CN111273648B - Automatic walking equipment and control method thereof - Google Patents

Automatic walking equipment and control method thereof Download PDF

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Publication number
CN111273648B
CN111273648B CN201811377411.7A CN201811377411A CN111273648B CN 111273648 B CN111273648 B CN 111273648B CN 201811377411 A CN201811377411 A CN 201811377411A CN 111273648 B CN111273648 B CN 111273648B
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walking
automatic walking
automatic
equipment
walking equipment
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CN111273648A (en
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周昶
刘芳世
周志伟
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Priority to PCT/CN2019/116171 priority patent/WO2020103696A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means

Abstract

The present disclosure relates to an automatic walking apparatus and a control method thereof. The method comprises the following steps: detecting whether an enabled satellite positioning component exists in the automatic walking equipment; when the started satellite positioning component exists, working in a first working mode, planning a walking path of the automatic walking equipment and controlling the walking of the automatic walking equipment according to boundary information and a positioning position of the satellite positioning component; and when the started satellite positioning assembly does not exist, working in a second working mode, planning the walking path of the automatic walking equipment according to the area setting data and the inertia data of the inertia measurement assembly, and controlling the walking of the automatic walking equipment. According to the embodiment of the disclosure, the working mode can be switched according to whether the enabled satellite positioning assembly exists or not, and the automatic walking equipment is positioned through the satellite positioning assembly or the inertia measurement assembly, so that the automatic walking equipment can automatically work in a given area, and the use convenience of a user is improved.

Description

Automatic walking equipment and control method thereof
Technical Field
The disclosure relates to the field of automatic working systems, in particular to automatic walking equipment and a control method thereof.
Background
With the development of scientific technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can execute preset related tasks based on an automatic preset program and does not need manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial application and household products. The intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and home life.
In practical applications, it is often necessary to locate the self-propelled device. When adopting the GPS mode to fix a position, not only with automatic walking equipment and GPS module design as an organic whole with high costs, just can not independently operate when lacking the GPS module moreover, the cost is higher, can't satisfy the location demand of automatic walking equipment during independently operating.
Disclosure of Invention
In view of this, the present disclosure provides an automatic walking device and a control method thereof.
According to an aspect of the present disclosure, there is provided a control method of an automatic walking device, the method including: detecting whether an enabled satellite positioning component exists in the automatic walking equipment;
when the enabled satellite positioning component exists in the automatic walking equipment, controlling the automatic walking equipment to work in a first working mode, wherein in the first working mode, according to boundary information from the satellite positioning component and the positioning position of the satellite positioning component, planning a walking path of the automatic walking equipment and controlling the automatic walking equipment to walk;
and when the enabled satellite positioning component does not exist in the automatic walking equipment, controlling the automatic walking equipment to work in a second working mode, wherein in the second working mode, according to the area setting data and the inertia data of the inertia measurement component, planning the walking path of the automatic walking equipment and controlling the automatic walking equipment to walk.
In one possible implementation, controlling the autonomous walking device to operate in a first operation mode when the enabled satellite positioning component exists in the autonomous walking device includes: obtaining boundary information of a working area of the automatic walking device from the satellite positioning component; planning a walking path of the automatic walking equipment according to the boundary information; and controlling the automatic walking equipment to walk according to the walking path according to the positioning position of the satellite positioning assembly.
In one possible implementation, when the enabled satellite positioning component is not present in the autonomous walking device, controlling the autonomous walking device to operate in a second operation mode includes: determining boundary information of a working area of the automatic walking equipment according to area setting data; planning a walking path of the automatic walking equipment according to the boundary information; and controlling the automatic walking equipment to walk according to the walking path according to the inertia data from the inertia measurement assembly.
In one possible implementation, obtaining boundary information of a working area of the autonomous walking device from the satellite positioning component includes: acquiring GPS data of a satellite and correction data transmitted by a base station through a satellite positioning component; determining a positioning position of the satellite positioning assembly according to the GPS data and the correction data; and determining boundary information of the working area according to a plurality of positioning positions of the satellite positioning assembly in a mode for determining the working area of the automatic walking equipment.
In one possible implementation manner, the area setting data includes identifications of a plurality of boundary points defining a boundary of the working area and distances between the plurality of boundary points, and determining boundary information of the working area of the automatic walking device according to the area setting data includes:
determining the positions of the boundary points according to the identifications of the boundary points and the distances among the boundary points; and determining the boundary information of the working area according to the positions of the boundary points.
In a possible implementation manner, the boundary information includes positions of a plurality of boundary points, the plurality of boundary points includes at least a start point and a first target point, the position of the start point is an initial position of the automatic walking device, and planning a walking path of the automatic walking device according to the working area includes:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction; determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the boundary points; and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
In a possible implementation manner, the determining a walking distance of the automatic walking device in a walking direction according to the positions of the boundary points includes:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
In one possible implementation manner, controlling the automatic walking device to walk according to the walking path according to the inertia data from the inertia measurement component includes: controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data; controlling the automatic walking equipment to retreat by a target distance; and controlling the automatic walking equipment to rotate to a target direction, wherein the target direction is parallel to a walking direction before the automatic walking equipment reaches the boundary of the working area.
In one possible implementation manner, when the enabled satellite positioning component exists in the automatic walking device, controlling the automatic walking device to operate in a first operation mode further includes: when the automatic walking equipment meets a return condition, determining a return path of the automatic walking equipment according to the positioning position of the satellite positioning component and the position of a target point; and controlling the automatic walking equipment to walk according to the return path so as to enable the automatic walking equipment to return to the position of the target point.
In one possible implementation manner, when the enabled satellite positioning component is not present in the autonomous walking device, controlling the autonomous walking device to operate in the second operation mode further includes: when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data; determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment; and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
In one possible implementation manner, determining the current positioning position and orientation of the automatic walking device according to the inertial data includes: determining the current total travel of the automatic walking equipment according to the inertia data; and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
According to another aspect of the present disclosure, there is provided an automatic walking apparatus including: an apparatus main body; a satellite positioning unit detachably mountable to the apparatus main body, wherein the satellite positioning unit transmits, to a control unit, positions of a plurality of boundary points of a work area of the autonomous traveling apparatus and/or a positioning position of the satellite positioning unit when the satellite positioning unit is mounted to the apparatus main body and activated; a control component configured to:
detecting whether an enabled satellite positioning component exists in the automatic walking equipment;
when the enabled satellite positioning component exists in the automatic walking equipment, controlling the automatic walking equipment to work in a first working mode, wherein in the first working mode, according to boundary information from the satellite positioning component and the positioning position of the satellite positioning component, planning a walking path of the automatic walking equipment and controlling the automatic walking equipment to walk;
and when the enabled satellite positioning component does not exist in the automatic walking equipment, controlling the automatic walking equipment to work in a second working mode, wherein in the second working mode, according to the area setting data and the inertia data of the inertia measurement component, planning the walking path of the automatic walking equipment and controlling the automatic walking equipment to walk.
In one possible implementation, controlling the autonomous walking device to operate in a first operation mode when the enabled satellite positioning component exists in the autonomous walking device includes: obtaining boundary information of a working area of the automatic walking device from the satellite positioning component; planning a walking path of the automatic walking equipment according to the boundary information; and controlling the automatic walking equipment to walk according to the walking path according to the positioning position of the satellite positioning assembly.
In a possible implementation manner, the automatic walking device further includes a communication component for receiving communication information from a terminal, where the communication information includes area setting data, and when there is no enabled satellite positioning component in the automatic walking device, controlling the automatic walking device to operate in a second operation mode includes: determining boundary information of a working area of the automatic walking equipment according to area setting data; planning a walking path of the automatic walking equipment according to the boundary information; and controlling the automatic walking equipment to walk according to the walking path according to the inertia data from the inertia measurement assembly.
In one possible implementation, obtaining boundary information of a working area of the autonomous walking device from the satellite positioning component includes: acquiring GPS data of a satellite and correction data transmitted by a base station through a satellite positioning component; determining a positioning position of the satellite positioning assembly according to the GPS data and the correction data; and determining boundary information of the working area according to a plurality of positioning positions of the satellite positioning assembly in a mode for determining the working area of the automatic walking equipment.
In one possible implementation manner, the area setting data includes identifications of a plurality of boundary points defining a boundary of the working area and distances between the plurality of boundary points, and determining boundary information of the working area of the automatic walking device according to the area setting data includes: determining the positions of the boundary points according to the identifications of the boundary points and the distances among the boundary points; and determining the boundary information of the working area according to the positions of the boundary points.
In a possible implementation manner, the boundary information includes positions of a plurality of boundary points, the plurality of boundary points includes at least a start point and a first target point, the position of the start point is an initial position of the automatic walking device, and planning a walking path of the automatic walking device according to the working area includes: determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction; determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the boundary points; and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
In a possible implementation manner, the determining a walking distance of the automatic walking device in a walking direction according to the positions of the boundary points includes: and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
In one possible implementation manner, controlling the automatic walking device to walk according to the walking path according to the inertia data from the inertia measurement component includes: controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data; controlling the automatic walking equipment to retreat by a target distance; and controlling the automatic walking equipment to rotate to a target direction, wherein the target direction is parallel to a walking direction before the automatic walking equipment reaches the boundary of the working area.
In one possible implementation manner, when the enabled satellite positioning component exists in the automatic walking device, controlling the automatic walking device to operate in a first operation mode further includes: when the automatic walking equipment meets a return condition, determining a return path of the automatic walking equipment according to the positioning position of the satellite positioning component and the position of a target point; and controlling the automatic walking equipment to walk according to the return path so as to enable the automatic walking equipment to return to the position of the target point.
In one possible implementation manner, when the enabled satellite positioning component is not present in the autonomous walking device, controlling the autonomous walking device to operate in the second operation mode further includes: when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data; determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment; and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
In one possible implementation manner, determining the current positioning position and orientation of the automatic walking device according to the inertial data includes: determining the current total travel of the automatic walking equipment according to the inertia data; and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
According to the automatic walking device and the control method thereof in the aspects of the present disclosure, it is possible to detect whether an enabled satellite positioning component exists in the automatic walking device; when the enabled satellite positioning component exists, the automatic walking equipment works in a first working mode, and the walking path of the automatic walking equipment is planned and controlled to walk according to the boundary information and the positioning position of the satellite positioning component; and when the enabled satellite positioning assembly does not exist, working in a second working mode, planning the walking path of the automatic walking equipment according to the area setting data and the inertia data of the inertia measurement assembly, and controlling the walking of the automatic walking equipment. According to the embodiment of the disclosure, the working mode can be switched according to whether the enabled satellite positioning assembly exists or not, and the automatic walking equipment is positioned through the satellite positioning assembly or the inertia measurement assembly, so that the automatic walking equipment can automatically work in a given area, and the use convenience of a user is improved.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates a schematic diagram of an exemplary application environment of an automated walking device in accordance with an embodiment of the present disclosure.
Fig. 2 shows a flow chart of the configuration of a control component of an automated walking device according to an embodiment of the present disclosure.
Fig. 3 shows a block diagram of an automated walking device in accordance with an embodiment of the present disclosure.
Fig. 4a shows a schematic view of an automated walking device according to an embodiment of the present disclosure.
Figure 4b shows a schematic diagram of a satellite positioning assembly according to an embodiment of the present disclosure.
Fig. 5a and 5b show schematic diagrams of a positioning process of a satellite positioning assembly according to an embodiment of the disclosure.
Fig. 6 shows a schematic view of a working area of an automated walking device according to an embodiment of the present disclosure.
Fig. 7a, 7b, and 7c are schematic diagrams illustrating a turning process of an automatic walking device according to an embodiment of the present disclosure.
Fig. 8 shows a schematic diagram of a regression process of an automated walking device according to an embodiment of the present disclosure.
Fig. 9 shows a schematic diagram of a changed work area of an automated walking device according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
FIG. 1 illustrates a schematic diagram of an exemplary application environment of an automated walking device in accordance with an embodiment of the present disclosure. In one exemplary application environment, as shown in fig. 1, a self-propelled device 10 according to an embodiment of the present disclosure may be, for example, a snow plow, and the self-propelled device 10 may be self-propelled within a work area 30 within a boundary 50 to sweep snow located on a surface of the work area 30.
Fig. 2 shows a flowchart of a control method of an automatic walking device according to an embodiment of the present disclosure. As shown in fig. 2, in one possible implementation, the method includes:
in step S11, detecting whether an enabled satellite positioning component exists in the automatic walking device;
in step S12, when the enabled satellite positioning component exists in the automatic traveling device, controlling the automatic traveling device to operate in a first operating mode, wherein in the first operating mode, a traveling path of the automatic traveling device is planned and the automatic traveling device is controlled to travel according to boundary information from the satellite positioning component and a positioning position of the satellite positioning component;
in step S13, when the enabled satellite positioning component does not exist in the automatic traveling device, the automatic traveling device is controlled to operate in a second operation mode, wherein in the second operation mode, the traveling path of the automatic traveling device is planned and the automatic traveling device is controlled to travel according to the area setting data and the inertial data of the inertial measurement component.
According to the embodiment of the disclosure, the working mode can be switched according to whether the enabled satellite positioning assembly exists or not, and the automatic walking equipment is positioned through the satellite positioning assembly or the inertia measurement assembly, so that the automatic walking equipment can automatically work in a given area, and the use convenience of a user is improved.
Fig. 3 shows a block diagram of an automated walking device in accordance with an embodiment of the present disclosure. As shown in fig. 3, the automatic walking device 10 includes: the device comprises a device body 11, a satellite positioning component 12, an inertia measurement component 13 and a control component 14.
Wherein the satellite positioning component 12 is detachably mountable to the apparatus main body, wherein the satellite positioning component, when mounted to the apparatus main body and activated, transmits to the control component the positions of the plurality of boundary points of the working area of the autonomous walking apparatus and/or the positioning position of the satellite positioning component. The inertial measurement component 13 may include inertial sensors comprised of gyroscopes, accelerometers, odometers, etc., for acquiring inertial data of the self-propelled device.
Fig. 4a shows a schematic view of an automated walking device according to an embodiment of the present disclosure. Figure 4b shows a schematic diagram of a satellite positioning assembly according to an embodiment of the present disclosure.
For example, the self-propelled device 10 may be a robotic lawnmower, a robotic snowplow, a robotic sweeper, or the like, which is capable of automatic operation. As shown in fig. 4a, wheels, tracks, or the like may be provided on the apparatus body 11 of the automatic walking apparatus 10 so as to walk in the work area. The satellite positioning module 12 can be detachably attached to the apparatus main body 11.
In one possible implementation, when the self-propelled device is started, it may be detected whether an enabled satellite positioning component is present in the self-propelled device. If an enabled satellite positioning component is present, operation can be in a first mode of operation. In the first working mode, the automatic walking equipment can acquire boundary information of the satellite positioning assembly and a positioning position of the satellite positioning assembly.
In one possible implementation, step S12 may include:
boundary information of a working area of the automatic walking equipment is obtained from the satellite positioning assembly;
planning a walking path of the automatic walking equipment according to the boundary information;
and controlling the automatic walking equipment to walk according to the walking path according to the positioning position of the satellite positioning assembly.
For example, as shown in FIG. 4b, the satellite positioning component 12 may include: housing 121, GPS module 122, interface 123, battery 124 and communication module, processing module, etc. The satellite positioning component 12 can realize positioning of the satellite positioning component itself through an RTK (Real Time Kinematic) unit (RTK board) in the GPS module 122, and is installed to the device main body 11 of the automatic traveling device through the interface 123, and communicates with the automatic traveling device.
In one possible implementation, the step of obtaining boundary information of the working area of the autonomous walking device from the satellite positioning component may comprise:
acquiring GPS data of a satellite and correction data transmitted by a base station through a satellite positioning component;
determining the positioning position of the satellite positioning assembly according to the GPS data and the correction data;
boundary information of the work area is determined from a plurality of positioning positions of the satellite positioning assembly while in a mode for determining the work area of the autonomous walking device.
In a specific embodiment, the satellite positioning component receives the correction data transmitted by the base station through the communication module, receives the satellite signal transmitted by the satellite through the GPS module, and calculates the positioning position of the satellite positioning component 12 by combining the satellite signal and the correction data through the processing module.
Fig. 5a and 5b show schematic diagrams of a positioning process of a satellite positioning assembly according to an embodiment of the disclosure. As shown in fig. 5a and 5b, a GPS base station (e.g., a GPS receiver) may be provided at a boundary point (start point) of the work area. The GPS module of the satellite positioning component 12 is used to obtain GPS data of satellites and correction data transmitted by GPS base stations.
For example, based on the GPS data and the correction data, a carrier phase difference between GPS coordinates observed by the base station and a known point (starting point) can be obtained using RTK techniques (for determining a distance between the satellite positioning assembly and the known point), and a positioning position of the satellite positioning assembly can be determined based on the carrier phase difference and a position of the starting point.
In one possible implementation, in a mode in which the satellite positioning component is not mounted on the device body and is enabled to operate in the working area for determining the working area of the autonomous walking device, a user can hold the satellite positioning component in hand or place the satellite positioning component on a movable device (such as a trolley) or the like, and control the satellite positioning component to move along the boundary of the working area of the autonomous walking device (as shown in fig. 5 a). During the movement, the satellite positioning component can determine and record the positioning position (a plurality of positioning positions in the first mode) of the satellite positioning component according to the signal of the GPS base station so as to determine the positions of a plurality of boundary points of the working area, thereby determining the boundary information of the working area. When installed in the device body, the satellite positioning component may transmit the boundary information to the self-propelled device, wherein the plurality of boundary points may include positioning coordinate points of the external boundary and the obstacle area, and the like.
In one possible implementation, when the satellite positioning assembly is mounted to the device body and activated (as shown in fig. 5 b), the satellite positioning assembly may send to the control assembly 14 the boundary information of the work area (the position of the plurality of boundary points) and/or the positioning position of the satellite positioning assembly to enable the autonomous walking device to determine the work area or to determine its own positioning position.
Because the detachable satellite positioning assembly is easy to detach and carry, the convenience of a user in the using process can be improved by the mode of determining the boundary of the working area through the satellite positioning assembly.
Fig. 6 shows a schematic view of a working area of an automated walking device according to an embodiment of the present disclosure. As shown in fig. 6, the boundary information of the working area includes positions of a plurality of boundary points, which may include a start point O and three inflection points A, B, C (i.e., a first target point a, a second target point B, and a third target point C) with respect to the start point O. The starting point O and the inflection point A, B, C together define the extent of the operating region.
In a possible implementation manner, the plurality of boundary points (inflection points) at least include a starting point O and a first target point a, and the position of the starting point O is an initial position of the automatic walking device.
Wherein, according to the working area, the step of planning the walking path of the automatic walking device may include:
determining a walking direction of the automatic walking equipment according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the boundary points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
For example, as shown in fig. 6, the first connection OA may be determined according to the position of the start point O and the position of the first target point a. The direction parallel to the first connection line OA may be set to a first direction and a second direction (the first direction is opposite to the second direction), such as the directions of the upward arrow and the downward arrow in fig. 6.
In a possible implementation manner, a rectangular coordinate system may be established with a straight line where the first connection line OA is located as a y-axis, so that the coordinates of the starting point O are (0,0), and further, relative position coordinates of a plurality of inflection points (the first target point a, the second target point B, and the third target point C) may be obtained. From the positions (relative position coordinates) of the plurality of inflection points, the walking distance of the automatic walking device in the walking direction can be determined.
In one possible implementation manner, the step of determining the walking distance of the automatic walking device in the walking direction according to the positions of a plurality of boundary points (inflection points) may include:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
For example, as shown in fig. 6, according to the starting point O, the first target point a, the second target point B and the third target point C, the second connection line AB, the third connection line OC and the fourth connection line BC can be determined, so that the first slope L of the second connection line AB can be respectively determined according to the relative position coordinates of each inflection pointABA second slope L of the third line OCOCAnd a third slope L of a fourth connection line between the second target point and the third target pointBC. According to a first slope LABA second slope LOCAnd a third slope LBCThe walking distance d of the automatic walking device in the vertical first direction and the vertical second direction can be respectively determined1、d2、……、dn. And n is the total number of the walking paths of the automatic walking equipment in the vertical direction.
In a possible implementation manner, in order to ensure that the automatic walking device can completely cover the whole working area, the walking distance d of the ith path in the vertical direction can be enabledi(i is an integer between 1 and n) is suitably out of the range of the working area. As shown in FIG. 6, when AB is monotonically decreasing, OC is monotonically decreasing (i.e., the first slope LABAnd a second slope LOCAll less than 0), the walking distance diCan be expressed as:
Figure BDA0001871113650000141
wherein the content of the first and second substances,
Figure BDA0001871113650000142
may represent the ordinate of the intersection point of the ith path with the second line AB,
Figure BDA0001871113650000143
can represent the ith path and the third line OThe ordinate of the intersection point of C,
Figure BDA0001871113650000144
may represent the ordinate of the intersection point of the (i-1) th path with the second connection AB,
Figure BDA0001871113650000145
the ordinate of the intersection point of the (i + 1) th path and the third line OC can be represented.
In one possible implementation, as AB monotonically decreases, OC monotonically increases (i.e., the first slope LABLess than 0, second slope LOCGreater than 0), the walking distance diCan be expressed as:
Figure BDA0001871113650000146
wherein the content of the first and second substances,
Figure BDA0001871113650000147
the ordinate of the intersection point of the (i-1) th path and the third line OC can be represented.
In one possible implementation, as AB monotonically increases, OC monotonically increases (i.e., the first slope LABAnd a second slope LOCAll are greater than 0), the walking distance diCan be expressed as:
Figure BDA0001871113650000148
wherein the content of the first and second substances,
Figure BDA0001871113650000149
the ordinate of the intersection point of the (i + 1) th path and the second line AB can be represented.
In one possible implementation, as AB monotonically increases, OC monotonically decreases (i.e., the first slope LABGreater than 0, second slope LOCLess than 0), the walking distance diCan be expressed as:
Figure BDA00018711136500001410
therefore, the walking distances of the automatic walking equipment in the first direction and the second direction can be respectively determined, and the automatic walking equipment can completely cover the whole working area.
According to the walking distance in the walking direction (the walking distance d in the vertical first direction and the second direction)1、d2、……、dn) The path of travel of the autonomous walking device in the work area (e.g., the path shown by the dashed arrow in fig. 6) may be planned to ensure complete coverage of the entire work area.
In a possible implementation manner, the control component can control the automatic walking equipment to walk according to the walking path according to the positioning position of the satellite positioning component, so that the operation of the whole working area is realized. When the automatic walking equipment completes the operation aiming at the working area, the walking track of the automatic walking equipment completely covers the working area.
By the mode, the walking path planning of the automatic walking equipment can be realized, the automatic walking equipment is ensured to completely cover the whole working area, and the automatic operation in the given area is realized.
In one possible implementation, when the automated walking device is activated, the device may operate in the second mode of operation if the enabled satellite positioning component is not detected. In the second working mode, the walking path of the automatic walking equipment can be planned and the automatic walking equipment can be controlled to walk according to the area setting data and the inertia data of the inertia measurement assembly, so that the convenience and the flexibility of the user are improved.
The inertial measurement unit 13 may include an inertial sensor, such as a gyroscope, an accelerometer, and a odometer, for acquiring inertial data of the automatic walking device.
In one possible implementation, step S13 may include:
determining boundary information of a working area of the automatic walking equipment according to the area setting data;
planning a walking path of the automatic walking equipment according to the boundary information;
and controlling the automatic walking equipment to walk according to the walking path according to the inertia data from the inertia measurement assembly.
For example, in the second operation mode, the automatic walking device may read the area setting data pre-stored in itself, or receive communication information from the terminal through a communication component (not shown), where the communication information includes the area setting data.
In one possible implementation manner, the communication component may include a wireless communication module such as WIFI or bluetooth, and is configured to communicate with a terminal (e.g., a smart phone, a tablet computer, or the like), and receive communication information from the terminal, where the communication information includes the area setting data. The user can set the range of the working area through an application interface in the terminal, so that the automatic walking equipment can autonomously work in the given area range.
In one possible implementation, the region setting data may include an identification of a plurality of boundary points (inflection points) defining a boundary of the work region and distances between the plurality of boundary points (inflection points), for example, a line drawn in the application interface by a user may be taken as the boundary of the work region, and the identification of the plurality of inflection points and the distances between the plurality of inflection points on the boundary may be determined.
In one possible implementation, the step of determining boundary information of the working area of the automatic walking device according to the area setting data may include: determining the positions of the boundary points according to the identifications of the boundary points and the distances among the boundary points;
and determining the boundary information of the working area according to the positions of the boundary points.
As shown in fig. 6, the boundary points (inflection points) of the working area may include a start point O and three inflection points A, B, C (i.e., a first target point a, a second target point B, and a third target point C) with respect to the start point O. The starting point O and the inflection point A, B, C together define the extent of the operating region. When the communication component of the automatic walking device receives the region setting data (the identification of the multiple inflection points of the boundary and the actual distance between the multiple inflection points) of the terminal, the boundary information of the working region can be determined. Wherein the actual distance may be determined by an interface distance on the terminal interface between the plurality of inflection points and a ratio between the interface distance and the actual distance.
After the work area is determined, a walking path of the automatic walking device can be planned according to the work area. The walking path planning process may be the same as the path planning process described above, and a description thereof will not be repeated.
In a possible implementation manner, the control component may control the automatic walking device to walk according to the walking path according to the inertial data of the inertial measurement component (including the odometer and the gyroscope), so as to implement the operation of the whole working area. Wherein, the automatic walking equipment can adopt the track structure to reduce the road surface unevenness and the automatic walking equipment and skid the error that leads to the odometer, and use the gyroscope to make the robot walk parallel line. When the automatic walking equipment completes the operation aiming at the working area, the walking track of the automatic walking equipment completely covers the working area.
By the aid of the mode, walking path planning of the automatic walking equipment and automatic operation in a given area can be achieved under the condition that the satellite positioning assembly is lost, the use cost of a user is reduced, and the use flexibility of the automatic walking equipment is improved.
Fig. 7a, 7b, and 7c are schematic diagrams illustrating a turning process of an automatic walking device according to an embodiment of the present disclosure.
In one possible implementation, the step of controlling the automatic walking device to walk according to the walking path according to the inertia data from the inertia measurement assembly may include:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of a working area according to the inertia data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is different from a traveling direction of the automatic traveling apparatus before reaching the boundary of the working area.
For example, as shown in fig. 7a, the automatic walking apparatus may walk by means of crawler tracks. The adoption of the crawler belt structure can reduce the errors of the odometer caused by uneven road surface and slippage. When the automatic traveling apparatus reaches the boundary of the working area and needs to turn, in order to prevent sundries (such as snow during snow throwing work) in the working area of the automatic traveling apparatus from being carried over to the working area when the automatic traveling apparatus turns, the turning operation can be performed as follows.
In one possible implementation, when the autonomous walking device reaches the boundary of the working area, the rotational target angle of the autonomous walking device may be controlled according to the inertial data. For example, the rotation to the left or right is performed by about 135 degrees with the center position of the lever connecting the two drive wheels as a rotation center. As shown in fig. 7b, the automatic walking device is rotated to the right from the dotted line position to the solid line position. The target angle may be, for example, 120-150 degrees, and the specific value of the target angle is not limited in the present disclosure.
In one possible implementation, as shown in fig. 7c, after rotating the target angle, the automatic walking device may be controlled to retreat by a target distance (e.g., fig. 7c retreats from the dashed line position to the solid line position), such as the length of 2/3 fuselage of the automatic walking device. The target distance may be 1/2 fuselage length to 1 fuselage length, and the specific value of the target distance is not limited in the present disclosure.
In one possible implementation, the autonomous walking device may be controlled to travel a distance and rotate into a target direction, wherein the target direction is parallel to the walking direction of the autonomous walking device before reaching the boundary of the work area. That is, the control component sends a forward command to the automatic walking device, and the automatic walking device is enabled to keep parallel to the walking direction before turning through the gyroscope. For example, if the traveling direction of the automatic traveling apparatus before reaching the boundary of the work area is a vertical first direction, the target direction may be a second direction parallel to the first direction.
When the satellite positioning component is used for positioning, the turning can also be performed in a similar manner, and the description is not repeated here.
By the mode, sundries in the working area can be prevented from being brought to the working area in the turning process of the automatic walking equipment, and the working effect is improved.
Fig. 8 shows a schematic diagram of a regression process of an automated walking device according to an embodiment of the present disclosure.
In one possible implementation, step S12 may further include:
when the automatic walking equipment meets the returning condition, determining a returning path of the automatic walking equipment according to the positioning position of the satellite positioning component and the position of the target point;
and controlling the automatic walking equipment to walk according to the return path so as to enable the automatic walking equipment to return to the position of the target point.
For example, during the operation of the automatic walking device, it may be necessary to return to a target point (the target point may be, for example, the location of a charging station, and may be the same as or different from the location of the starting point); or the user may wish to return to the automated walking device. At this time, it may be determined that the automatic walking device satisfies the return condition. The present disclosure is not limited to specific return conditions.
In one possible implementation, in the first operating mode, the autonomous walking device may be positioned by the satellite positioning assembly. In this case, a true position coordinate point (D point) at which to return may be determined from the positioning position of the satellite positioning component; the regression path (return path) can be found by using the a-x algorithm in combination with the coordinate points (positions of the starting points) of the known base stations and the currently constructed map. The present disclosure is not limited to the specific manner in which the regression path is calculated.
In one possible implementation manner, the automatic walking device may be controlled to walk according to the return path, so that the automatic walking device returns to the position of the target point, thereby implementing the return of the automatic walking device. After reaching the target point, the position state of the autonomous traveling apparatus may be adjusted to a target state, for example, the autonomous traveling apparatus may reach a charging station to be charged.
By the method, the automatic walking equipment can be positioned and controlled to automatically return through the satellite positioning assembly, and the use convenience of a user is improved.
In one possible implementation, step S13 may further include:
when the automatic walking equipment meets the return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
For example, during an automated walking device job, it may be desirable to return to the starting point O. In the second working mode, the current positioning position and orientation of the automatic walking equipment can be determined by positioning the automatic walking equipment through the inertial data.
In one possible implementation, determining the current location and orientation of the autonomous walking device according to the inertial data may include:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
In one possible implementation, the total travel of the automatic walking device walking may be determined by the amount of change of the odometer and the number of turns (e.g., the number of changes between the first direction and the second direction) based on the inertial data, so that the coordinates (x, y) at the position D where the automatic walking device is currently located are calculated based on the total travel, the walking distance in the walking direction, the walking distance during turning, the number of turns, and the distance between adjacent walking paths.
Figure BDA0001871113650000201
Figure BDA0001871113650000202
In equation (5), S may represent the total travel of the automatic walking device from the starting point to the position,
Figure BDA0001871113650000203
may represent the number of turns, T may represent the distance traveled while turning, W represents the width of the automatic traveling apparatus (distance between adjacent traveling paths), the traveling distance d of the ith path in the vertical directioni(i is
Figure BDA0001871113650000204
An integer therebetween),
Figure BDA0001871113650000205
can represent the first
Figure BDA0001871113650000206
The ordinate of the intersection point of the strip path with the third line OC,
Figure BDA0001871113650000207
can represent the first
Figure BDA0001871113650000208
The ordinate of the intersection point of the strip path and the second connection AB.
In one possible implementation, the rotation angle and the return distance of the automatic walking device are determined according to the position of the starting point O, the current positioning position D (coordinate (x, y)) and the orientation (vertical first direction or second direction) of the automatic walking device
Figure BDA0001871113650000211
In one possible implementation manner, the control component may control the automatic traveling device to rotate and travel according to the rotation angle and the return distance, so that the automatic traveling device returns to the position of the starting point O. After reaching the starting point O, the position state of the autonomous traveling apparatus may be adjusted to a target state, for example, the autonomous traveling apparatus may reach a charging station to be charged.
By the mode, automatic return of the automatic walking equipment can be controlled through inertial data positioning when the satellite positioning assembly is absent, and the use convenience of a user is improved.
Fig. 9 shows a schematic diagram of a changed work area of an automated walking device according to an embodiment of the present disclosure. In one possible implementation, the communication from the terminal includes a walk control instruction,
wherein, the method further comprises:
and controlling the automatic walking equipment to walk according to the walking control instruction.
For example, the automatic walking device can provide a manual control mode, and the automatic walking device is controlled to walk through the terminal. In this case, the communication information transmitted by the terminal may include a walking control instruction. When the walking control instruction is received, the control assembly can control the automatic walking equipment to walk according to the walking control instruction.
As shown in fig. 9, when the automatic walking device completes the operation in one working area and needs to reach another working area for operation, the user may switch the automatic walking device to a manual control mode to control the automatic walking device to pass through a narrow passage between the two working areas. When the automatic walking device reaches another working area, the user can control the automatic walking device to move to the starting point O' of the other working area, and the automatic walking device is switched back to the automatic working mode. The automatic walking equipment can establish a new coordinate system (x ', y') and plan a walking path according to the inflection points O ', A', B 'and C' of the working area, thereby realizing the operation of the working area.
In one possible implementation, a prompt (e.g., a flashing or the like or a prompt tone or the like) may also be issued to the user when the automated walking device satisfies a return condition (e.g., insufficient power). The user can switch the automatic walking equipment into a manual control mode, and the automatic walking equipment is controlled to return to the starting point or the position of the charging station, so that the return of the automatic walking equipment is realized.
By the mode, the flexibility of the automatic walking equipment during operation can be improved, and the operation efficiency is improved.
According to the control method of the automatic walking equipment, whether the started satellite positioning assembly exists in the automatic walking equipment can be detected; when the enabled satellite positioning component exists, the automatic walking equipment works in a first working mode, and the walking path of the automatic walking equipment is planned and controlled to walk according to the boundary information and the positioning position of the satellite positioning component; and when the started satellite positioning assembly does not exist, the automatic walking device works in a second working mode, and the walking path of the automatic walking device is planned and controlled to walk according to the area setting data and the inertia data of the inertia measurement assembly. According to the embodiment of the disclosure, the working mode can be switched according to whether the enabled satellite positioning assembly exists or not, and the automatic walking equipment is positioned through the satellite positioning assembly or the inertia measurement assembly, so that the automatic walking equipment can realize automatic operation in a given area. According to the embodiment of the disclosure, a user can decide whether to purchase the GPS satellite positioning assembly according to own requirements, so that the flexibility and the convenience of the user in use are improved, and the requirements of different consumers are met.
In one possible implementation, the present disclosure further provides an automatic walking device, including:
an apparatus main body;
the satellite positioning component can be detachably arranged on the equipment main body, and when the satellite positioning component is arranged on the equipment main body and started, the satellite positioning component sends the positions of a plurality of boundary points of the working area of the automatic walking equipment and/or the positioning position of the satellite positioning component to the control component;
the inertia measurement assembly is arranged on the equipment main body and used for acquiring inertia data of the automatic walking equipment;
and a control component.
In a possible implementation manner, the control component 14 of the automatic walking device 10 may be any processing component capable of performing data processing, such as a single chip, a CPU, an MPU, an FPGA, and the like, and the control component 14 may be implemented by a dedicated hardware circuit, or may be implemented by a general processing component in combination with executable logic instructions to perform the processing procedure of the control component 14.
In one possible embodiment, the automated walking device may further include a storage module (not shown) to store data generated by the control component 14, such as zone setting data, inertial data, and the like.
In one possible implementation, the control component 14 may be configured to:
detecting whether an enabled satellite positioning component exists in the automatic walking equipment;
when the enabled satellite positioning component exists in the automatic walking equipment, controlling the automatic walking equipment to work in a first working mode, wherein in the first working mode, according to boundary information from the satellite positioning component and the positioning position of the satellite positioning component, planning a walking path of the automatic walking equipment and controlling the automatic walking equipment to walk so as to finish autonomous operation of the whole working area;
and when the started satellite positioning assembly does not exist in the automatic walking equipment, controlling the automatic walking equipment to work in a second working mode, wherein in the second working mode, according to the area setting data and the inertia data of the inertia measurement assembly, planning the walking path of the automatic walking equipment and controlling the automatic walking equipment to walk so as to finish the autonomous operation of the whole working area.
In one possible implementation, controlling the autonomous walking device to operate in a first operation mode when the enabled satellite positioning component exists in the autonomous walking device includes:
boundary information of a working area of the automatic walking equipment is obtained from the satellite positioning assembly;
planning a walking path of the automatic walking equipment according to the boundary information;
and controlling the automatic walking equipment to walk according to the walking path according to the positioning position of the satellite positioning assembly.
In one possible implementation manner, the automatic walking device further comprises a communication component for receiving communication information from the terminal, wherein the communication information comprises area setting data,
when the enabled satellite positioning assembly does not exist in the automatic walking device, controlling the automatic walking device to work in a second working mode, wherein the method comprises the following steps:
determining boundary information of a working area of the automatic walking equipment according to the area setting data;
planning a walking path of the automatic walking equipment according to the boundary information;
and controlling the automatic walking equipment to walk according to the walking path according to the inertia data from the inertia measurement assembly.
In one possible implementation, obtaining boundary information of a working area of the autonomous walking device from the satellite positioning component includes:
acquiring GPS data of a satellite and correction data transmitted by a base station through a satellite positioning component;
determining the positioning position of the satellite positioning assembly according to the GPS data and the correction data;
boundary information of the work area is determined from a plurality of positioning positions of the satellite positioning assembly while in a mode for determining the work area of the autonomous walking device.
In one possible implementation, the zone setting data includes an identification of a plurality of boundary points defining boundaries of the working zone and distances between the plurality of boundary points,
wherein, confirm the boundary information of the working area of the automatic walking equipment according to the data of setting up the area, including:
determining the positions of the boundary points according to the identifications of the boundary points and the distances among the boundary points;
and determining the boundary information of the working area according to the positions of the boundary points.
In a possible implementation manner, the boundary information includes positions of a plurality of boundary points, the plurality of boundary points includes at least a starting point and a first target point, the position of the starting point is an initial position of the automatic walking device,
wherein, according to the work area, the walking route of planning automatic walking equipment includes:
determining a walking direction of the automatic walking equipment according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the boundary points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
In one possible implementation, the plurality of boundary points includes a starting point, a first target point, a second target point and a third target point,
wherein, according to the position of a plurality of boundary points, confirm the walking distance of automatic walking equipment on walking direction, include:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
In one possible implementation manner, the automatic walking device is controlled to walk according to the walking path according to the inertia data from the inertia measurement assembly, and the method comprises the following steps:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of a working area according to the inertia data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to the walking direction of the automatic walking device before reaching the boundary of the working area.
In one possible implementation manner, when the enabled satellite positioning component exists in the automatic walking device, the automatic walking device is controlled to operate in the first operation mode, and the method further includes:
when the automatic walking equipment meets the returning condition, determining a returning path of the automatic walking equipment according to the positioning position of the satellite positioning component and the position of the target point;
and controlling the automatic walking equipment to walk according to the return path so as to enable the automatic walking equipment to return to the position of the target point.
In one possible implementation manner, when the enabled satellite positioning component is not present in the autonomous walking device, controlling the autonomous walking device to operate in the second operation mode further includes:
when the automatic walking equipment meets the return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
In one possible implementation manner, determining the current positioning position and orientation of the automatic walking device according to the inertial data includes:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (20)

1. A method of controlling an automatic walking device, the method comprising:
detecting whether an enabled satellite positioning component exists in the automatic walking equipment;
when the enabled satellite positioning component exists in the automatic walking equipment, controlling the automatic walking equipment to work in a first working mode, wherein in the first working mode, the walking path of the automatic walking equipment is planned and the automatic walking equipment is controlled to walk according to boundary information of a working area of the automatic walking equipment and the positioning position of the satellite positioning component obtained by the satellite positioning component;
when the enabled satellite positioning component does not exist in the automatic walking equipment, controlling the automatic walking equipment to work in a second working mode, wherein in the second working mode, according to the boundary information of the working area determined by the area setting data and the inertia data of the inertia measurement component, the walking path of the automatic walking equipment is planned and the automatic walking equipment is controlled to walk,
the boundary information comprises positions of a plurality of boundary points, the boundary points at least comprise a starting point and a first target point, the position of the starting point is the initial position of the automatic walking equipment,
wherein, according to the work area, planning the walking path of the automatic walking equipment comprises:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the boundary points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
2. The method of claim 1, wherein controlling the autonomous walking device to operate in a first mode of operation when an enabled satellite positioning component is present in the autonomous walking device comprises:
obtaining boundary information of a working area of the automatic walking device from the satellite positioning component;
planning a walking path of the automatic walking equipment according to the boundary information;
and controlling the automatic walking equipment to walk according to the walking path according to the positioning position of the satellite positioning assembly.
3. The method of claim 1, wherein controlling the autonomous walking device to operate in a second mode of operation when no enabled satellite positioning component is present in the autonomous walking device comprises:
determining boundary information of a working area of the automatic walking equipment according to area setting data;
planning a walking path of the automatic walking equipment according to the boundary information;
and controlling the automatic walking equipment to walk according to the walking path according to the inertia data from the inertia measurement assembly.
4. The method of claim 2, wherein obtaining boundary information for the work area of the self-propelled device from the satellite positioning assembly comprises:
acquiring GPS data of a satellite and correction data transmitted by a base station through a satellite positioning component;
determining a positioning position of the satellite positioning assembly according to the GPS data and the correction data;
and determining boundary information of the working area according to a plurality of positioning positions of the satellite positioning assembly in a mode for determining the working area of the automatic walking equipment.
5. The method of claim 3, wherein the zone setting data includes an identification of a plurality of boundary points that define boundaries of the working zone and distances between the plurality of boundary points,
wherein, the determining the boundary information of the working area of the automatic walking equipment according to the area setting data comprises:
determining the positions of the boundary points according to the identifications of the boundary points and the distances among the boundary points;
and determining the boundary information of the working area according to the positions of the boundary points.
6. The method of claim 1, wherein the plurality of boundary points includes a start point, a first target point, a second target point, and a third target point,
wherein, according to the positions of the plurality of boundary points, determining the walking distance of the automatic walking equipment in the walking direction comprises:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
7. The method of claim 3, wherein controlling the autonomous walking device to walk along the walking path based on inertial data from an inertial measurement unit comprises:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to a walking direction of the automatic walking device before reaching the boundary of the working area.
8. The method of claim 2, wherein controlling the autonomous walking device to operate in a first mode of operation when an enabled satellite positioning component is present in the autonomous walking device, further comprising:
when the automatic walking equipment meets a return condition, determining a return path of the automatic walking equipment according to the positioning position of the satellite positioning component and the position of a target point;
and controlling the automatic walking equipment to walk according to the return path so as to enable the automatic walking equipment to return to the position of the target point.
9. The method of claim 3, wherein controlling the autonomous walking device to operate in a second mode of operation when the enabled satellite positioning component is not present in the autonomous walking device, further comprising:
when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
10. The method of claim 9, wherein determining the current location and orientation of the autonomous walking device from the inertial data comprises:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
11. An automatic walking device, characterized in that the automatic walking device comprises:
an apparatus main body;
a satellite positioning unit detachably mountable to the apparatus main body, wherein the satellite positioning unit transmits, to a control unit, positions of a plurality of boundary points of a work area of the autonomous traveling apparatus and/or a positioning position of the satellite positioning unit when the satellite positioning unit is mounted to the apparatus main body and activated;
the inertia measurement assembly is arranged on the equipment main body and used for acquiring inertia data of the automatic walking equipment;
a control component configured to:
detecting whether an enabled satellite positioning component exists in the automatic walking equipment;
when the enabled satellite positioning component exists in the automatic walking equipment, controlling the automatic walking equipment to work in a first working mode, wherein in the first working mode, the walking path of the automatic walking equipment is planned and the automatic walking equipment is controlled to walk according to boundary information of a working area of the automatic walking equipment and the positioning position of the satellite positioning component obtained by the satellite positioning component;
when the enabled satellite positioning component does not exist in the automatic walking equipment, controlling the automatic walking equipment to work in a second working mode, wherein in the second working mode, according to the boundary information of the working area determined by the area setting data and the inertia data of the inertia measurement component, the walking path of the automatic walking equipment is planned and the automatic walking equipment is controlled to walk,
the boundary information comprises positions of a plurality of boundary points, the boundary points at least comprise a starting point and a first target point, the position of the starting point is the initial position of the automatic walking equipment,
wherein, according to the work area, planning the walking path of the automatic walking equipment comprises:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the boundary points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
12. The self-propelled device of claim 11, wherein controlling the self-propelled device to operate in a first mode of operation when an enabled satellite positioning component is present in the self-propelled device comprises:
obtaining boundary information of a working area of the automatic walking device from the satellite positioning component;
planning a walking path of the automatic walking equipment according to the boundary information;
and controlling the automatic walking equipment to walk according to the walking path according to the positioning position of the satellite positioning assembly.
13. The automated walking device of claim 11, further comprising a communication component for receiving communication information from a terminal, the communication information including region setting data,
wherein, when the enabled satellite positioning component does not exist in the automatic walking device, controlling the automatic walking device to work in a second working mode comprises:
determining boundary information of a working area of the automatic walking equipment according to area setting data;
planning a walking path of the automatic walking equipment according to the boundary information;
and controlling the automatic walking equipment to walk according to the walking path according to the inertia data from the inertia measurement assembly.
14. The self-propelled device of claim 12, wherein obtaining boundary information for a work area of the self-propelled device from the satellite positioning assembly comprises:
acquiring GPS data of a satellite and correction data transmitted by a base station through a satellite positioning component;
determining a positioning position of the satellite positioning assembly according to the GPS data and the correction data;
and determining boundary information of the working area according to a plurality of positioning positions of the satellite positioning assembly in a mode for determining the working area of the automatic walking equipment.
15. The automated walking device of claim 13, wherein the region setting data includes an identification of a plurality of boundary points defining boundaries of the working region and distances between the plurality of boundary points,
wherein, the determining the boundary information of the working area of the automatic walking equipment according to the area setting data comprises:
determining the positions of the boundary points according to the identifications of the boundary points and the distances among the boundary points;
and determining the boundary information of the working area according to the positions of the boundary points.
16. The automated walking apparatus of claim 11, wherein the plurality of boundary points comprises a starting point, a first target point, a second target point and a third target point,
wherein, according to the positions of the plurality of boundary points, determining the walking distance of the automatic walking equipment in the walking direction comprises:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
17. The automated walking device of claim 13, wherein controlling said automated walking device to walk according to said walking path based on inertial data from an inertial measurement unit comprises:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to a walking direction of the automatic walking device before reaching the boundary of the working area.
18. The self-propelled device of claim 12, wherein controlling the self-propelled device to operate in a first mode of operation when an enabled satellite positioning component is present in the self-propelled device further comprises:
when the automatic walking equipment meets a return condition, determining a return path of the automatic walking equipment according to the positioning position of the satellite positioning component and the position of a target point;
and controlling the automatic walking equipment to walk according to the return path so as to enable the automatic walking equipment to return to the position of the target point.
19. The self-propelled device of claim 13, wherein controlling the self-propelled device to operate in a second mode of operation when the enabled satellite positioning component is not present in the self-propelled device further comprises:
when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
20. The automated walking device of claim 19, wherein determining the current location and orientation of the automated walking device from the inertial data comprises:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
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