CN111487982A - Self-propelled power equipment and recharge path planning method thereof - Google Patents
Self-propelled power equipment and recharge path planning method thereof Download PDFInfo
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Abstract
The invention provides self-propelled power equipment and a recharge path planning method of the self-propelled power equipment, wherein the method comprises the following steps of: s1, acquiring a virtual working area diagram corresponding to the working area of the self-propelled power equipment; s2, acquiring virtual positions of the self-propelled power equipment and the charging station on the virtual work area diagram according to the actual positions of the self-propelled power equipment and the charging station; and S3, planning an X-axis direction path by taking the virtual position of the charging station as a starting point and planning a Y-axis direction path by taking the virtual position of the self-propelled power equipment as a starting point, and obtaining a recharge path when the X-axis direction path and the Y-axis direction path are intersected. Due to the arrangement, a recharging path is planned during recharging, so that obstacles in a working area are effectively avoided, and the self-propelled power equipment is prevented from consuming electric quantity before returning to a charging station; through planning shorter recharging route, reduce the recharging amount that needs to reserve, save recharging time, and then increased intelligent lawn mower's operating time.
Description
Technical Field
The invention relates to self-propelled power equipment and a back-charging path planning method of the self-propelled power equipment.
Background
With the progress of science and technology, intelligent robots are applied more and more widely in industry and life, for example, cleaning robots such as intelligent floor sweepers and intelligent dust collectors, and garden robots such as intelligent lawn mowers. Such a smart robot generally includes a main body, a mobile device for walking, a working device for performing work, and a battery pack for supplying electric power to the mobile device and the working device.
In order to adapt to a large-area operation area, a charging station matched with the robot is usually arranged in the operation area of the robot, the intelligent robot can be charged and standby at the charging station, and when the intelligent robot needs to operate, the intelligent robot automatically drives away from the charging station under the support of the electric power of the battery pack to map, plan a route and complete the operation of the operation area. Taking an intelligent lawn mower as an example, in operation, when the energy of the battery pack decreases to or below a preset threshold, the battery pack needs to be charged. The existing intelligent mower has the following charging modes:
one way is as follows: arranging one or more charging guide lines for guiding the intelligent mower to return to the charging station, and when charging is needed, the intelligent mower returns to the charging station through the guidance of the charging guide lines; this approach requires additional guide wires, which increases the production cost and increases the number of operation steps for the user.
The other mode is as follows: firstly, randomly searching a signal line at the nearest position, and returning to a charging station along the signal line for charging; in this way, the return path of the lawn mower is generally long, and more electric quantity is often required to be reserved, so that the intelligent lawn mower has enough electric quantity to return to the charging station. Therefore, the electric quantity of the intelligent mower in actual work can be reduced, the operation time of the intelligent mower every time is reduced, the charging times are increased, and the working efficiency is reduced.
Yet another way is to: the charging station sends a signal, and after the intelligent mower receives the signal by utilizing the GPS positioning technology, the charging station is positioned and the charging is returned. The size of the lawn and obstacles in the lawn directly influence the recharging time of the intelligent mower.
The above approach may also have the following problems: when the working area is large, the intelligent mower needs to roll the lawn for multiple times when moving to and from the charging station and the working place for multiple times, and certain damage is caused to the lawn. In addition, the service life of a battery core of the intelligent mower can be shortened due to too many charging times, and the working cost is increased. When the number of the obstacles in the operation area is large, the intelligent mower needs to avoid the obstacles, so that the route returning to the charging station is long, more electric quantity is consumed, and the intelligent mower cannot normally return to the charging station for charging.
Therefore, it is necessary to design a self-propelled power plant and a method for planning a recharging path of the self-propelled power plant to solve the above problems.
Disclosure of Invention
The invention aims to provide a method for planning a recharging path of self-propelled power equipment, which enables the self-propelled power equipment to return to a charging station position along a pre-planned and short recharging path.
In order to achieve the purpose, the invention adopts the following technical scheme: a recharge path planning method for self-propelled power equipment comprises the following steps:
s1, acquiring a virtual working area diagram corresponding to the working area of the self-propelled power equipment;
s2, acquiring virtual positions of the self-propelled power equipment and the charging station on the virtual work area diagram according to the actual positions of the self-propelled power equipment and the charging station;
s3, planning a recharging path of the self-propelled power equipment according to the virtual position, and the method comprises the following steps: and planning an X-axis direction path by taking the virtual position of the charging station as a starting point and planning a Y-axis direction path by taking the virtual position of the self-propelled power equipment as a starting point, and obtaining a recharging path when the X-axis direction path is intersected with the Y-axis direction path.
As a further improved technical scheme of the invention, the virtual work area map is divided into a plurality of virtual grids; and planning the path in the X-axis direction and the path in the Y-axis direction along the virtual grid.
As a further improved technical scheme of the invention, a boundary signal line is arranged at the boundary of a working area, and the self-propelled power equipment travels a circle along the boundary signal line and detects a traveling path so as to obtain the virtual working area map.
As a further improvement of the present invention, step S2 includes defining the charging station position as the origin of coordinates, comparing the actual position of the self-propelled power equipment with the virtual work area map, and obtaining the corresponding virtual position of the self-propelled power equipment on the virtual work area map.
As a further improved technical solution of the present invention, when planning the path in the X-axis direction, the virtual position of the charging station is taken as a starting point, the charging station moves forward along the X-axis direction, if a boundary signal line is encountered, the path in the X-axis direction moves backward at least one cell from the boundary signal line, then turns a corner and moves straight at least one cell along the Y-axis, then turns back to the X-axis direction and continues to plan the path in the same way, wherein the turning direction is always the same until the path in the X-axis direction intersects with the path in the Y-axis direction or encounters the boundary signal line when the path in the X-axis direction intersects with the path.
As a further improved technical solution of the present invention, when a boundary signal line is encountered in a straight line along the Y-axis, the path in the X-axis direction is re-planned from the virtual position of the charging station: when the boundary signal line is met along the X-axis direction, the path in the X-axis direction retreats from the boundary signal line for at least one grid, then moves straight for at least one grid along the direction opposite to the previous turning direction, then turns back to the X-axis direction and continues planning the path by the same method, wherein the turning direction is always the same until the path in the X-axis direction is intersected with the path in the Y-axis direction.
As a further improved technical solution of the present invention, when planning the Y-axis direction path, the virtual position of the self-propelled power equipment is taken as a starting point, the self-propelled power equipment advances along the Y-axis direction, if a boundary signal line is encountered, the Y-axis direction path retreats from the boundary signal line for at least one cell, then turns a corner and moves straight for at least one cell along the X-axis, then turns back to the Y-axis direction and continues planning the path by the same method, wherein the turning direction is always the same until the Y-axis direction path intersects with the X-axis direction path or encounters the boundary signal line when the Y-axis direction path intersects with the X-axis direction path or moves.
As a further improved technical solution of the present invention, when the boundary signal line is encountered in the straight line along the X-axis, the Y-axis direction path is re-planned from the virtual position of the self-propelled power equipment: when the Y-axis direction meets the boundary signal line, the Y-axis direction path retreats from the boundary signal line for at least one grid, then moves straight for at least one grid along the direction opposite to the previous turning direction, then turns back to the Y-axis direction and continues planning the path by the same method, wherein the turning direction is always the same until the Y-axis direction path is intersected with the X-axis direction path.
As a further improved technical scheme of the invention, a plurality of recharging paths are obtained, and the recharging path with the shortest distance is selected from the recharging paths.
As a further improved technical scheme of the invention, when charging is needed, a recharging path different from the recharging path executed last time is planned.
It is also an object of the present invention to provide a self-propelled power apparatus that can be returned to a charging station position along a shorter path.
In order to achieve the purpose, the invention adopts the following technical scheme: a self-propelled power equipment, it walks in the work area that the boundary signal line encloses, it includes:
the data processing system is used for acquiring a virtual work area map corresponding to a work area and acquiring virtual positions of the self-propelled power equipment and the charging station on the virtual work area map;
the data processing system is further used for planning an X-axis direction path from the position of the charging station according to the virtual position and planning a Y-axis direction path from the position of the self-propelled power equipment, and when the X-axis direction path is intersected with the Y-axis direction path, a recharging path is generated; and
and the control system is used for controlling the self-propelled power equipment to walk along the recharging path.
As a further improved technical solution of the present invention, the data processing system is further configured to divide the virtual work area map into a plurality of virtual grids, and the X-axis direction path and the Y-axis direction path are planned along the virtual grids.
As a further improved technical solution of the present invention, the self-propelled power equipment further includes a GPS positioning system for acquiring an actual position of the self-propelled power equipment and a detection system for acquiring a traveling path of the self-propelled power equipment.
As a further improved technical solution of the present invention, the data processing system is further configured to define the position of the charging station as an origin of coordinates, compare the actual position of the self-propelled power equipment with the virtual work area map, and obtain a corresponding virtual position of the self-propelled power equipment on the virtual work area map.
As a further improved technical solution of the present invention, the X-axis direction path is a straight line extending along the X-axis direction or a straight line extending along the X-axis direction and deviating towards one side of the Y-axis, and the Y-axis direction path is a straight line extending along the Y-axis direction or a straight line extending along the Y-axis direction and deviating towards one side of the X-axis.
As a further improved technical solution of the present invention, the boundary signal line encloses an obstacle outside the working area, and the charging station is located on the boundary signal line.
As a further improved technical solution of the present invention, the control system is further configured to control the self-propelled power equipment to travel along the boundary signal line for one turn, and the detection system forms a virtual working area map by passing a traveling path of the self-propelled power equipment through the data processing system.
As a further improved technical solution of the present invention, the control system is further configured to control the self-propelled power equipment to travel along the Y-axis direction path and the X-axis direction path in sequence and return to the charging station after the data processing system finishes planning the recharging path.
According to the technical scheme, the self-propelled power equipment forms the working area into the corresponding virtual working area graph, and plans the path in the X-axis direction and the path in the Y-axis direction on the virtual working area graph so as to generate the recharging path. Due to the arrangement, a recharging path is planned during recharging, so that obstacles in a working area are effectively avoided, and the self-propelled power equipment is prevented from consuming electric quantity before returning to a charging station; through planning shorter recharging route, reduce the recharging amount that needs to reserve, save recharging time, and then increased intelligent lawn mower's operating time.
Drawings
FIG. 1 is a schematic diagram of the distribution of an intelligent lawn mower, a work area and a charging station according to the present invention.
FIG. 2 is a schematic diagram of a virtual work area and a recharge path according to the present invention.
Fig. 3 is a flow chart of a recharge path planning method for the self-propelled power equipment of the present invention.
FIG. 4 is a partial logic diagram of the present invention for planning an X-axis path.
FIG. 5 is a partial logic diagram of the present invention for planning a Y-axis path.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides self-propelled power equipment which comprises a machine body, a driving wheel, a supporting wheel, an operation assembly, a power supply assembly, a GPS (global positioning system), a detection system, a data processing system and a control system, wherein the driving wheel and the supporting wheel are arranged on the machine body. The job component is a component that implements or assists in implementing the job function of the intelligent working device, such as: the cutting assembly of the mower, the sucking and sweeping assembly of the sweeping robot, etc. are not limited herein. Hereinafter, the present invention will be described in detail by taking an intelligent lawnmower as an example.
The intelligent mower 10 comprises a mower body, a cutting assembly arranged on the mower body, a power supply assembly, a GPS (global positioning system), a detection system, a data processing system and a control system. The machine body is provided with two driving wheels which are positioned at two sides of the machine body, the driving wheels are generally positioned at the rear part of the machine body, and the two driving wheels are respectively driven by two driving motors. At least one supporting wheel is further arranged in front of the machine body, the intelligent mower is supported by the driving wheels and the supporting wheels to run, and the supporting wheels are generally universal wheels so that the intelligent mower 10 can turn.
The cutting assembly includes a cutting motor and a cutting member driven by the cutting motor. The cutting assembly is located approximately at the center of the mower, the rotating shaft of the cutting motor is approximately vertical to the horizontal plane, and the height of the cutting assembly with the ground can be adjusted by an operator to achieve adjustment of the cutting height. The power supply assembly comprises a rechargeable battery and a charging system for supplying power to the rechargeable battery.
Referring to fig. 1, a schematic distribution diagram of the intelligent lawn mower 10, the working area 20 and the charging station 30 when the return charging is required is shown, wherein the working area 20 of the intelligent lawn mower 10 is defined by a boundary signal line 40, and the charging station 30 is located on the boundary signal line 40 for charging the intelligent lawn mower 10. Specifically, the boundary signal line 40 is led out from the positive terminal of the charging station 30, surrounds the work area 20 and the obstacle 50, and is then connected to the negative terminal of the charging station 30. The charging station 30 includes a signal generating device for generating a pulse signal of a certain frequency, which is led into the boundary signal line 40.
The GPS positioning system is used to obtain the actual position of the intelligent lawnmower 10. The GPS location system is also used to obtain the actual location of the charging station 30 when the intelligent lawnmower 10 is first located at the charging station 30. The detection system is used to acquire the walking path of the intelligent mower 10.
Fig. 2 is a schematic diagram of the virtual work area fig. 21 and the recharge path 60 according to the present invention. The data processing system is used for acquiring a virtual working area map 21 corresponding to the working area 20, dividing the virtual working area map 21 into a plurality of virtual grids 22, and acquiring virtual positions of the intelligent mower 10 and the charging station 30 on the virtual working area map 21. The data processing system plans an X-axis direction path 61 from the position of the charging station 30 based on the virtual position, plans a Y-axis direction path 62 from the position of the smart mower 10, and generates a recharge path 60 when the X-axis direction path and the Y-axis direction path intersect at an intersection point 63.
Referring to fig. 2, an X-axis direction path 61 and a Y-axis direction path 62 are planned along the virtual grid 22. Specifically, between the charging station 30 and the intersection 63, the X-axis direction path 61 extends in the X-axis direction and is offset to one side of the Y-axis, and is stepped. In this embodiment, the planned path deviates to the left according to the position of the obstacle 50 and the intelligent mower 10. In other embodiments, the difference in the position of the obstacle and the smart mower may cause the X-axis path to deviate to the right or be a straight line extending in the X-axis direction.
Similarly, the Y-axis direction path 62 extends in the Y-axis direction and is offset toward one side of the X-axis, and is stepped. In this embodiment, the planned path deviates to the left according to the position of the obstacle 50 and the intelligent mower 10. In other embodiments, the difference in the position of the obstacle and the smart mower may cause the Y-axis path to deviate to the right or be a straight line extending in the Y-axis direction. Further, since the X-axis direction path 61 and the Y-axis direction path 62 are planned along the virtual grid 22, the X-axis direction path 61 and the Y-axis direction path 62 are deviated by at least one when they are deviated to one side.
The control system is used for controlling the walking of the intelligent mower 10. Specifically, the control system controls the traveling direction and speed of the intelligent mower 10 by controlling the rotation speeds of the two driving motors, and when the rotation speeds of the driving motors are different, the intelligent mower 10 turns; when the rotation speeds of the driving motors are the same, the intelligent mower 10 travels straight; when the rotation speeds of the driving motors are opposite, the intelligent mower 10 realizes in-situ zero steering. After the data processing system finishes planning the recharging path 60, the control system controls the intelligent mower 10 to travel along the Y-axis path 62 and the X-axis path 61 in sequence, and returns to the charging station 30.
Referring to fig. 2 and 3, a recharging path planning method for the intelligent mower 10 provided by the present invention includes the following steps:
s1, acquiring a virtual working area map 21 corresponding to the working area 20 of the intelligent mower 10;
s2, acquiring virtual positions of the intelligent mower 10 and the charging station 30 on the virtual work area map 21 according to the actual positions of the intelligent mower and the charging station; and
s3, planning the recharging path 60 of the intelligent lawn mower 10 according to the virtual position, comprising: an X-axis direction path 61 is planned with the virtual position of the charging station 30 as a starting point, and a Y-axis direction path 62 is planned with the virtual position of the intelligent mower 10 as a starting point, and when the X-axis direction path 61 and the Y-axis direction path 62 intersect, a recharge path 60 is obtained.
Wherein, step S1 includes: a boundary signal line 40 is arranged at the boundary of the working area 20, and the intelligent mower 10 walks once along the boundary signal line 40 and detects a walking path to acquire a virtual working area map 21. The method specifically comprises the following steps: the intelligent mower 10 automatically travels a circle along the boundary signal line 40 after being started and returns to the charging station 30 again. The detection system forms a virtual working area map 21 by enabling the intelligent mower 10 to walk one circle through a data processing system.
Step S2 includes: defining the position of the charging station 30 as the origin of coordinates, comparing the actual position of the intelligent mower 10 with the virtual working area map 21 and obtaining the corresponding virtual position of the intelligent mower 10 on the virtual working area map 21. The method specifically comprises the following steps: when the intelligent mower 10 is started by the charging station 30, the GPS positioning system locates the initial position of the intelligent mower 10 in the charging state of the charging station 30, that is, the actual position of the charging station 30. The data processing system uses the initial position as the origin of coordinates. When the intelligent mower 10 needs to return to the charging station 30 for charging after working in the working area 20, the GPS positioning system locates the actual position of the intelligent mower 10 in the working area 20. The data processing system compares the actual position of the intelligent lawn mower 10 with the virtual work area map 21 to obtain the virtual position of the intelligent lawn mower 10.
Step S3 includes: dividing the virtual work area map 21 into a number of virtual grids 22; and the virtual grid 22 is formed only inside the loop formed by the boundary signal line 40, and does not exceed the boundary signal line 40. The size of the virtual grid 22 can be designed according to actual needs, and is not limited herein. The X-axis direction path 61 and the Y-axis direction path 62 are planned based on the virtual positions of the charging station 30 and the intelligent lawnmower 10.
Specifically, please refer to fig. 4, which is a partial logic diagram of planning the X-axis direction path 61 with the virtual position of the charging station 30 as the starting point. Taking the virtual position of the charging station 30 as a starting point, moving forward along the X-axis direction, if encountering the boundary signal line 40, retreating the path in the X-axis direction from the boundary signal line 40 for at least one cell, then turning to go straight along the Y-axis for at least one cell, then turning back to the X-axis direction and continuing to plan the path in the same way, wherein the turning directions are always the same until the path in the X-axis direction intersects with the path in the Y-axis direction or encounters the boundary signal line 40 when going straight along the Y-axis.
When the boundary signal line 40 is encountered in the Y-axis straight line, the path in the X-axis direction is re-planned from the virtual position of the charging station 30, specifically: when the boundary signal line 40 is encountered along the X-axis direction, the path along the X-axis direction retreats from the boundary signal line 40 by at least one cell, then goes straight in the direction opposite to the previous turning direction by at least one cell, i.e., goes straight in the right direction by at least one cell, and then turns back to the X-axis direction to continue planning the route in the same way, wherein the turning direction is always the same until the path along the X-axis direction intersects with the path along the Y-axis direction.
Referring to fig. 2, when the route 61 in the X-axis direction is planned, the virtual work area map 21 is divided into two upper and lower partial areas along the X-axis direction with the charging station 30 as a reference. In this embodiment, the upper region may be planned first, i.e., the X-axis direction path 61 may be obtained. The lower area may be first planned, and if a path intersecting the Y-axis direction path cannot be obtained in this area due to the blockage of the boundary signal line 40, a remaining area, that is, an upper area, needs to be planned with the virtual position of the charging station 30 as a starting point, and finally the X-axis direction path 61 is formed in the upper area.
Fig. 5 is a partial logic diagram of planning a Y-axis path with the virtual position of the intelligent mower 10 as a starting point. The planning method of the Y-axis direction path is approximately similar to the planning method of the X-axis direction path, and specifically comprises the following steps: taking the virtual position of the intelligent mower 10 as a starting point, advancing along the Y-axis direction, if encountering a boundary signal line 40, retreating at least one grid from the boundary signal line 40 along the Y-axis direction path, then turning to go straight along the X-axis for at least one grid, then turning back to the Y-axis direction and continuing to plan a route by the same method, wherein the turning direction is always the same, in this embodiment, turning left, until the Y-axis direction path 62 intersects with the X-axis direction path 61 or encounters the boundary signal line 40 when going straight along the X-axis.
When the boundary signal line 40 is encountered in the straight line along the X-axis, the Y-axis direction path 62 is re-planned from the virtual position of the intelligent lawn mower 10, specifically: when the boundary signal line 40 is encountered along the Y-axis direction, the Y-axis direction path retreats from the boundary signal line 40 by at least one cell, then goes straight in the direction opposite to the previous turning direction by at least one cell, i.e., turns right by at least one cell, then turns back to the Y-axis direction and continues planning the route in the same way, wherein the turning direction is always the same until the Y-axis direction path 62 intersects the X-axis direction path 61.
Referring to fig. 2, when the Y-axis path 62 is planned, the virtual work area map 21 is divided into two left and right partial areas along the Y-axis direction with reference to the smart lawnmower 10. In this embodiment, the left area is first planned, so that the Y-axis path 62 can be directly obtained. If the right area is selected to be planned first, the Y-axis path cannot be obtained in the area due to the blockage of the boundary signal line 40, so that the remaining area, i.e., the left area, needs to be planned with the virtual position of the intelligent lawnmower 10 as a starting point, and finally the Y-axis path 62 is formed in the left area.
The X-axis directional path 61 intersects the Y-axis directional path 62 and obtains an intersection point 63, and thus, a complete recharging path 60 from the smart mower to the charging station 30 is obtained. Preferably, a plurality of recharging paths 60 are planned, and a recharging path with the shortest distance is selected from the plurality of recharging paths, and the control system controls the intelligent mower 10 to travel along the Y-axis direction path 62 and the X-axis direction path 61 in sequence, and return to the charging station 30. It should be noted that, when charging is required, a recharging path different from the recharging path executed last time is planned. So set up, can avoid repeatedly rolling the lawn, reduced the damage to the lawn.
In summary, the intelligent lawn mower of the present invention forms a corresponding virtual work area map on the work area, and plans the path in the X-axis direction and the path in the Y-axis direction on the virtual work area map, so that the recharging path is planned during recharging, thereby effectively avoiding the obstacle in the work area, and the intelligent lawn mower does not need to adjust for multiple times to avoid the obstacle, and prevents the electric quantity of the intelligent lawn mower from being consumed before returning to the charging station. In addition, the virtual working area map is divided into a plurality of equal virtual grids, and a shorter recharging path can be selected according to the distribution of the virtual grids, so that the path for the intelligent mower to return to the charging station is shorter, the recharging amount required to be reserved is reduced, the recharging time is saved, and the working time of the intelligent mower is further increased. Accordingly, the service life of the battery cell can be effectively prolonged by reducing the number of charging times. Furthermore, the intelligent mower forms a virtual grid, and a guide line does not need to be actually arranged in a working area, so that the manufacturing cost of a product is reduced, the operation steps are simplified, and the experience degree of a user is improved. The recharging path planned each time is different from the recharging path executed last time, so that repeated grinding of the lawn can be avoided, and damage to the lawn is reduced.
The above embodiments are only for illustrating the invention and not for limiting the technical solutions described in the invention, and the understanding of the present specification should be based on the technical personnel in the technical field, and although the present specification has described the invention in detail with reference to the above embodiments, the technical personnel in the technical field should understand that the technical personnel in the technical field can still make modifications or equivalent substitutions to the present invention, and all the technical solutions and modifications thereof without departing from the spirit and scope of the present invention should be covered in the claims of the present invention.
Claims (18)
1. A recharge path planning method for self-propelled power equipment is characterized by comprising the following steps:
s1, acquiring a virtual working area diagram corresponding to the working area of the self-propelled power equipment;
s2, acquiring virtual positions of the self-propelled power equipment and the charging station on the virtual work area diagram according to the actual positions of the self-propelled power equipment and the charging station;
s3, planning a recharging path of the self-propelled power equipment according to the virtual position, and the method comprises the following steps: and planning an X-axis direction path by taking the virtual position of the charging station as a starting point and planning a Y-axis direction path by taking the virtual position of the self-propelled power equipment as a starting point, and obtaining a recharging path when the X-axis direction path is intersected with the Y-axis direction path.
2. The method for planning a recharge path of a self-propelled power plant of claim 1, wherein the virtual work area map is divided into a plurality of virtual grids; and planning the path in the X-axis direction and the path in the Y-axis direction along the virtual grid.
3. The method for planning the recharging path of the self-propelled power equipment according to claim 1, wherein a boundary signal line is arranged at the boundary of the working area, and the self-propelled power equipment travels one circle along the boundary signal line and detects the traveling path to obtain the virtual working area map.
4. The method for planning a recharging path of an autonomous power equipment of claim 1, wherein step S2 comprises defining a charging station position as an origin of coordinates, comparing an actual position of the autonomous power equipment with the virtual work area map and obtaining a corresponding virtual position of the autonomous power equipment on the virtual work area map.
5. The method for planning a recharge path of a self-propelled power plant according to claim 2, wherein the route in the X-axis direction is planned by taking the virtual position of the charging station as a starting point, advancing along the X-axis direction, if a boundary signal line is encountered, retreating the route in the X-axis direction from the boundary signal line for at least one cell, then turning the route in the Y-axis direction for at least one cell, then turning the route back in the X-axis direction, and continuing to plan the route in the same way, wherein the turning direction is always the same until the route in the X-axis direction intersects with the route in the Y-axis direction or encounters the boundary signal line when the route in the Y-axis direction intersects with the route in the Y.
6. The method for planning a recharge path of a self-propelled power plant according to claim 5, wherein when a boundary signal line is encountered in a straight line along the Y-axis, the X-axis direction path is re-planned starting from a virtual position of a charging station: when the boundary signal line is met along the X-axis direction, the path in the X-axis direction retreats from the boundary signal line for at least one grid, then moves straight for at least one grid along the direction opposite to the previous turning direction, then turns back to the X-axis direction and continues planning the path by the same method, wherein the turning direction is always the same until the path in the X-axis direction is intersected with the path in the Y-axis direction.
7. The method for planning the recharging path of the self-propelled power equipment of claim 2, wherein the route in the Y-axis direction is planned by taking the virtual position of the self-propelled power equipment as a starting point, advancing along the Y-axis direction, if a boundary signal line is encountered, retreating the route in the Y-axis direction from the boundary signal line for at least one cell, then turning the route in the X-axis direction for at least one cell, turning the route in the Y-axis direction again, and continuing to plan the route in the same way, wherein the turning direction is always the same until the route in the Y-axis direction intersects with the route in the X-axis direction or encounters the boundary signal line when the route in the X-axis direction intersects with the route in the X-.
8. The method of claim 7, wherein when the boundary signal line is encountered in a straight line along the X-axis, the Y-axis path is re-planned starting from the virtual position of the self-propelled power plant: when the Y-axis direction meets the boundary signal line, the Y-axis direction path retreats from the boundary signal line for at least one grid, then moves straight for at least one grid along the direction opposite to the previous turning direction, then turns back to the Y-axis direction and continues planning the path by the same method, wherein the turning direction is always the same until the Y-axis direction path is intersected with the X-axis direction path.
9. The method for planning a recharge path of an autonomous power plant according to claim 1, characterized in that several recharge paths are obtained, from which the recharge path with the shortest distance is selected.
10. The method for planning a recharge path of an autonomous power plant according to claim 1, characterized in that when charging is required, a recharge path different from the recharge path executed last time is planned.
11. A self-propelled power equipment, it walks in the work area that border signal line encloses, its characterized in that includes:
the data processing system is used for acquiring a virtual work area map corresponding to a work area and acquiring virtual positions of the self-propelled power equipment and the charging station on the virtual work area map;
the data processing system is further used for planning an X-axis direction path from the position of the charging station according to the virtual position and planning a Y-axis direction path from the position of the self-propelled power equipment, and when the X-axis direction path is intersected with the Y-axis direction path, a recharging path is generated; and
and the control system is used for controlling the self-propelled power equipment to walk along the recharging path.
12. The self-propelled power plant of claim 11, wherein said data processing system is further configured to divide said virtual work area map into a plurality of virtual grids along which said X-axis directional path and said Y-axis directional path are planned.
13. The self-propelled power apparatus of claim 11, further comprising a GPS positioning system for acquiring an actual location of the self-propelled power apparatus and a detection system for acquiring a travel path of the self-propelled power apparatus.
14. The autonomous powered device of claim 11, wherein the data processing system is further configured to define a location of a charging station as an origin of coordinates, compare an actual location of the autonomous powered device to the virtual work area map and obtain a corresponding virtual location of the autonomous powered device on the virtual work area map.
15. The self-propelled power apparatus of claim 12, wherein the X-axis directional path is a straight line extending in the X-axis direction or a straight line extending in the X-axis direction and offset toward one side of the Y-axis, and the Y-axis directional path is a straight line extending in the Y-axis direction or a straight line extending in the Y-axis direction and offset toward one side of the X-axis.
16. The self-propelled power apparatus of claim 11, wherein said boundary signal line is disposed around said work area and an obstacle, said charging station being located on said boundary signal line.
17. The self-propelled power plant of claim 13, wherein the control system is further configured to control the self-propelled power plant to travel a circle along the boundary signal line, and the detection system forms a virtual work area map of a travel path of the self-propelled power plant through the data processing system.
18. The self-propelled power plant of claim 11, wherein the control system is further configured to control the self-propelled power plant to travel along the Y-axis path and the X-axis path in sequence and return to the charging station after the data processing system completes the planning of the recharge path.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010493112.0A CN111487982B (en) | 2020-06-03 | 2020-06-03 | Self-propelled power equipment and recharging path planning method thereof |
| PCT/CN2021/098045 WO2021244593A1 (en) | 2020-06-03 | 2021-06-03 | Automatic lawn mower and path-planning method, system and device thereof |
| EP21817893.7A EP4137907A4 (en) | 2020-06-03 | 2021-06-03 | Automatic lawn mower and path planning method, system, and device thereof |
| EP21816705.4A EP4147555A4 (en) | 2020-06-03 | 2021-06-03 | Automatic lawn mower and path-planning method, system and device thereof |
| PCT/CN2021/098046 WO2021244594A1 (en) | 2020-06-03 | 2021-06-03 | Automatic lawn mower and path planning method, system, and device thereof |
| US17/986,843 US20230071262A1 (en) | 2020-06-03 | 2022-11-14 | Robotic mower and method, system and device of path planning thereof |
| US17/989,713 US20230085538A1 (en) | 2020-06-03 | 2022-11-18 | Robotic mower and method, system and device of path planning thereof |
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