CN111984010A - Method and system for automatically selecting map and automatic walking equipment - Google Patents
Method and system for automatically selecting map and automatic walking equipment Download PDFInfo
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- CN111984010A CN111984010A CN202010807975.0A CN202010807975A CN111984010A CN 111984010 A CN111984010 A CN 111984010A CN 202010807975 A CN202010807975 A CN 202010807975A CN 111984010 A CN111984010 A CN 111984010A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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
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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
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention provides a method and a system for automatically selecting a map and automatic walking equipment. The method can identify the current working area of the automatic walking equipment through the position characteristic information of the automatic walking equipment, so that a map corresponding to the position characteristic information in the storage unit is inquired and called, the map of the current working area of the automatic walking equipment is provided to the control unit of the automatic walking equipment, and the automatic walking equipment can automatically operate according to the correct map. According to the invention, after the working area of the automatic walking equipment is changed, or after the automatic walking equipment is changed in the working area, correct guidance and path planning can be provided for the equipment through the map called by the storage unit. The invention does not need to redraw the map after replacing the working area or the automatic walking equipment every time, and can improve the working convenience.
Description
Technical Field
The invention relates to the field of garden tools, in particular to a method and a system for automatically selecting a map and automatic walking equipment.
Background
The intelligent mowing robot is an automatic walking device capable of continuously and automatically moving in real time on roads and outdoors. The intelligent mowing robot is used as a self-walking device and is suitable for clearing vegetation on plots such as hills, terraced fields and plain and weeds in lawns. The operation is simple, and the working efficiency is high. Our common schools, as well as street landscaping, can be accomplished with intelligent lawn mowing robots. Foreign countries, many home mowers are used to weed their own gardens.
In the prior art, when the automatic walking equipment mows a working area, a closed signal line is pre-embedded under the ground to serve as a boundary line identifier, and signal interaction is carried out between the signal line and a signal head of a machine, so that the automatic walking equipment can work in the range of the pre-embedded signal line correctly. However, this method requires a lot of trouble to be taken out of the field in advance, and the signal line may be broken, so that the operation is unstable.
Some automatic walking devices with high technological content can carry or install a GNSS module, the automatic walking devices are remotely controlled to walk to key points to perform positioning and generate coordinates, virtual boundary lines are created, and virtual maps are created. The virtual boundary line or the virtual map may be recorded and saved in the storage unit of the automatic walking device.
At present, some families or places have a plurality of lawns which are positioned at different positions outside the house. For the situation, different charging base stations can be configured and purchased for each lawn, and a plurality of charging base stations can be matched with the same automatic walking equipment to carry out operation. However, in the prior art, each time the work site of the automatic traveling apparatus is replaced, the map of the work site needs to be redrawn for the automatic traveling apparatus, which is time-consuming and labor-consuming.
Disclosure of Invention
The invention provides a method and a system for automatically selecting a map and automatic walking equipment, aiming at the defects of the prior art. The invention specifically adopts the following technical scheme.
First, in order to achieve the above object, a method for automatically selecting a map is provided, which comprises the steps of: acquiring position characteristic information of the automatic walking equipment; and calling a corresponding map in a storage unit according to the position characteristic information, and driving the automatic walking equipment to operate according to the map.
Optionally, the method for automatically selecting a map as described in any one of the above, wherein the location feature information includes: the current position coordinate of the automatic walking equipment, the identification information of the communication network to which the automatic walking equipment is currently connected, and the identification information of the base station to which the automatic walking equipment is currently connected.
Optionally, the method for automatically selecting a map as described in any one of the above, where the step of calling the corresponding map in the storage unit according to the current position coordinate of the automatic walking device includes: and inquiring the coordinate range corresponding to each map in the storage unit, and calling the map of which the coordinate range comprises the current position coordinate of the automatic walking equipment in the storage unit.
Optionally, the method for automatically selecting a map as described in any one of the above, wherein the step of retrieving the corresponding map in the storage unit according to the identification information of the communication network to which the automatic walking device is currently connected includes: inquiring and calling a map corresponding to the communication network address in a storage unit according to the communication network address currently accessed by the automatic walking equipment; when more than one map corresponding to the communication network address is stored in the storage unit, outputting display information corresponding to all the maps corresponding to the communication network address in the storage unit; and receiving the selection made by the operator according to the display information, and calling the map in the storage unit corresponding to the selection.
Optionally, the method for automatically selecting a map as described in any one of the above, wherein the step of retrieving the corresponding map in the storage unit according to the identification information of the base station to which the automatic walking device is currently connected includes: the automatic walking equipment interacts with the base station to obtain the identification information corresponding to the base station, and the map corresponding to the identification information of the base station in the storage unit is inquired and called.
Optionally, the method for automatically selecting a map as described in any one of the above, where each base station has a communication channel corresponding thereto, and the step of retrieving the corresponding map in the storage unit according to the identification information of the base station to which the automatic walking device is currently connected includes: the automatic walking equipment searches channels, selects a base station capable of interacting with the channel according to the searched channels, obtains identification information corresponding to the base station, and inquires and retrieves a map corresponding to the identification information of the base station in the storage unit.
Optionally, the method for automatically selecting a map as described in any one of the above, wherein the storage unit is disposed inside the automatic walking device, and/or inside the base station, and/or in a cloud server.
Optionally, the method for automatically selecting a map as described in any one of the above, wherein the map of each working area of the automatic walking device is stored in the cloud server in advance according to the position feature information as an index; after obtaining the position characteristic information of each automatic walking device, each automatic walking device can directly call the map corresponding to the position characteristic information to the cloud server.
Meanwhile, in order to achieve the above object, the present invention also provides an automatic walking apparatus for automatically selecting a map, comprising: a position characteristic information acquisition unit for acquiring position characteristic information of the automatic walking device; and the control unit is used for calling a corresponding map in the storage unit according to the position characteristic information of the automatic walking equipment and driving the automatic walking equipment to operate according to the map.
Optionally, the automatic walking device for automatically selecting a map as described in any one of the above, wherein the location characteristic information obtaining unit includes any one or a combination of the following: the positioning module is used for acquiring the current position coordinates of the automatic walking equipment; the wireless communication module is used for acquiring a communication network address currently accessed by the automatic walking equipment; and the radio frequency data transmission module is used for acquiring the identification information corresponding to the base station which is currently connected with the automatic walking equipment.
Optionally, the automatic walking device for automatically selecting a map as described in any one of the above, wherein the control unit is further configured to, when a communication network address currently accessed by the automatic walking device corresponds to a plurality of maps: outputting display information respectively corresponding to all maps corresponding to the communication network address in the storage unit; and receiving the selection made by the operator according to the display information, and calling the map in the storage unit corresponding to the selection.
Optionally, the automatic walking device for automatically selecting a map as described in any one of the above embodiments, wherein the storage unit is disposed inside the automatic walking device, and/or disposed inside the base station, and/or disposed in a cloud server, and the storage unit is in communication connection with a control unit of the automatic walking device.
Meanwhile, the invention also provides a system for automatically selecting the map, which comprises the following steps: the automatic walking equipment comprises a position characteristic information acquisition unit and a position characteristic information acquisition unit, wherein the position characteristic information acquisition unit is used for acquiring the position characteristic information of the automatic walking equipment; the storage unit is in communication connection with the automatic walking equipment, and maps corresponding to different position characteristic information are stored in the storage unit; and the automatic walking equipment calls a corresponding map in the storage unit according to the position characteristic information of the automatic walking equipment and operates according to the map.
Optionally, in the system for automatically selecting a map as described in any above, the storage unit is disposed in the cloud server, and is configured to receive an update of a map boundary by the automatic walking device, and store the map boundary according to location feature information corresponding to the automatic walking device when the map boundary is updated.
Advantageous effects
According to the invention, the current working area of the automatic walking equipment can be identified through the position characteristic information of the automatic walking equipment, and the map corresponding to the position characteristic information in the storage unit is inquired and called, so that the map of the current working area of the automatic walking equipment is provided to the control unit of the automatic walking equipment, and the automatic walking equipment can automatically operate according to the correct map. According to the invention, after the working area of the automatic walking equipment is changed, or after the automatic walking equipment is changed in the working area, correct guidance and path planning can be provided for the equipment through the map called by the storage unit. The invention does not need to redraw the map after replacing the working area or the automatic walking equipment every time, and can improve the working convenience.
Further, the present invention may specifically use the current position coordinate of the automatic walking device, the identification information of the communication network to which the automatic walking device is currently connected, or the identification information of the base station to which the automatic walking device is currently connected as the position feature information for identifying the current working area. The automatic walking equipment can directly obtain the position characteristic information through the self-carried positioning module, the wireless communication module or the radio frequency data transmission module, and does not need to additionally increase hardware, so the cost is lower.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of the operation of the automatic walking apparatus of the present invention.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.
The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.
In order to solve the defects of the prior art, the invention provides an automatic map selection system as shown in fig. 1.
The method can be used for positioning by walking to key points through the remote control automatic walking equipment, generating coordinates, creating a virtual boundary line, generating a virtual map accordingly, and recording and storing the corresponding virtual map in a storage unit of the automatic walking equipment. Under the condition that the automatic walking equipment is connected with wireless networks such as WiFi and the like, the map can be uploaded to a cloud storage server through a wireless communication network for storage for calling.
When the automatic walking equipment is replaced to a new working area, a new map can be created for the new working area by using the same method, and the map and the identification information corresponding to the map working area are correspondingly stored in the corresponding storage unit together.
The invention can store maps corresponding to different working areas in the storage unit connected with the automatic walking equipment.
Therefore, when the automatic walking equipment inquires that the storage unit stores the map corresponding to the working area where the position coordinate is located according to the GPS position coordinate at a certain position, the system can automatically call the map corresponding to the position coordinate from the storage unit, and the map is used as a path reference for the automatic walking equipment to operate in the working area.
Similarly, for the automatic walking device which realizes data transmission interaction through WiFi connection, the positioning can be realized according to WiFi access addresses or wireless network IP addresses corresponding to various working areas aiming at different working areas. In this implementation manner, considering that a user may implement network connection through the same IP address in a plurality of different working areas, the automatic walking device may also determine a current specific working area by the user's own selection when detecting that a plurality of maps correspond to identification information such as the IP address of the communication network to which the automatic walking device is currently accessed, and correspondingly issue a detailed map corresponding to the working area to the automatic walking device.
The automatic walking device of the invention can also be positioned by using a fixed point. In this implementation, the automatic walking device can communicate with the base station through the RF data transmission module. And if the automatic walking equipment is connected with the current base station, the map corresponding to the current base station can be confirmed through the identification information corresponding to the base station. Specifically, the automatic walking equipment interacts with the base stations to obtain identification information corresponding to the base stations, each base station has a corresponding communication channel, the channel of the base station is fixed and unchanged, the machine searches the channel, selects the base station to be added according to the searched channel, and inquires and calls a map corresponding to the identification information of the base station in the storage unit.
In the map obtaining steps, the automatic walking equipment does not need to redraw the map according to remote control operation after changing the working area. The invention can ensure the next use through the map which is stored for one time and corresponds to different working areas. The storage unit for storing the maps corresponding to the working areas can be arranged in the automatic walking equipment, and/or arranged in the base station, and/or arranged in the cloud server. The storage unit can be in communication connection with the control unit of the automatic walking equipment to realize the interaction of map data, the current position coordinates of the automatic walking equipment, the identification information of a communication network, the identification information of a base station and other position characteristic information. The current position coordinate of the automatic walking equipment can be identified through the GPS position coordinate of the automatic walking equipment, the identification information of a communication network which the automatic walking equipment is currently accessed to can be identified through a WiFi access address or a wireless network IP address, and the identification information of a base station which the automatic walking equipment is currently connected to can be identified through a communication channel of the base station.
If the map needs to be updated in case of a new situation after the map is acquired, the method and the device can further select to store the updated map as a copy, or a user determines whether to store the map as a master copy for replacement.
When the automatic walking equipment running on a working area is replaced, the replaced automatic walking equipment can automatically call the corresponding map information in the cloud storage server through the current GPS position, the base station rf signal frequency band and the wireless IP address. The invention can share the map through the server, so that the new equipment can directly obtain the map information of the corresponding working area without manually setting the new machine again. Therefore, the invention can improve the working convenience.
The system described above may specifically operate as follows:
1. and operating the remote control automatic walking equipment to key points for positioning and generating coordinates, creating a virtual boundary line, and creating a virtual map.
2. And recording and storing the constructed map in a storage module corresponding to the automatic walking equipment. Connecting WiFi may upload the created map to a cloud storage server.
3. And if the new site is replaced, a new map is created by using the same method and stored in a storage module corresponding to the automatic walking equipment or uploaded to a server. The storage module can store work maps of a plurality of different positions.
4. The first embodiment: when the automatic walking equipment is replaced to a certain working area, the storage module can be directly inquired according to the GPS coordinate position, if the storage module has a map containing the area where the coordinate is located, the map of the corresponding coordinate position can be automatically called from the storage module through the system, the current working area of the automatic walking equipment is set according to the map, and the automatic walking equipment is driven to operate.
5. The second embodiment: after the automatic walking equipment is replaced to a certain working area, the WiFi connected with the equipment can be used for identifying the sites of different areas, positioning can be carried out according to the IP addresses of the wireless networks, if the corresponding IP has a plurality of maps, the user can select the maps by himself so as to determine the working map, the current working area of the automatic walking equipment is set according to the map, and the automatic walking equipment is driven to operate.
6. Third embodiment: when the automatic walking equipment is replaced to a certain working area, the positioning can be carried out by utilizing a fixed point, for example, the automatic walking equipment and the base station can be communicated through an RF data transmission module to identify the current base station connected with the automatic walking equipment. Therefore, the map corresponding to the current base station can be confirmed through the base station, so that the current working area of the automatic walking equipment is set according to the map, and the automatic walking equipment is driven to operate.
7. If the current position of the automatic walking device has no map data, the map needs to be redrawn for the working area, so that the next use is ensured. If the map is acquired and needs to be updated under a new condition, the updated map can be redrawn and stored as a copy, and a user can also decide whether to store the updated map as a true copy.
8. When the automatic walking equipment in a certain working area is replaced, the invention only needs to go to the cloud end to call the map of the corresponding position, and does not need to redraw the map.
9. Preferably, the machine is started in the charging station after the map is determined, the current position of the charging station is recorded, and if the position of the charging station changes, the newly recorded position of the charging station is updated into the stored map, so that the situation that the position of the charging station changes due to the fact that the charging station is damaged and replaced and the like, and the charging station information in the map is inaccurate is prevented.
In summary, the present invention stores maps corresponding to a plurality of commonly used work areas, so that a user can only purchase one machine, and can automatically identify and switch work areas by using the identification technology of the automatic walking device by configuring corresponding base stations for different work areas. The invention can greatly reduce the fund for purchasing equipment by users, and the replacement of the working area only needs to move the machine without special setting, and does not need to repeatedly update the map. Therefore, the invention can reduce the cost of manpower and material resources.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (13)
1. A method for automatically selecting a map, the steps comprising:
acquiring position characteristic information of the automatic walking equipment;
and calling a corresponding map in a storage unit according to the position characteristic information, and driving the automatic walking equipment to operate according to the map.
2. The method of automatically selecting a map of claim 1, wherein the location characteristic information comprises: the current position coordinate of the automatic walking equipment, the identification information of the communication network to which the automatic walking equipment is currently connected, and the identification information of the base station to which the automatic walking equipment is currently connected.
3. The method for automatically selecting a map according to claim 2, wherein the step of retrieving the corresponding map in the storage unit according to the coordinates of the position where the automatic walking device is currently located comprises:
and inquiring the coordinate range corresponding to each map in the storage unit, and calling the map of which the coordinate range comprises the current position coordinate of the automatic walking equipment in the storage unit.
4. The method of automatically selecting a map according to claim 2, wherein the step of retrieving the corresponding map in the storage unit based on the identification information of the communication network to which the automatic walking device is currently connected comprises:
inquiring and calling a map corresponding to the communication network address in a storage unit according to the communication network address currently accessed by the automatic walking equipment;
when more than one map corresponding to the communication network address is stored in the storage unit, outputting display information corresponding to all the maps corresponding to the communication network address in the storage unit;
and receiving the selection made by the operator according to the display information, and calling the map in the storage unit corresponding to the selection.
5. The method of automatically selecting a map according to claim 2, wherein the step of retrieving the corresponding map in the storage unit based on the identification information of the base station to which the automatic walking device is currently connected comprises:
the automatic walking equipment interacts with the base station to obtain the identification information corresponding to the base station, and the map corresponding to the identification information of the base station in the storage unit is inquired and called.
6. The method of automatically selecting a map of claim 5, wherein each base station has a communication channel corresponding thereto,
the step of calling the corresponding map in the storage unit according to the identification information of the base station currently connected with the automatic walking equipment comprises the following steps:
the automatic walking equipment searches channels, selects a base station capable of interacting with the channel according to the searched channels, obtains identification information corresponding to the base station, and inquires and retrieves a map corresponding to the identification information of the base station in the storage unit.
7. The method of claim 1, wherein the map of each working area of the automatic walking device is stored in the cloud server according to the position feature information as an index in advance;
after obtaining the position characteristic information of each automatic walking device, each automatic walking device can directly call the map corresponding to the position characteristic information to the cloud server.
8. An automated walking device for automatically selecting a map, comprising:
a position characteristic information acquisition unit for acquiring position characteristic information of the automatic walking device;
and the control unit is used for calling a corresponding map in the storage unit according to the position characteristic information of the automatic walking equipment and driving the automatic walking equipment to operate according to the map.
9. The automated walking apparatus of automatically selecting a map according to claim 8, wherein the position characteristic information obtaining unit includes any one or a combination of:
the positioning module is used for acquiring the current position coordinates of the automatic walking equipment;
the wireless communication module is used for acquiring a communication network address currently accessed by the automatic walking equipment;
and the radio frequency data transmission module is used for acquiring the identification information corresponding to the base station which is currently connected with the automatic walking equipment.
10. The automated walking device for automatically selecting a map according to claim 9, wherein the control unit is further configured to, when the communication network address currently accessed by the automated walking device corresponds to a plurality of maps:
outputting display information respectively corresponding to all maps corresponding to the communication network address in the storage unit;
and receiving the selection made by the operator according to the display information, and calling the map in the storage unit corresponding to the selection.
11. The automated map selection automated walking device of claim 9, wherein the storage unit is disposed inside the automated walking device, and/or disposed inside the base station, and/or disposed in a cloud server, and the storage unit is in communication connection with a control unit of the automated walking device.
12. A system for automatically selecting a map, comprising:
the automatic walking equipment comprises a position characteristic information acquisition unit and a position characteristic information acquisition unit, wherein the position characteristic information acquisition unit is used for acquiring the position characteristic information of the automatic walking equipment;
the storage unit is in communication connection with the automatic walking equipment, and maps corresponding to different position characteristic information are stored in the storage unit;
and the automatic walking equipment calls a corresponding map in the storage unit according to the position characteristic information of the automatic walking equipment and operates according to the map.
13. The system of claim 12, wherein the storage unit is disposed in a cloud server, and configured to receive an update of a map boundary by the automatic walking device, and store the map boundary according to the location feature information corresponding to the automatic walking device when the map boundary is updated.
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| CN202010807975.0A CN111984010B (en) | 2020-08-12 | 2020-08-12 | Method and system for automatically selecting map and automatic walking equipment |
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| CN202010807975.0A CN111984010B (en) | 2020-08-12 | 2020-08-12 | Method and system for automatically selecting map and automatic walking equipment |
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