CN112204488B - Working method and device of self-mobile device and self-mobile device - Google Patents
Working method and device of self-mobile device and self-mobile device Download PDFInfo
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- CN112204488B CN112204488B CN202080002852.8A CN202080002852A CN112204488B CN 112204488 B CN112204488 B CN 112204488B CN 202080002852 A CN202080002852 A CN 202080002852A CN 112204488 B CN112204488 B CN 112204488B
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- 230000007246 mechanism Effects 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
A method of operation of a self-mobile device (1), comprising: receiving a marker message from a remote terminal, the marker message being usable to select a plurality of target operating points located on the limit (2); receiving a work schedule from a remote terminal starting from each of a plurality of target work points; respectively starting from the target working point, walking and working in the working range (4) according to the working schedule. And also to a corresponding self-moving device and an automatic working system. The working method can control the self-moving equipment to start from different target working points and work in the working range according to the set working schedule, so that grass in the working range can be uniformly cut, the maintenance of lawns is facilitated, and the overall working efficiency of the self-moving equipment is improved.
Description
Technical Field
The present invention relates to the field of automatic operation technologies, and in particular, to an operation method and apparatus for a self-mobile device, and a self-mobile device.
Background
With the continuous progress of computer technology and artificial intelligence technology, more and more people choose to use automatic working systems in daily life. A self-moving device that automatically operates in an automatic operating system, such as: the intelligent mower, the sweeping robot and the like can automatically work in a lawn or a room of a user after one-time setting, so that the user is liberated from tedious and time-consuming housework of cleaning a room, maintaining the lawn and the like.
When working with self-mobile devices, it is common to employ a way to walk a random path in an area. When encountering a narrow channel in the working range, the self-moving device can not reach other parts in the working range through the narrow channel, so that certain areas in the working range are not cut; or a great deal of time is required to be consumed to successfully pass through the narrow channel, the occupied area of the narrow channel is small, the self-moving equipment repeatedly cuts when turning back in the narrow channel for many times, so that the cutting is uneven, the lawn maintenance is not facilitated, and the energy loss is accelerated.
Disclosure of Invention
The invention aims to provide a working method and device of self-moving equipment, the self-moving equipment and an automatic working system for cutting lawns by using the working method, wherein the working method and device can uniformly cut the whole lawn.
The invention provides a working method of self-mobile equipment, which walks and works within a working range defined by a limit, and can comprise the following steps: receiving a marker message from a remote terminal, the marker message for selecting a plurality of target operating points located on the boundary; acquiring a working schedule of the self-mobile device from each target working point in a plurality of target working points; and respectively starting from the target working point, walking and working in the working range according to the working schedule.
Preferably, the acquiring the work schedule from the mobile device from each target working point of the plurality of target working points may include: an operating schedule from a remote terminal is received from each of a plurality of target operating points.
Preferably, the target working points can correspond to a plurality of working areas in the working range;
correspondingly, starting from the target working point, walking and working within the working range according to the working schedule respectively can comprise: and respectively walking and working in the working areas from the target working points.
Preferably, determining the plurality of working areas within the working range may include: and determining a plurality of working areas in the working range based on the limit and/or the channels meeting preset requirements in the working range.
Preferably, there is no overlap between the plurality of working areas.
Preferably, the work schedule may include, but is not limited to, at least one of: working time of the self-mobile device sending out work from each target working point, working frequency of the self-mobile device sending out work from each target working point and working area of each working area.
Preferably, the distance travelled by the self-mobile device from the initial operating point to the target operating point along the boundary is determined based on the plurality of target operating points.
Preferably, starting from the target working point, walking and working within the working range according to the working schedule, respectively, may include: starting from the initial working point, driving to the target working point according to the distance; and walking and working in the working range according to the working schedule by taking the target working point as a starting point.
Preferably, the initial operating point may be a charging station.
Preferably, selecting a plurality of target operating points located on the boundary may include: acquiring a map of the working range; selecting the plurality of target operating points in the map; and mapping a plurality of target working points marked in the map into the working range.
Preferably, starting from the target working point, walking and working within the working range according to the working schedule, respectively, may include: and respectively starting from the target working points mapped into the working range, walking and working in the working range.
Preferably, starting from the target working point, walking and working within the working range according to the working schedule, respectively, may include: starting from a first target working point, walking and working in a working area corresponding to the first target working point; returning to the charging station for charging, and entering a working area corresponding to a next target working point to walk and work, wherein the next target working point comprises the first target working point.
The embodiment of the invention also provides self-moving equipment which walks and works within the working range defined by the limit, and the self-moving equipment can comprise: a housing; the walking mechanism supports the shell and drives the self-moving equipment to walk; the power module provides driving force for walking and working for the self-moving equipment; a work module mounted on the housing to perform a predetermined work; the control module is electrically connected with and controls the power module to realize automatic walking and automatic working of the self-moving equipment; the self-mobile device further comprises a communication module, the communication module receives a marking message from a remote terminal, the self-mobile device acquires a working schedule and transmits the marking message and the working schedule to the control module, the control module controls the mower to respectively walk and work in the working range from the target working points according to the working schedule based on the marking message and the working schedule, and the marking message is used for selecting a plurality of target working points located on the limit.
Preferably, the communication module may receive an operating schedule from a remote terminal starting from each of a plurality of target operating points.
Preferably, the plurality of target working points can correspond to a plurality of working areas within the working range, and accordingly, the working schedule can include, but is not limited to, at least one of the following: working time of the self-mobile device sending out work from each target working point, working frequency of the self-mobile device sending out work from each target working point and working area of each working area.
Preferably, the self-mobile device may further include: and the navigation mechanism is used for forming a map of the working range.
Preferably, the plurality of target operating points located on the boundary may be determined based on a plurality of target operating points selected by a user on the map.
Preferably, the self-mobile device may further include: an energy module, which may be adapted to be mounted on the housing, is adapted to provide energy for walking and working of the self-moving device.
The embodiment of the invention also provides a working device of the self-moving equipment, which walks and works in a working range limited by the limit, and can comprise: a working point receiving module operable to receive a marker message from a remote terminal, the marker message being operable to select a plurality of target working points located on the boundary; the schedule acquisition module can be used for acquiring a working schedule starting from each target working point in a plurality of target working points; and the working module can be used for respectively starting from the target working point, walking and working in the working range according to the working schedule.
The embodiment of the invention also provides an automatic working system, and the self-mobile equipment is as described above; and a working device of the self-mobile device as described above; the self-mobile device operates as described above.
Compared with the prior art, the invention has the beneficial effects that: the method comprises the steps of receiving marking information from a mobile device, from a remote terminal, of selecting a plurality of target working points located on a limit, obtaining working schedules starting from the target working points, walking to different target working points to work according to the set working schedules, ensuring that grass in a working range can be cut uniformly, facilitating maintenance of lawns, and improving overall working efficiency of the mobile device. Further, the remote message is received from the mobile device, and the required message is received through communication with the external device, namely, the user can control the work of the mobile device through the external device without inputting a corresponding control instruction on the mobile device, so that the operation is simpler and more convenient, and the labor cost is saved.
Drawings
The technical problems, technical solutions and advantageous effects that the present invention solves as described above can be clearly obtained by the following detailed description of the preferred embodiments capable of realizing the present invention while being described with reference to the accompanying drawings.
The same reference numbers and symbols in the drawings and description are used to identify the same or equivalent elements.
FIG. 1 is a schematic diagram of an automated work system in accordance with one embodiment of the present invention.
Fig. 2 is a schematic block diagram of a robotic lawnmower according to an embodiment of the present invention.
Fig. 3 is a flow chart of a method of operation of a self-mobile device in accordance with an embodiment of the present invention.
Fig. 4-7 are schematic diagrams of a scenario provided by the present application.
Fig. 8 is a schematic structural diagram of a working device of a self-mobile device according to an embodiment of the present invention.
Wherein,
1. A self-moving device; 2. a limit; 3. a charging station; 4. working range.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Unless defined otherwise, all 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. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the automatic working system of the present embodiment may include a self-mobile device 1, a limit 2, and a charging station 3. Wherein the limits 2 are used to limit the working range of the automatic working system, the self-moving device walks and works within the working range 4 defined by the limits 2, i.e. walks and works in or between the limits, and the charging station 3 is used for the self-moving device to return supplementary energy when the energy source is insufficient.
The boundary 2 may be a generic term for boundaries and obstacles. The boundary may be from the periphery of the operating range of the mobile device, may be physical, electronic, or may be in a non-existent form, i.e., may be defined by a wall, fence, or the like; virtual boundary signals, such as electromagnetic signals or optical signals, may also be emitted by the boundary signal generating means; or may be the case without any boundaries present. The obstacle is a part or area within the working area where walking is impossible, such as a sofa, a bed cabinet in the room, or a pool, a flower bed in the outside (such as the area surrounded by the boundary 2 within the working area in fig. 1), etc., and similarly, the obstacle may be physical or electronic, the physical obstacle may be formed by the aforementioned obstacle itself, and the electronic obstacle may be formed by the boundary signal generating means emitting a virtual obstacle signal. The virtual boundary signal and the virtual obstacle signal may be the same signal or different signals, and are selected according to specific requirements. The self-mobile device detects its position with the boundary by means of a boundary detector present in the self-device.
The self-moving device 1 can be an unattended device such as a self-propelled mower, a sweeping robot, an automatic snowplow and the like, and can automatically walk on the ground or the surface of a working range to mow, suck dust or sweep snow. Of course, the self-moving device 1 is not limited to a robotic mower, a robot for sweeping floor, and a snowplow, but may be any other device suitable for unattended operation, and the application is not limited thereto.
In the following embodiments of the present application, a self-moving device is described as a robotic lawnmower.
As shown in fig. 2, the mower 20 has a housing (not shown), and the mower 20 may further include a running gear 21, a work module 22, a power module 23, an energy module 28, a control module 24, a communication module 25, and a navigation mechanism 26. The control module 24 is connected to and controls the power module 23.
In this embodiment, the running gear 21 includes a wheel group and a running motor that drives the wheel group. There are a number of possible arrangements of the wheelsets. Typically the wheel set comprises driving wheels driven by the travelling motor and auxiliary wheels of the auxiliary support housing, the number of driving wheels may be 1, 2 or more, and the number of auxiliary wheels may be 1, 2 or more accordingly. In the present embodiment, the number of driving wheels of the mower 20 is 2, which are a right driving wheel located on the right side and a left driving wheel located on the left side, respectively. The right and left drive wheels are symmetrically disposed about a central axis of mower 20. The center of the auxiliary wheel is positioned on the central axis. The right and left drive wheels are preferably located at the rear of the housing and the auxiliary wheels are located at the front. Of course, in other embodiments the drive wheel and auxiliary wheel may be provided instead. In this embodiment, the right and left drive wheels are each coupled with one drive motor to achieve differential output to control steering. The drive motor may be directly connected to the drive wheel, but a transmission may also be provided between the drive motor and the drive wheel, such as a planetary gear train or the like as is common in the art. In other embodiments, 2 drive wheels and 1 drive motor may be provided, in which case the drive motor drives the right drive wheel via a first transmission and the left drive wheel via a second transmission. I.e. the same motor drives the right and left driving wheels via different transmission means.
The work module 22 is a mowing module, specifically a cutting member, such as a cutting blade. The working module 22 is driven to work by a cutting motor (not shown). The centre of the work module 22 is located on the centre axis of the mower 20, below the housing, between the auxiliary wheel and the drive wheel. The energy module 28 may optionally be used to power a mower, which may optionally charge the energy module 28. The energy source of the energy module 28 may be gasoline, a battery pack, etc., and in this embodiment the energy module 28 includes a rechargeable battery pack disposed within the housing. In operation, the battery pack releases electrical energy to maintain the mower 20 in operation and walking. The battery pack may be connected to an external power source to supplement power when not in operation. In particular, for a more humane design, when a battery pack under-run is detected, mower 20 automatically looks for a charging station to recharge. The power module 23 may include a motor and a transmission structure connected with the motor, where the transmission structure is connected with the running mechanism, the motor drives the transmission mechanism to work, and the transmission effect of the transmission mechanism makes the running mechanism move, and the transmission mechanism may be a worm gear mechanism, a bevel gear mechanism, etc. The power module 23 may be provided with two sets of motors, one set driving the running gear to move and the other set driving the working module 22 to work. It will be appreciated that the number of motors per group is not limited and may be, for example, one or two.
The control module 24 is, for example, a controller, which may be an embedded digital signal Processor (DIGITAL SIGNAL Processor, DSP), a microprocessor (Micro Processor Unit, MPU), an Application SPECIFIC INTEGRATED Circuit (ASIC), a programmable logic device (Programmable Logic Device, PLD) System On Chip (SOC), a central processing unit (Central Processing Unit, CPU), or a field programmable gate array (Field Programmable GATE ARRAY, FPGA), etc. The control module 24 is electrically connected to and controls the power module 23 to realize automatic walking and automatic operation of the mower 20.
The controller can control the work of the mower according to a preset program or an accepted instruction. Specifically, the controller can control the travelling mechanism to travel in a working range of the mower according to a preset travelling path, and the mower performs mowing and other works while the travelling mechanism drives the mower to travel. When the mower walks in the preset path and completes related work, the controller can control the mower to stop mowing work and control the travelling mechanism to walk, so that the travelling mechanism drives the mower to leave the working range. The walking path and the parking position of the mower can be set in the controller in advance, and the controller controls the walking mechanism to execute work.
Fig. 3 is a flowchart of a working method of a self-mobile device (in this embodiment, the self-mobile device is exemplified by a mower) according to an embodiment of the present invention, which specifically may include:
S301: a marker message is received from a remote terminal.
In one embodiment of the application, a self-mobile device may first receive a marker message sent by a remote terminal, which marker message may be used to select a plurality of target operating points located on a boundary. The remote terminal may include a hardware device having a data information processing function and necessary software required to drive the hardware device to operate; the system can receive a plurality of target working points sent by the client and send the target working points to the self-mobile equipment; and may provide a plurality of predetermined ports through which a plurality of target operating points provided by the client may be received and/or transmitted from the mobile device. For example, network data interactions with clients and/or self-mobile devices may be based on a network protocol such as HTTP, TCP/IP, MQTT, or FTP. Furthermore, when the connected network is a local area network, the remote terminal can also be a client capable of realizing communication and having a data receiving and transmitting function in the local area network.
In this embodiment, the client may be a terminal device capable of accessing a communication network based on a network protocol and having a device information acquisition function. Specifically, for example, the client may be a mobile smart phone, a computer (including a notebook computer, a desktop computer), a tablet electronic device, a Personal Digital Assistant (PDA), or a smart wearable device, etc. In addition, the client may be an APP (including mobile applications) running on any of the above listed devices that can control the operation of the self-mobile device, such as: sweep floor APP, mow APP, sweep snow APP, drag floor APP etc.
In one embodiment of the present application, the plurality of target operating points can correspond to a plurality of operating areas within the operating range, i.e., the plurality of target operating points located on the boundary can be starting points when the respective operating areas are entered from the boundary when mowing work is performed by the self-mobile device. When the self-moving equipment walks for the first time, the self-moving equipment does not enter the mowing area to work, but only marks the target working points corresponding to the working areas, and then returns to the charging station. For a self-mobile device, the target operating point represents the initial operating point when the work is performed after starting from the charging station and entering into the respective area.
In this embodiment, a plurality of target operating points located on the boundary may be selected during walking from the initial operating point along the boundary by the mobile device. Meanwhile, when the self-mobile equipment is in a working state or a non-working state, a plurality of target working points and working schedules can be set in advance remotely, so that the automatic working of the self-mobile equipment can be realized even if the user is not at home. And when each target working point is selected, recording the distance from the initial working point to the target working point along the limit. In one embodiment, the initial working point is a charging station, however, the initial working point may be other fixed position points, which is not limited in the present application.
As an implementation manner of this embodiment, in the process of walking along the boundary from the mobile device, when the mobile device moves to each target working point, the user may press the "mark" key in the mobile application to mark the corresponding target working point. After the mobile application receives the mark signal, the distance from the initial working point to each target working point of the machine can be calculated according to the walking time of the mobile equipment and the average speed of the walking mechanism. When the self-mobile device completes one circle along the limit, the mobile application sends a plurality of mark information related to the distance to the self-mobile device, the self-mobile device receives the plurality of mark information in the client side to select a target working point positioned on the limit, and the distance is recorded in the memory.
As another implementation manner of this embodiment, the start-stop operation of the self-mobile device may be controlled by a mobile application in the client for controlling the self-mobile device, where the self-mobile device may access the network through the wireless network. When moving from the mobile device to the corresponding target operating point, the user may press a "mark" key in the mobile application, receive mark information in the client from the mobile device, and select the target operating point located on the boundary. At this time, the self-mobile device can record the distance it walks from the initial working point and mark the position, and record the distance into the memory. When the self-moving equipment walks for the first time, marking target working points corresponding to all working areas, and recording the distance from the initial working points to all the target working points.
When the distance is determined, the self-moving equipment can be calculated according to the walking time and the rotating speed of the walking mechanism. It can also be calculated by using a displacement sensor in the mobile device in combination with a gyroscope or a nine-axis sensor for detecting the angle.
In one embodiment of the application, selecting a plurality of target operating points located on the boundary may include:
s1-1: a map of the working range is obtained.
In one embodiment of the present application, a plurality of beacons may be set on the boundary, and a map of the working range is determined by acquiring coordinate information of the beacons; alternatively, the positioning device may record coordinate information of the mobile device when walking around the limit, map the working range according to the coordinate information, and store the map in the memory of the mobile device. In another embodiment of the present application, a navigation mechanism 26 may also be included in the self-mobile device, the navigation mechanism 26 may be used to form a map of the operating range of the self-mobile device. In particular, the navigation mechanism may include, but is not limited to, at least one of: ultrasonic sensors, radar sensors, optical sensors (laser or infrared sensors, etc.), UWB sensors, inertial navigation systems, etc., may be used to provide environmental control data, control the operation of the robotic lawnmower, and to form a map of the operating range of the robotic lawnmower.
S1-2: calibrating a plurality of target working points in the map.
S1-3: and mapping a plurality of target working points calibrated in the map into the working range.
In one embodiment of the application, the self-mobile device can acquire a plurality of target working points calibrated in the map by a user, and can map the plurality of target working points calibrated in the map into the working range according to the position relationship between the map and the actual working range. Thus, the self-mobile device can then enter the corresponding work area for operation according to the marked respective target work points. Likewise, when the user selects to operate the self-mobile device in one of the plurality of operating areas, the self-mobile device can enter the corresponding operating area to operate according to the target operating point marked in the operating area.
As another implementation manner of the present application, there is a start button (the button is a physical or virtual button) on the self-mobile device that controls the self-mobile device to start walking, and after the button is pressed according to a preset requirement, the self-mobile device will start walking; and a Stop button (the button is a physical or virtual button) for controlling the mobile device to Stop walking, and after the button is pressed, the mobile device stops working. When the self-mobile device starts from the initial working point and walks to the target working point along the limit, the user can trigger a stop key on the self-mobile device, and at the moment, the self-mobile device can record the walking distance from the initial working point and mark the stop position, and the distance is recorded in a memory of the self-mobile device; when the starting key is pressed when the starting key needs to be started again, the self-mobile equipment continues to walk to the next target working point, the distance from the initial working point to the next target working point is recorded, the stopping position is marked, and the distance is recorded in the memory. Thus, when the user selects to operate the self-mobile device in one of the plurality of operating areas, the self-mobile device can enter the corresponding operating area to operate according to the target operating point marked in the operating area.
In this embodiment, a plurality of target operating points located on the boundary are acquired, the plurality of target operating points representing respective operating regions. And acquiring a plurality of target working points positioned on the limit, and controlling the self-moving equipment to work in each working area according to a plurality of working areas corresponding to the target working points, so that a user can select the target working points according to actual grassland conditions, cutting of grasslands is facilitated, and the overall working efficiency of the self-moving equipment is improved.
S302: a work schedule from the mobile device starting from each of a plurality of target work points is obtained.
In one embodiment of the present application, the work schedule from each of the plurality of target work points of the mobile device may be calculated by the mobile device based on the received plurality of target work points, in combination with location information obtained from a work area locally stored by the mobile device or when forming a map of the work area, or from a default work schedule setting in the mobile device, etc.
In another embodiment of the present application, the work schedule obtained from the mobile device starting from each of the plurality of target work points may be the case when the work schedule is received from a remote terminal.
In one embodiment of the application, the plurality of target operating points can represent a plurality of operating regions within an operating range. When the automatic mower works in the working range from each target working point in the plurality of target working points, the working areas of the working performed by each target working point can be overlapped or not. Preferably, there is no overlap between the determined plurality of working areas. In this way, the self-moving device can work independently in each working area, and mowing conditions in each working area are not influenced, so that uniform mowing of the self-moving device in each working area can be better realized.
In one embodiment of the present application, each of the working areas represented by the plurality of target working points may be determined according to a boundary and/or a channel within the working range satisfying a preset requirement. Specifically, when a channel having a width less than a preset threshold exists in the working range, a plurality of working areas may be determined according to a plurality of target working points, boundaries and channels of the self-mobile device. In general, a narrow channel with a width smaller than a preset threshold value in the working range is considered as an obstacle, and then a plurality of target working points positioned on the boundary in the working range are combined, so that the working area is divided on the principle that the narrow channel with a width smaller than the preset threshold value does not exist in the end-to-end boundary in each divided working area. The preset threshold may be determined based on a lateral distance between boundary detectors from the mobile device, for example: the lateral distance between the boundary detectors is 10cm, and the preset threshold is 10cm or other channel widths that need to be turned back from the mobile device for multiple times to pass through, which is not limited by the present application.
The self-mobile device can walk and work in each work area represented by each target work point from the target work point. For the narrow channel which is not divided into working areas, the self-moving device can cut grass in the narrow channel in the process of going to and from a plurality of working areas. For example: mowing can be performed on the passage passing by the way with the width smaller than the preset threshold value in the process of walking from the first target working point to the next target working point along the limit.
In one embodiment of the application, a robotic lawnmower may receive a work schedule from a remote terminal that starts at each of a plurality of target work points. Wherein the work schedule may include, but is not limited to, at least one of: working time of the self-mobile device sending out work from each target working point, working frequency of the self-mobile device sending out work from each target working point and working area of each working area. After the robotic lawnmower receives the work schedule, the work condition of the mobile device when it issues from the target work point into the work area may be determined by way of software calculations and/or by way of hardware calculator calculations based on the work schedule.
In this embodiment, the above work schedule may be: user-defined and/or preset. For working time (also can be working time percentage, wherein the sum of the working time percentages of all working areas in a plurality of working areas is 100%), a user can set different working time for all areas according to the growth condition of lawns in all areas of the courtyard. For example: the first area is vigorous in lawn growth, and the working time can be set to be 5 hours; the second area may be set to 1h if the lawn growth is poor. The user can also directly adopt the default working time preset by the manufacturer in the self-mobile device. The working method when the working schedule is a working time percentage is not described herein.
In one implementation of the present application, when the work schedule is a work area (which may also be a percentage of the work area) of each area, obtaining the work schedule may include:
s2-1-1: acquiring the working area of each working area;
s2-1-2: and determining the work of each working area corresponding to each target working point based on the working area of each working area.
The total operating time in the self-moving device corresponding to the area of the user's home lawn may be determined based on the area. And then the user can respectively calculate and determine the working condition of the mobile equipment entering each area from the target working point according to the area of each area, and work in the working range from the mobile equipment according to the working schedule.
In one implementation of the present application, when the work schedule is a work number or a work frequency, receiving the work schedule from the remote terminal starting from each of the plurality of target work points may include:
S2-2-1: acquiring the working times of starting from each target working point in a plurality of target working points;
s2-2-2: and determining the work of each working area corresponding to each target working point according to the work times.
Similar to the above principle of setting the working time, the user may set the working times of each region according to the region areas corresponding to each target working point, and set the working times percentage, where the sum of the working times percentages of each working region in the plurality of working regions is 100%. The number of jobs indicates the number of times each target operating point is sent from the mobile device from the initial operating point.
In this embodiment, after a plurality of target working points have been obtained in step S301, the working schedule from each target working point is obtained, so that the self-mobile device can walk and work within the working range from each target working point according to the actual situation of the lawn, thereby facilitating uniform cutting of the lawn and improving the overall working efficiency of the self-mobile device.
S303: and respectively starting from the target working point, walking and working in the working range according to the working schedule.
In one embodiment of the application, the self-mobile device, after having obtained the target working points and the working schedules of the respective target working points, may perform a multi-zone work, starting from the target working points and working according to the working schedules, respectively.
In this embodiment, the self-mobile device may further include a communication module 25, and the self-mobile device may be connected to the wireless routing device through the communication module 25 and communicate with the remote terminal through the communication module 25. The communication module 25 can receive a message sent by a remote terminal, and in this embodiment may include: the plurality of target operating points on the boundary transmitted by the remote terminal are received through the communication module 25, the schedule of the operation of the mobile device from each of the plurality of target operating points transmitted by the remote terminal is received through the communication module 25, and the communication module 25 transmits the messages to the control module 24 after receiving the messages, so that the control module 24 controls the mobile device 20 to walk and operate within the operating range from the target operating point.
In one embodiment of the present application, walking and working in each working area, starting from the target working point, respectively, may include:
S3-1-1: starting from an initial working point, and driving to a target working point according to the distance;
s3-1-2: and walking and working in each working area corresponding to the target working point by taking the target working point as a starting point.
In this embodiment, after the distance between each target working point and the working time corresponding to each target working point are obtained from the mobile device, when the mobile device is in the multi-area working mode, the mobile device will randomly select one of the target working points from the initial working point according to the working time or the working times input by the user, based on each target working point marked in step S301, walk along the boundary based on the target working point and the corresponding distance to reach the corresponding target working point, and then walk and work in the working area corresponding to the target working point with the target working point as the starting point.
In another embodiment of the present application, walking and working in each working area starting from the target working point, respectively, may include:
S3-2-1: starting from a first target working point, walking and working in a first working area;
S3-2-2: the return charging station charges and enters a next working area to walk and work, wherein the next working area comprises the first working area.
In this embodiment, the self-mobile device may walk and operate in the working area corresponding to the first target working point from the first target working point according to the working schedule (may be: working time, working frequency, working area, etc.) input by the user until the electric quantity is insufficient, and return to the charging station for charging; after the charging is completed, the user walks and works in the working area corresponding to the next target working point, and the next target working point can comprise, but is not limited to, the first target working point. Similarly, one of the target working points may be selected at random according to each of the target working points marked in step S201, and based on the target working point and the corresponding distance, the distance is travelled along the boundary to reach the corresponding working area, and then the target working point is taken as a starting point, and the target working point enters the working area corresponding to the target working point to walk and work.
Specifically, the self-mobile device may start from the first target working point, and return to the charging station along the boundary when the electric quantity is insufficient in the working area corresponding to the first target working point. After the charging station finishes charging, the user walks to the next target working point randomly and enters the corresponding next working area to walk and work. The next target working point may be the first target working point or may be another target working point. After the self-mobile device finishes charging, the working schedule corresponding to each target working point can be acquired first, and if the work of a certain working area meets the setting requirement, the target working point of the area can be eliminated when the next target working point is randomly selected. It should be noted that, when the self-mobile device works in the working area corresponding to the first target working point, the working area is possibly communicated with other working areas, and then enters other working areas, and the working (such as working time, working frequency, working area, etc.) still accounts for the working condition corresponding to the target working point. The mobile device will work until the work condition at the time of issuing work from each target work point in the work range meets the work schedule required by the user.
Compared with the prior art, the invention has the beneficial effects that: the self-mobile device receives the marking information from the remote terminal, which is used for selecting a plurality of target working points on the limit, sets the working schedule starting from each target working point, controls the self-mobile device to walk to different target working points according to the set working schedule to work, ensures that grass in the working range can be uniformly cut, is beneficial to maintenance of lawns, and improves the overall working efficiency of the self-mobile device. Further, the remote message is received from the mobile device, and the required message is received through communication with the external device, namely, the user can control the work of the mobile device through the external device without inputting a corresponding control instruction on the mobile device, so that the operation is simpler and more convenient, and the labor cost is saved.
The method of the embodiment of the application is described below through a specific application scenario.
Fig. 4-7 are schematic diagrams of the scenarios provided by the present application. The king wants to control the self-mobile device with the client L. First, the king selects the number of working areas to be divided from the mobile device, after clicking the determination key in the client L, the mobile device starts to walk along the boundary, as shown in fig. 4, the mobile device walks from the charging station to the target working point 1 corresponding to the area a (A, B, C is only an exemplary description in the figure, the area a, the area B and the area C are not divided in actual application, A, B, C is a case of working areas corresponding to the target working point 1, the target working point 2 and the target working point 3 respectively in the figure), and the small Wang Dianji "mark" key controls the mobile device to stop and mark the target working point 1. Then the small Wang Ke controls the self-mobile device to continue walking with clicking the "start" key, further, as shown in fig. 5, the self-mobile device walks to the target operating point 2 in the area B, and the small Wang Dianji "mark" key controls the self-mobile device to stop and mark the target operating point 2. Likewise, the small Wang Ke controls the self-mobile device to continue walking by clicking the "start" key, further, as shown in fig. 6, the self-mobile device walks to the target working point 3 in the area C, and the small Wang Dianji "mark" key controls the self-mobile device to stop and mark the target working point 3, so that the working area corresponding to the "mark" key in the whole working range can be three areas of the area a, the area B and the area C, and the self-mobile device returns to the charging station along the limit. After dividing each area, the client L jumps to the multi-area time setting interface shown in fig. 7 (in this application scenario, the working schedule may be set based on time, or other conditions included in the working schedule described in the embodiment of the present application, which is not limited by the present application), and the king selects and stores working times of working from the 3 target working points into each area respectively. Specifically, as shown in fig. 7, the proportion of the operating time from the target operating point 1 to the operating range is set to 30%, the proportion of the operating time from the target operating point 2 to the operating range is set to 20%, and the proportion of the operating time from the target operating point 3 to the operating range is set to 50%. The self-moving device will then walk and work within the working range, respectively, according to the working time setting until the corresponding working time proportion is met.
After the parameter setting is performed, the self-mobile device can walk along the limit from the charging station, and any one of the three target working points is selected to enter the working area for working. For example: and entering an area corresponding to the target working point 1 at the target working point 1 to work according to a preset path, returning to a charging station to charge when the electric quantity of the self-mobile equipment is insufficient, and recording the working time of the self-mobile equipment at the target working point 1. After charging, the mobile device continues to walk along the boundary line from the charging station, whether the working time proportion of each marking position point meets the set requirement is detected, if not, one marking position point is selected, and when the position point corresponding to the target working point 2 enters the region corresponding to the target working point 2 to work till the electric quantity is insufficient, the charging station is returned to charge, and the working time of the mobile device at the target working point 2 is recorded. Repeating the above actions from the mobile device until the working time meets the requirement of time parameter setting, and returning to the charging station for charging.
Fig. 8 is a schematic structural diagram of a working device of a self-mobile device according to an embodiment of the present invention.
Referring to fig. 8, the working apparatus of the self-mobile device may include:
A worksite receiving module 801 operable to receive a marker message from a remote terminal, the marker message being operable to select a plurality of target worksites located on a boundary;
A schedule acquisition module 802, which may be used to acquire a work schedule starting from each of a plurality of target work points;
A work module 803 may be used to walk and work within a work range according to the work schedule, starting from the target work point, respectively.
In one embodiment, the schedule acquisition module may include: an operating schedule from a remote terminal is received from each of a plurality of target operating points.
In one embodiment, the plurality of target operating points can correspond to a plurality of operating regions within an operating range; accordingly, the area work module may include: each working area is walked from the target working point and works.
In one embodiment, the zone work module determines a plurality of work zones within a work range in the following manner, which may include: a plurality of working areas within the working range is determined based on the boundaries and/or channels within the working range that meet the preset requirements.
In one embodiment, there is no overlap between the multiple working areas.
In one embodiment, the work schedule may include, but is not limited to, at least one of: working time of the self-mobile device sending out work from each target working point, working frequency of the self-mobile device sending out work from each target working point and working area of each working area.
In one embodiment, a distance traveled by the self-mobile device from an initial operating point to the target operating point along the boundary may be determined based on the plurality of target operating points.
In one embodiment, the zone work module may include: the first driving unit can be used for driving to a target working point according to the distance from an initial working point; and the second running unit can be used for walking and working in the working range according to the working schedule by taking the target working point as a starting point.
In one embodiment, the initial operating point may be a charging station.
In one embodiment, the operating point receiving module may include: the map acquisition unit can be used for acquiring a map of the working range; the working point calibration unit can be used for calibrating a plurality of target working points in the map; the working point mapping unit can be used for mapping a plurality of target working points calibrated in the map into the working range.
In one embodiment, the zone work module may include: respectively from the target working points mapped to the working range, walk and work in the working range
In one embodiment, the zone work module may include: the third running unit can be used for running and working in a working area corresponding to the first target working point from the first target working point; and the fourth running unit can be used for returning to the charging station for charging, and entering a working area corresponding to a next target working point to walk and work, wherein the next target working point can comprise the first target working point.
An embodiment of the invention further relates to an automatic working system, which may comprise a self-moving device as described above; the self-mobile device operates as described above.
In the above automatic working system, the self-moving device is a robotic mower.
Compared with the prior art, the invention has the beneficial effects that: the self-mobile device receives the marking information from the remote terminal, which is used for selecting a plurality of target working points on the limit, sets the working schedule starting from each target working point, controls the self-mobile device to walk to different target working points according to the set working schedule to work, ensures that grass in the working range can be uniformly cut, is beneficial to maintenance of lawns, and improves the overall working efficiency of the self-mobile device. Further, the remote message is received from the mobile device, and the required message is received through communication with the external device, namely, the user can control the work of the mobile device through the external device without inputting a corresponding control instruction on the mobile device, so that the operation is simpler and more convenient, and the labor cost is saved.
In addition to the methods and apparatus described above, embodiments of the application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the method of operating a self-mobile device according to the various embodiments of the application described in the "method of operating a self-mobile device" section of the description above.
The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, which, when being executed by a processor, cause the processor to perform steps in a method of operating a self-mobile device according to various embodiments of the present application described in the "method of operating a self-mobile device" section of the present description above.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
Although only a few embodiments of the present invention have been described and illustrated in this specification, those skilled in the art will readily envision other means or structures for performing the functions and/or obtaining the structures described herein, and each of such variations or modifications is deemed to be within the scope of the present invention.
Claims (18)
1. A method of operating a self-moving device, wherein the self-moving device walks and operates within an operating range defined by a boundary, comprising:
receiving a marker message from a remote terminal, the marker message for selecting a plurality of target operating points located on the boundary;
acquiring a working schedule of the self-mobile device from each target working point in a plurality of target working points;
Respectively starting from the target working point, walking and working in the working range according to the working schedule; comprising the following steps: walking from an initial working point to the target working point along the limit; taking the target working point as a starting point, walking and working in the working range according to the working schedule;
The target working points can correspond to a plurality of working areas in the working range;
In a corresponding manner,
Respectively starting from the target working point, walking and working in the working range according to the working schedule, and comprising the following steps:
respectively starting from the target working point, walking and working in each working area;
Determining a plurality of working areas within the working range comprises:
determining a plurality of working areas in the working range based on the limit and/or a channel meeting preset requirements in the working range;
Wherein, for the narrow channel which is not divided into working areas, the self-moving device cuts the grass in the narrow channel in the process of going to and from the working areas.
2. The method of claim 1, wherein obtaining the work schedule from the mobile device from each of a plurality of target work points comprises:
an operating schedule from a remote terminal is received from each of a plurality of target operating points.
3. The method of claim 1, wherein there is no overlap between the plurality of working areas.
4. The method of claim 1, wherein the work schedule comprises at least one of: working time of the self-mobile device sending out work from each target working point, working frequency of the self-mobile device sending out work from each target working point and working area of each working area.
5. The method of claim 1, wherein a distance traveled by the self-mobile device from an initial operating point to the target operating point along the boundary is determined based on the plurality of target operating points.
6. The method of claim 5, wherein walking and working within the working range according to the working schedule starting from the target working point, respectively, comprises:
Starting from the initial working point, driving to the target working point according to the distance;
And walking and working in the working range according to the working schedule by taking the target working point as a starting point.
7. The method of any one of claims 5-6, wherein the initial operating point is a charging station.
8. The method of claim 1, wherein selecting a plurality of target operating points located on the boundary comprises:
acquiring a map of the working range;
Selecting the plurality of target operating points in the map;
and mapping a plurality of target working points marked in the map into the working range.
9. The method of claim 8, wherein walking and working within the working range according to the working schedule starting from the target working point, respectively, comprises:
And respectively starting from the target working points mapped into the working range, walking and working in the working range.
10. The method of claim 7, wherein walking and working within the working range according to the working schedule starting from the target working point, respectively, comprises:
starting from a first target working point, walking and working in a working area corresponding to the first target working point;
Returning to the charging station for charging, and entering a working area corresponding to a next target working point to walk and work, wherein the next target working point comprises the first target working point.
11. A self-moving device that walks and works within a working range defined by a boundary, the self-moving device comprising:
A housing;
The walking mechanism supports the shell and drives the self-moving equipment to walk;
The power module provides driving force for walking and working for the self-moving equipment;
a work module mounted on the housing to perform a predetermined work;
The control module is electrically connected with and controls the power module to realize automatic walking and automatic working of the self-moving equipment; it is characterized in that the method comprises the steps of,
The self-mobile device further comprises a communication module, the communication module receives a marking message from a remote terminal, the self-mobile device acquires a working schedule and transmits the marking message and the working schedule to the control module, and the control module controls the mower to respectively start from a target working point, walk and work in the working range according to the working schedule based on the marking message and the working schedule; the control module controls the self-moving equipment to walk from an initial working point to the target working point along the limit; taking the target working point as a starting point, walking and working in the working range according to the working schedule; the plurality of target operating points can represent a plurality of operating areas within the operating range; the plurality of target operating points may represent a plurality of operating areas within the operating range, including: determining a plurality of working areas in the working range based on the limit and/or a channel meeting preset requirements in the working range; the marking message is used for selecting a plurality of target working points positioned on the limit; wherein, for the narrow channel which is not divided into working areas, the self-moving device cuts the grass in the narrow channel in the process of going to and from the working areas.
12. The self-mobile device of claim 11, wherein the communication module receives an operating schedule from a remote terminal starting from each of a plurality of target operating points.
13. The self-mobile device of claim 11, wherein the plurality of target operating points are capable of corresponding to a plurality of operating areas within the operating range, the operating schedule comprising at least one of: working time of the self-mobile device sending out work from each target working point, working frequency of the self-mobile device sending out work from each target working point and working area of each working area.
14. The self-mobile device of claim 11, wherein the self-mobile device further comprises: and the navigation mechanism is used for forming a map of the working range.
15. The self-mobile device of claim 14, wherein the plurality of target operating points located on the boundary are determined based on a plurality of target operating points selected by a user on the map.
16. The self-mobile device of claim 11, wherein the self-mobile device further comprises: and the energy module is used for being installed on the shell and providing energy for walking and working of the self-moving equipment.
17. A working device of a self-moving device, characterized in that the self-moving device walks and works within a working range defined by a limit, comprising:
A working point receiving module for receiving a marker message from a remote terminal, the marker message being used to select a plurality of target working points located on the boundary;
A schedule obtaining module for obtaining a work schedule starting from each of a plurality of target work points;
The working module is used for respectively starting from the target working point, walking in the working range according to the working schedule and working; the self-moving equipment walks from an initial working point to the target working point along the limit; taking the target working point as a starting point, walking and working in the working range according to the working schedule; the plurality of target operating points can represent a plurality of operating areas within the operating range; the plurality of target operating points may represent a plurality of operating areas within the operating range, including: determining a plurality of working areas in the working range based on the limit and/or a channel meeting preset requirements in the working range; wherein, for the narrow channel which is not divided into working areas, the self-moving device cuts the grass in the narrow channel in the process of going to and from the working areas.
18. An automatic working system, a self-moving device as claimed in any one of claims 11-16; and working means of a self-moving device as claimed in claim 17; the self-mobile device operating according to the operating method of any one of claims 1 to 10.
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| CN109258060A (en) * | 2018-08-24 | 2019-01-25 | 宁波市德霖机械有限公司 | Map structuring intelligent grass-removing based on particular image mark identification |
Also Published As
| Publication number | Publication date |
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| CN112204488A (en) | 2021-01-08 |
| WO2020156519A1 (en) | 2020-08-06 |
| WO2020155862A1 (en) | 2020-08-06 |
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