CN106468920B - Regression charging method and automatic walking equipment thereof - Google Patents
Regression charging method and automatic walking equipment thereof Download PDFInfo
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- CN106468920B CN106468920B CN201510511882.2A CN201510511882A CN106468920B CN 106468920 B CN106468920 B CN 106468920B CN 201510511882 A CN201510511882 A CN 201510511882A CN 106468920 B CN106468920 B CN 106468920B
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Abstract
The invention relates to a regression charging method and automatic walking equipment thereof, wherein the current position point is moved to a preset position point so as to reach a preset barrier-free path, whether the reached preset position point is a charging station is judged, when the reached preset position point is not the charging station, the preset position point with higher priority than the current position point is searched and moved to the preset position point, and the steps are repeated until the reached preset position point is the charging station, the preset position point is in butt joint with the charging station for charging, so that the whole process of regression charging is completed. The regression charging method and the automatic walking equipment thereof have high regression efficiency, and a regression charging path cannot be found due to the fact that the regression charging path meets an obstacle.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a regression charging method and automatic walking equipment thereof.
Background
With the continuous progress of computer technology and artificial intelligence technology, automatic working systems similar to intelligent robots have started to slowly move into people's lives. The full-automatic dust collector is small in size, integrates an environment sensor, a self-driving system, a dust collection system, a battery or a charging system, can automatically cruise indoors without manual control, automatically returns to a charging station when the energy is low, is in butt joint and charges, and then continues cruising and dust collection. The intelligent mower can automatically mow and charge the lawn of the user without user interference. After the automatic working system is set once, the user is freed from tedious and time-consuming and labor-consuming housework such as cleaning, lawn maintenance and the like without being invested in energy management.
Taking an intelligent lawn mower as an example, the intelligent lawn mower is widely used in the field of gardens. In order to ensure that the intelligent lawn mower works within a preset working range, a boundary system is generally adopted to control the working range of the lawn mower. The boundary system comprises a boundary line paved on the ground surface, a signal generator connected with the boundary line, and the mower comprises a detection unit and a control unit for processing the signal and controlling the walking path of the mower. The control unit controls the mower to work within a preset working range according to the received signal.
On the basis of having a high-precision positioning function, if the energy is low and the charging station needs to be charged, the intelligent mower usually goes to the charging station by the shortest path, that is, the intelligent mower is located at the current point and the charging station is located on a straight path. When an obstacle exists in the two-point straight path, the vehicle often slowly travels to a charging station through continuous collision and retreat, and the efficiency of the return charging mode is low.
Disclosure of Invention
In view of the above, it is desirable to provide a regression charging method and an automatic traveling apparatus thereof with high regression charging efficiency.
A regression charging method comprises the following steps: calculating a preset position point closest to the current position point according to the current position point, wherein the preset position point is a preset fixed position point; moving to the preset position point; and judging whether the preset position point is a charging station or not, if not, searching and moving to a preset position point with higher priority than the current preset position point.
According to the regression charging method and the automatic walking equipment thereof, the current position point moves to the preset position point so as to reach a preset barrier-free path, whether the reached preset position point is a charging station is judged, when the reached preset position point is not the charging station, the preset position point with higher priority than the current position point is searched and moved to the preset position point, and the steps are repeated until the reached preset position point is the charging station, the preset position point is in butt joint with the charging station for charging, so that the whole process of the regression charging is completed. The regression charging method and the automatic walking equipment thereof have high regression efficiency, and a regression charging path cannot be found due to the fact that the regression charging path meets an obstacle.
In one embodiment, the step of calculating the preset position point closest to the current position point according to the current position point further comprises an initialization setting step before the step.
In one embodiment, the initialization setting step is: the charging station is located at one of the preset position points, and the priority of the preset position point closer to the charging station is higher.
In one embodiment, the preset location points are numbered sequentially according to priority.
In one embodiment, in the step of calculating the preset position point closest to the current position point according to the current position point, the method for calculating the closest preset position point includes: and calculating the shortest distance that the current position point can reach each preset position point, comparing the shortest distances, and setting the preset position point closest to the current position point as the preset position point with the smallest shortest distance.
In one embodiment, the step of determining whether the preset location point is a charging station, if not, searching and moving to a preset location point with a higher priority than the current preset location point, and if the preset location point is a charging station, stopping walking and docking with the charging station for charging.
An automatic walking device comprises a position point searching module, a position point searching module and a position point searching module, wherein the position point searching module is used for calculating a preset position point which is closest to a current position point according to the current position point; the walking module is used for driving the automatic walking equipment to move from the current position point to the preset position point obtained by the position point searching module; and the judging module is used for judging whether the current preset position point is a charging station or not, and if not, searching and moving to the preset position point with higher priority than the current position point.
In one embodiment, the automatic walking device further comprises an initialization setting module.
In one embodiment, the initialization setting module is: the charging station comprises a presetting module and a control module, wherein the presetting module is used for presetting corresponding presetting position points which can reach the charging station, the number of the presetting position points is at least two, the charging station is positioned on one of the presetting position points, and the priority of the presetting position point which is closer to the charging station is higher.
In one embodiment, the method for calculating the preset location point closest to the current location point in the location point searching module includes: and calculating the shortest distance that the current position point can reach each preset position point, comparing the shortest distances, and setting the preset position point closest to the current position point as the preset position point with the smallest shortest distance.
In one embodiment, when the judging module judges that the preset position point is the charging station, the automatic walking device stops walking and is in butt joint with the charging station for charging.
Drawings
FIG. 1 is a flow chart of a method of regression charging of the present invention;
FIG. 2 is a system framework diagram of the automated walking device of the present invention;
fig. 3 is a diagram of a return charging path of the automatic walking device of the present invention.
Charging station 200
Detailed Description
The automatic walking device can be an intelligent mower or an automatic dust collector and the like, and the automatic walking device automatically walks on the ground or the surface of a working area to carry out mowing or dust collection. Of course, the self-propelled device is not limited to the intelligent lawn mower and the automatic vacuum cleaner, but may be other devices such as a spraying device, a monitoring device, and the like suitable for unattended operation, and in the embodiment, the self-propelled device is the intelligent lawn mower. When the intelligent mower works to be low in energy, the intelligent mower needs to return to a charging station for charging.
Referring to fig. 1, a preferred embodiment of the present invention provides a method of regression charging, including the following steps:
step S110: and acquiring the current position point.
The intelligent mower automatically works in a preset working range, and when the energy of the intelligent mower is lower than a certain preset threshold value (a preset charging boundary energy value), the intelligent mower needs to return to a charging station from a current working position for charging so as to supplement the energy required by automatic working. And the intelligent mower needs to complete the automatic return to the charging station for charging, and also needs to perform the following initialization setting steps:
corresponding predetermined points of the charging station are provided in advance. The step is an initialization setting step, which means that the step is set only once when the step is used for the first time. The number of the preset position points is at least two, and the charging station is located on one of the preset position points. The closer the charging station is, the higher the priority of the preset location point is. And numbering each preset position point according to the priority of each preset position point. For example, the preset position points are numbered as 0, 1, 2, … … in order from high to low in priority. The preset location point with the number of 0 is the preset location point with the highest priority, and the charging station is located on the preset location point. Of course, in other embodiments, the preset position points may be numbered as 0, 1, and 2 … … in sequence according to the order of priority from low to high, and the specific way of recording the preset position points is not limited in this respect. Every two adjacent preset position points can be connected to form an obstacle-free path, namely, the intelligent mower can pass through each preset position point in sequence without obstacles.
After the specific position of each preset position point is manually set, the intelligent mower can sequentially pass through the preset position points in a mode of manually carrying or remotely controlling the intelligent mower by a remote controller. Thus, the intelligent mower finishes the work of storing each preset position point, namely, the initialization setting step is finished.
In step S110, the current position, i.e., the current position point, needs to be clearly obtained.
Step S120: and calculating a preset position point closest to the current position point according to the current position point. In this step, according to the current position point obtained in step S110, a preset position point closest to the current position point is found by calculation. The specific calculation mode is to calculate the shortest distance that the current position point can reach each preset position point, and then compare the calculated shortest distance corresponding to each preset position point to find the shortest distance, where the preset position point corresponding to the shortest distance is the closest preset position point to the current position point.
Step S130: and moving to the preset position point. In this step, the current position point obtained in step S110 is moved to the preset position point closest to the current position point obtained in step S120. That is, the start point of the movement is the current position point, and the end point is the preset position point closest to the current position point.
Step S140: judging whether the preset position point is a charging station or not, if not, searching and moving to a preset position point with higher priority than the current preset position point; and if so, stopping walking and carrying out butt joint charging with a charging station. When the current position point is moved to the preset position point calculated in step S120, the current position point is the preset position point. After the preset position point is reached, whether the current position point is a charging station or not needs to be judged, namely whether the current position point is a terminal station or not needs to be judged. If the current position point is the charging station, the current position point is in butt joint with the charging station for charging, and therefore the whole regression charging process is achieved. On the contrary, if the current location point is determined not to be a charging station, the preset location point with a higher priority than the current preset location point is found (if each preset location point is numbered, the number of the preset location point with a higher priority than the current location point can be directly found). And then, moving to the searched preset position point with the priority higher than that of the current preset position point from the current position point. And after the current position point arrives, judging whether the arrived preset position point is a charging station again. If the current position point is the charging station, the current position point is in butt joint with the charging station for charging, and therefore the whole regression charging process is achieved. On the contrary, if the current position point is judged not to be the charging station, the current position point is continuously searched and moved to the preset position point with the priority higher than that of the current preset position point by one level. And repeating the steps in a circulating way until the current position point is judged to be the charging station, and then butting and charging the charging station to finish the whole process of returning and charging.
According to the regression charging method, the current position point moves to the preset position point, so that the current position point arrives on a preset barrier-free path, whether the arrived preset position point is a charging station or not is judged, when the arrived preset position point is not the charging station, the position needs to be searched and moved to the preset position point with higher priority than the current preset position point, the process is circulated until the arrived preset position point is the charging station, the position is in butt joint with the charging station, and the whole process of the regression charging is finished. The regression charging method is high in efficiency, and a regression charging path cannot be found due to the fact that the regression charging path meets an obstacle.
Referring to fig. 2, the preferred embodiment of the present invention further provides an automatic walking device. The self-propelled device in this embodiment is an intelligent lawn mower 100. The intelligent mower comprises a positioning module 110, a position point searching module 120, a walking module 130 and a judging module 140, wherein the positioning module 110 is connected with the position point searching module 120, the positioning module 110 and the position point searching module 120 are respectively connected with the walking module 130, and the walking module 130 is connected with the judging module 140. The positioning module 110 is configured to obtain a current location point of the intelligent lawn mower 100; the location point searching module 120 is configured to calculate a preset location point closest to the current location point according to the current location point obtained by the positioning module 110; the walking module 130 is configured to drive the intelligent lawn mower 100 to move from the current location point to the preset location point obtained by the location point searching module 120; the determining module 140 is configured to determine whether the current preset location point is a charging station.
The intelligent lawn mower 100 further comprises a presetting module 150 for presetting a corresponding preset location point where the charging station can be reached. The default module 150 is an initialization setting module, which means that the module is set only once when the intelligent lawn mower 100 is used for the first time. The number of the preset position points is at least two, and the charging station is located on one of the preset position points. The closer the charging station is, the higher the priority of the preset location point is. And numbering each preset position point according to the priority of each preset position point. For example, the preset position points are numbered as 0, 1, 2, … … in order from high to low in priority. The preset location point with the number of 0 is the preset location point with the highest priority, and the charging station is located on the preset location point. Of course, in other embodiments, the preset position points may be numbered as 0, 1, and 2 … … in sequence according to the order of priority from low to high, and the specific way of recording the preset position points is not limited in this respect. Each two adjacent preset position points can be connected to form an obstacle-free path, which means that the intelligent lawn mower 100 can pass through each preset position point in sequence without obstacles.
After the specific position of each preset position point is manually set, the intelligent mower 100 is enabled to sequentially pass through the preset position points in a mode of manually carrying or remotely controlling the intelligent mower 100 by a remote controller. Thus, the intelligent lawn mower 100 completes the work of storing each preset position point, that is, the initialization setting of the intelligent lawn mower 100 is completed.
The intelligent lawn mower 100 automatically operates within a preset operating range, and when the energy of the intelligent lawn mower 100 is lower than a certain preset threshold value (a preset charging boundary energy value), the intelligent lawn mower 100 needs to return to a charging station from the current position for charging to supplement the energy required by automatic operation. The current position point of the intelligent mower 100 at this time is obtained through the positioning module 110. And then the location point searching module 120 calculates a preset location point closest to the current location point. The specific calculation mode is to calculate the shortest distance that the current position point can reach each preset position point, and then compare the calculated shortest distance corresponding to each preset position point to find the shortest distance, where the preset position point corresponding to the shortest distance is the closest preset position point to the current position point.
The intelligent mower is driven by the walking module 130 to walk from the current position point to the preset position point closest to the current position point. The preset position point at this time is the current position point. After the preset position point is reached, whether the current position point is a charging station or not needs to be judged, namely whether the current position point is a terminal station or not needs to be judged. If the current position point is the charging station, the intelligent mower 100 is in butt joint with the charging station to charge, so that the whole regression charging process is realized. On the contrary, if the current location point is determined not to be a charging station, the preset location point with a higher priority than the current preset location point is found (if each preset location point is numbered, the number of the preset location point with a higher priority than the current location point can be directly found). And then, moving to the searched preset position point with the priority higher than that of the current preset position point from the current position point. And after the current position point arrives, judging whether the arrived preset position point is a charging station again. If the current position point is the charging station, the current position point is in butt joint with the charging station for charging, and therefore the whole regression charging process is achieved. On the contrary, if the current position point is judged not to be the charging station, the current position point is continuously searched and moved to the preset position point with the priority higher than that of the current preset position point by one level. And repeating the steps in a circulating way until the current position point is judged to be the charging station, and then butting and charging the charging station to complete the whole process of returning and charging.
Referring to fig. 3, the process of recharging the intelligent lawn mower 100 is described in detail:
when the intelligent mower 100 is operating at position a, it is detected that the intelligent mower 100 is low in energy and needs to return to the charging station 200 for charging. The intelligent lawn mower 100 calculates the shortest distance that the position a can reach the three preset position points B, C, D, and compares the shortest distances. And if the comparison result shows that the position point with the minimum shortest distance which can be reached from the position A is the preset position point B, the preset position point B is the preset position point closest to the position A. The intelligent mower 100 travels to the preset position point B. At this time, it is determined whether the preset location point B is the charging station 200, and if so, the docking charging is performed; otherwise, searching for a preset position point with a higher priority than the preset position point B. In preset location point B, C, D, charging station 200 is located at preset location point D, so preset location point D has the highest priority, preset location point C has the next lowest priority, and preset location point B has the lowest priority. The preset position points B, C, D are numbered as 2, 1, 0 in sequence according to the priority from high to low. And the current intelligent mower 100 is located at the preset position point B with the priority level of 2, and the position point with the priority level higher than that of the preset position point B is the preset position point C. The intelligent mower 100 travels to the preset position point C. At this time, whether the preset position point C is the charging station 200 is judged, and if yes, the docking charging is performed; otherwise, searching and moving to a preset position point with a higher priority than the preset position point C. This is repeated until the current position point is determined as the charging station 200.
The automatic walking device comprises a position point searching module 120, a walking module 130 and a judging module 140, wherein the walking module 130 drives the automatic walking device to walk from the current position point to a preset position point which is closest to the current position point and is obtained by the position point searching module 120. After the current preset position point is reached, the judgment module 140 judges whether the current preset position point is a charging station, if not, the current preset position point is searched and moved to a preset position point with a higher priority than the current position point, and then whether the preset position point is a charging station is judged, the steps are repeated in a circulating manner until the current position point is judged to be the charging station, and the charging station is in butt joint with the charging station to charge, so that the whole charging regression process is completed. The automatic walking equipment is high in efficiency during return charging, and a return charging path cannot be found due to the fact that the automatic walking equipment meets an obstacle.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A regression charging method is characterized by comprising the following steps:
when detecting that the energy of the automatic walking equipment is lower than a certain preset threshold value in the process that the automatic walking equipment works in a preset working range, controlling the automatic walking equipment to return to a charging station for charging from a current working position point;
calculating a preset position point closest to the current position point according to the current position point, wherein the preset position point is a preset fixed position point; the preset position points are sequentially passed through by the automatic walking equipment and are pre-stored in the automatic walking equipment; moving to the preset position point;
and judging whether the preset position points are charging stations or not, if not, searching and moving to adjacent preset position points with higher priority than the current preset position points, and forming a barrier-free path by connecting lines between every two adjacent preset position points.
2. The regression charging method according to claim 1, wherein the step of calculating a preset position point closest to the current position point from the current position point further comprises an initialization setting step.
3. The regression charging method according to claim 2, wherein the initialization setting step is:
the charging station is located at one of the preset position points, and the priority of the preset position point closer to the charging station is higher.
4. A regression charging method according to claim 3, wherein said preset position points are numbered in order according to priority.
5. The regression charging method according to claim 1, wherein in the step of calculating the closest preset position point to the current position point from the current position point, the closest preset position point is calculated by:
and calculating the shortest distance that the current position point can reach each preset position point, comparing the shortest distances, and setting the preset position point closest to the current position point as the preset position point with the smallest shortest distance.
6. The regression charging method as claimed in claim 1, wherein said step of determining whether said predetermined location point is a charging station, if not, searching and moving to a predetermined location point with a higher priority than the current predetermined location point, and if said predetermined location point is a charging station, stopping walking and charging with a charging station.
7. An automated walking device, comprising:
the charging station regression module is used for controlling the automatic walking equipment to return to a charging station for charging from a current working position point under the condition that the energy of the automatic walking equipment is detected to be lower than a certain preset threshold value, and the automatic walking equipment works within a preset working range;
the position point searching module is used for calculating a preset position point closest to the current position point according to the current position point; the preset position points are sequentially passed through by the automatic walking equipment and are pre-stored in the automatic walking equipment;
the walking module is used for driving the automatic walking equipment to move from the current position point to the preset position point obtained by the position point searching module;
and the judging module is used for judging whether the current preset position point is a charging station or not, if not, searching and moving to an adjacent preset position point with higher priority than the current position point, and a connecting line between every two adjacent preset position points forms an obstacle-free path.
8. The automated walking device of claim 7, further comprising an initialization setup module.
9. The automated walking device of claim 8, wherein the initialization setting module is:
the charging station comprises a presetting module and a control module, wherein the presetting module is used for presetting corresponding presetting position points which can reach the charging station, the number of the presetting position points is at least two, the charging station is positioned on one of the presetting position points, and the priority of the presetting position point which is closer to the charging station is higher.
10. The device for automatically walking according to claim 7, wherein the method for calculating the preset position point nearest to the current position point in the position point searching module is as follows:
and calculating the shortest distance that the current position point can reach each preset position point, comparing the shortest distances, and setting the preset position point closest to the current position point as the preset position point with the smallest shortest distance.
11. The device of claim 7, wherein when the determination module determines that the predetermined location point is a charging station, the device stops walking and is docked with the charging station for charging.
12. An autonomous walking device comprising a memory and a processor, said memory storing a computer program, characterized in that the processor realizes the steps of the method according to any of claims 1 to 6 when executing said computer program.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| CN111743450B (en) * | 2019-03-26 | 2021-06-08 | 速感科技（北京）有限公司 | Recharging method for movable device and movable device |
| CN110083152A (en) * | 2019-04-08 | 2019-08-02 | 浙江亚特电器有限公司 | More lawn working methods for intelligent grass-removing |
| CN112445221B (en) * | 2019-09-04 | 2023-11-03 | 宝时得科技（中国）有限公司 | Automatic working system and regression method |
| CN111694360B (en) * | 2020-06-22 | 2021-12-03 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN114601373B (en) * | 2021-10-18 | 2023-07-04 | 北京石头世纪科技股份有限公司 | Control method and device of cleaning robot, cleaning robot and storage medium |
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