that is, according to the operating state of the automatic working equipment, for example, the length of the road section is adjusted according to the inclination of the automatic working equipment 1, the load, or a combination thereof. , steering angle, walking speed, etc. The function control can be more intelligently walked on the inclined surface 2, for example, the traveling speed is inversely adjusted according to the magnitude of the inclination, the traveling speed is inversely adjusted according to the magnitude of the load, and the steering angle is adjusted according to the load condition to reduce the load. Of course, the function control can also be a combination of the above.

In this step, preferably, the walking direction of the automatic working device on each section of the zigzag path is angled with the inclined direction of the inclined surface, so that direct climbing and downhill can be avoided during the whole walking process, so that the climbing is performed More capable. Further preferably, each of the sections has an angle of 30 to 60 degrees with respect to the extending direction of the inclined surface 2, and the path distribution is relatively uniform and the overall operation is relatively labor-saving. The detecting module 15 can detect the traveling direction in various ways. For example, by detecting the tilting direction of the automatic working device 1 in three-dimensional space by using the 3-axis tilt sensor, the body orientation of the automatic working device 1 can be known, and thus the body orientation can be determined. Walking direction.

The automatic working device and the control method thereof provided by the invention enable the automatic working device to adjust the walking mode according to the tilting angle and the current walking condition when walking in a special situation such as an inclined surface, thereby ensuring that the automatic working device can be Working on the inclined surface improves the range and efficiency of the automatic working equipment, ensures the quality of the working work of the automatic working equipment, and makes the reliability of the automatic working equipment higher.

It will be appreciated by those skilled in the art that the present invention may have other implementations, but as long as the technical essence of the invention is the same or similar to the present invention, or any imaginable changes and substitutions based on the present invention are It is within the scope of the invention.

Claims

A control method for an automatic working device, the automatic working device comprising: a walking module, driving an automatic working device to walk; a working module, performing a predetermined work; an energy storage module, providing energy for the automatic working device; a main control module, controlling automatic work The device operates; the tilt sensor senses the inclination of the automatic working device, and the control method comprises the following steps:

The tilt sensor detects the inclination of the automatic working device, and sends the tilt information to the main control module;

The main control module identifies an operating scenario of the automatic working device;

The main control module executes a corresponding preset control program according to the running scenario, and the preset control program controls the automatic working device to operate according to the inclination.

The control method of the automatic working device according to claim 1, wherein in the preset control program, the main control module determines whether the automatic working device is located on the inclined surface according to the inclination, and if so, controls the automatic working device Continue to run on the inclined surface. The control method of the automatic working device according to claim 2, wherein the running scene includes returning to the scene, and the automatic working device returns to the stop station along the preset path in the returning scene; when the running scene is the returning scene, the preset The control program is correspondingly a return control program. In the return control program, the main control module detects the walking state of the automatic working device, and controls the walking module of the automatic working device based on the inclination and the walking state to make Keep walking along a preset path while sloping.

The control method of the automatic working device according to claim 3, wherein: the return control program includes: when detecting that the automatic working device descends along an inclined surface whose inclination is greater than or equal to a preset value, based on the The inclination controls the walking speed of the automatic working device.

A method of controlling an automatic working apparatus according to claim 4, wherein: ???said automatic working apparatus reduces the supply of energy for walking or provides a braking force opposite to the traveling direction.

A method of controlling an automatic working device according to claim 4, wherein: said automatic working device controls the walking speed in a manner inversely proportional to the inclination.

The control method of the automatic working device according to claim 3, wherein: the return control program comprises: when the automatic working device deviates from the preset path, Return to the preset path by turning or rewinding.

The control method of the automatic working device according to claim 3, wherein: the return control program includes: when detecting that the automatic working device is traveling in an angle at an angle to the oblique direction, the automatic working device is corrected Walking direction to walk along a preset path.

A method of controlling an automatic working apparatus according to claim 8, wherein: said automatic working device corrects the traveling direction by supplying more energy to the driving wheels on the one side than the driving wheels on the other side.

The control method of the automatic working device according to any one of claims 2 to 9, characterized in that the preset path is a boundary line of a working area of the automatic working device. The control method of the automatic working device according to claim 2, wherein: the running scenario comprises a working scenario, wherein the working device moves in the working area through the walking module, and performs a predetermined work through the working module; When the running scene is a working scene, the preset control program is corresponding to the working control program. In the working control program, when the tilt sensor detects that the tilt is greater than or equal to the preset value, the main control module controls the automatic working device along Walking on a zigzag path.

The method of controlling an automatic working device according to claim 1, wherein: the traveling direction of the automatic working device on each of the sections of the zigzag path is at an angle to the inclined direction of the inclined surface.

The control method of the automatic working device according to claim 1 , wherein: the main control module adjusts the walking speed inversely proportional to the magnitude of the inclination.

A method of controlling an automatic working device according to claim 4 or 11, wherein: said preset value is between 3 degrees and 3 G degrees.

- Automatic working equipment, including: walking module, driving automatic working equipment; working module, performing scheduled work; energy storage module, providing energy for automatic working equipment; main control module, controlling automatic working equipment operation; tilt sensor, induction The inclination of the automatic working equipment, which is characterized by:

The main control module executes a corresponding preset control program according to the running scenario, and the preset control program The sequence controls the automatic working equipment operation according to the inclination.

The control method of the automatic working device according to claim 15, wherein in the preset control program, the main control module determines whether the automatic working device is located on the inclined surface according to the inclination, and if so, the control automatically The work equipment continues to run on an inclined plane. The automatic working device according to claim 16, wherein the running scene includes returning to the scene, and the automatic working device returns to the stopping station along the preset path in the returning scene; when the running scene is the returning scene, the preset control Correspondingly, the program is a return control program. In the return control program, the main control module detects the walking state of the automatic working device, and controls the walking module of the automatic working device based on the inclination and the walking state to make the tilting module Keep walking along the preset path while on the surface.

The automatic working device according to claim 17, wherein: the return control program includes: when detecting that the automatic working device descends along an inclined surface whose inclination is greater than or equal to a preset value, based on the tilting Degrees control the walking speed of the automatic working equipment.

The automatic working device according to claim 18, wherein: said automatic working device reduces the supply of walking energy or provides a braking force opposite to the traveling direction. The automatic working device according to claim 18, wherein: said automatic working device controls the walking speed in a manner inversely proportional to the inclination.

The automatic working device according to claim 17, wherein: the return control program comprises: returning to the preset path by turning or retreating when the automatic working device deviates from the preset path.

The automatic working device according to claim 17, wherein: the return control program includes: when detecting that the automatic working device is walking in an angle at an angle to the oblique direction, the automatic working device corrects walking Direction to walk along a preset path. The automatic working apparatus according to claim 2, wherein: ???said automatic working device corrects the traveling direction by supplying more energy to the driving wheels on the one side than the driving wheels on the other side.

The automatic working device according to any one of claims 1 to 23, wherein: the predetermined path is a boundary line of a working area of the automatic working device.

The automatic working device according to claim 16, wherein: the running scenario includes a working scenario, and the working device automatically moves the working device through the walking module in the working area Walking in the domain, and performing predetermined work through the working module; when the running scenario is a working scenario, the preset control program is corresponding to the working control program, in the working control program, when the tilt sensor detects that the tilt is greater than or equal to the preset At the time of the value, the master module controls the automatic work equipment to travel along the zigzag path.

The method of controlling an automatic working apparatus according to claim 25, wherein: the walking direction of the automatic working device on each of the sections of the zigzag path is at an angle to the inclined direction of the inclined surface.

The control method of the automatic working device according to claim 25, wherein: the main control module adjusts the walking speed in inverse proportion according to the magnitude of the inclination.

A method of controlling an automatic working device according to claim 18 or 25, wherein: said preset value is between 3 degrees and 3 G degrees.