CN112256013A - Automatic working system, automatic walking equipment and control method thereof - Google Patents
Automatic working system, automatic walking equipment and control method thereof Download PDFInfo
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- CN112256013A CN112256013A CN201910604710.8A CN201910604710A CN112256013A CN 112256013 A CN112256013 A CN 112256013A CN 201910604710 A CN201910604710 A CN 201910604710A CN 112256013 A CN112256013 A CN 112256013A
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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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
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
A control method of an automatic working system, automatic walking equipment and the automatic working system thereof are provided, the control method comprises the following steps: when an arrival signal is received when the automatic walking equipment approaches or arrives at a boundary, the automatic walking equipment rotates towards a preset direction by a preset angle alpha; in the process of rotating to the preset angle alpha, when an over-range signal of the automatic walking equipment is received, the automatic walking equipment stops rotating to the preset direction and rotates to the reverse direction of the preset direction by the reverse angle beta. Therefore, the control method of the automatic walking equipment can control the steering direction of the automatic walking equipment when the automatic walking equipment approaches or reaches the boundary, and can confirm the optimal steering direction through an attempt on the steering direction until the automatic walking equipment drives away from the boundary in the walking direction different from the original walking direction after approaching or reaching the boundary, thereby reducing the randomness and the repeated coverage rate of steering and improving the working efficiency.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a control method of an automatic working system, automatic walking equipment and the automatic working system.
Background
With the continuous progress of computer technology and artificial intelligence technology, automatic walking equipment and automatic working systems of intelligent robots have slowly entered the lives of people, such as intelligent floor sweeping robots, intelligent mowing robots and the like. Generally, such an intelligent robot is small in size, integrates a sensing device, a driving device, a battery and the like, does not need manual operation, and can travel and work in a specified area. And when the electric quantity of the battery is insufficient, the battery can automatically return to the charging station, is in butt joint with the charging station and is charged, and continues to move and work after charging is finished. Therefore, the working system of the intelligent robot does not need to be put into energy management after being uniformly set, so that a user can be liberated from housework, and great convenience is brought to the life of the user.
The intelligent robot of the current automatic working system generally adopts a linear walking along a random path, when meeting an obstacle or a boundary line, the intelligent robot stops walking by braking, and then turns to the robot randomly or according to a preset program. Therefore, the intelligent robot can only sense that the intelligent robot meets an obstacle or a boundary, but the intelligent robot cannot reasonably judge where to turn to, which is a preferable scheme, so that the intelligent robot can only randomly collide in a narrow area, and the intelligent robot needs a long time to leave the area and even can not leave the area. Therefore, the energy waste and the mechanical abrasion are greatly caused, the working efficiency is lower, and the service life is reduced.
Disclosure of Invention
In order to solve one of the above problems, the present invention provides a control method for an automatic walking device, including: when an arrival signal is received when the automatic walking equipment approaches or arrives at a boundary, the automatic walking equipment rotates towards a preset direction by a preset angle alpha; in the process of rotating to the preset angle alpha, when an over-range signal of the automatic walking equipment is received, the automatic walking equipment stops rotating to the preset direction and rotates to the reverse direction of the preset direction by the reverse angle beta.
As a further improvement of the present invention, the step of "receiving an out-of-bounds signal of the automatic walking device" includes: a position signal is received at least twice that part of the self-propelled device is located on or outside the boundary.
As a further improvement of the present invention, the step of "receiving an out-of-bounds signal of the automatic walking device" includes: a position signal is received at least twice that a portion of the self-propelled device moves from within the boundary to outside the boundary.
As a further improvement of the present invention, the step of "receiving an arrival signal when the autonomous walking apparatus approaches or reaches a boundary" includes: receiving a position signal that a straight distance between the portion of the automatic walking device and the boundary is less than or equal to a preset distance.
As a further improvement of the present invention, the step of "receiving an arrival signal when the autonomous walking apparatus approaches or reaches a boundary" includes: the position signal that the part receiving the automatic walking device senses the boundary current or the magnetic field.
As a further improvement of the present invention, the step between "the automatic traveling apparatus stops rotating in the preset direction" and "the automatic traveling apparatus rotates in the reverse direction of the preset direction by the reverse angle β" includes: confirming a rotated angle theta of the automatic walking equipment rotated towards a preset direction when the rotation is stopped; calculating the value of the reverse angle beta; the reverse rotation angle beta is as follows: β is n · θ, n is an integer greater than 1.
As a further improvement of the present invention, the step between "the automatic traveling apparatus stops rotating in the preset direction" and "the automatic traveling apparatus rotates in the reverse direction of the preset direction by the reverse angle β" includes: confirming a rotated angle theta of the automatic walking equipment rotated towards a preset direction when the rotation is stopped; calculating the value of the reverse angle beta; the reverse rotation angle beta is as follows: and β + α, where α is a preset angle α of the autonomous traveling apparatus rotating in a preset direction when the over-limit signal of the autonomous traveling apparatus is not received.
As a further improvement of the present invention, the step "confirming the rotated angle θ of the automatic walking device rotated in the preset direction when the rotation is stopped" includes: detecting the steering angle, the steering speed or the steering time of the walking module in the process of rotating towards the preset direction; the turned angle theta of the automatic walking device is calculated.
As a further improvement of the present invention, the step "the automatic walking device rotates by a reverse rotation angle β in a direction opposite to the preset direction" includes: rotating towards the reverse direction of the preset direction until receiving position signals of the part of the automatic walking equipment, which is positioned on the boundary or in the boundary, at least twice; and rotating the automatic walking equipment towards the reverse direction of the preset direction by a preset angle alpha, wherein the preset angle alpha is the preset angle alpha for the automatic walking equipment to rotate towards the preset direction when the over-limit signal of the automatic walking equipment is not received.
As a further improvement of the present invention, the step "the automatic walking device rotates by the reverse rotation angle β in the reverse direction of the preset direction" includes: the preset reverse angle beta.
As a further improvement of the invention, if the over-limit signal of the automatic walking equipment is not received, the automatic walking equipment rotates towards the preset direction by a preset angle alpha, wherein alpha is more than or equal to 90 degrees and less than 180 degrees.
As a further improvement of the present invention, the control method further includes: receiving direction update information; and updating the reverse direction of the original preset direction to be the new preset direction.
As a further improvement of the present invention, the step of "receiving the direction update information" includes before: recording the working time of the automatic walking equipment; and when the working time for keeping the original preset direction reaches the preset time, judging that the preset direction needs to be updated.
As a further improvement of the present invention, the step of "receiving the direction update information" includes before: recording the times of continuous rotation of the automatic walking equipment towards the reverse direction of the preset direction; when the number of times of continuous rotation in the opposite direction of the preset direction reaches a preset number of times, judging that the preset direction needs to be updated; the number of times is cleared.
In order to solve one of the above problems, the present invention provides an automatic walking device, which comprises a body, a walking module, and a power module; the automatic walking device comprises: the detection module is used for detecting an arrival signal and an over-range signal when the automatic walking equipment approaches or arrives at a boundary; the control module is used for controlling the automatic walking equipment to rotate towards a preset direction by a preset angle alpha when receiving the arrival signal; and in the process of rotating to a preset angle alpha, when the over-range signal is received, controlling the automatic walking equipment to stop rotating to the preset direction and rotate to the reverse direction of the preset direction by a reverse angle beta.
As a further improvement of the present invention, the over-boundary signal includes a position signal that at least twice the part of the automatic walking device is located on the boundary or outside the boundary, and a position signal that at least twice the part of the automatic walking device moves from inside the boundary to outside the boundary.
As a further improvement of the present invention, the arrival signal includes a position signal in which a straight distance between the portion of the automatic walking apparatus and the boundary is less than or equal to a preset distance, and a position signal in which the portion of the automatic walking apparatus senses a boundary current or a magnetic field.
As a further improvement of the present invention, the detection module includes at least two sensing elements disposed on the body.
As a further improvement of the present invention, the induction element is provided in two and disposed near the front side of the body, and the automatic traveling apparatus has a central axis in its traveling direction, the induction element being disposed symmetrically to the central axis.
As a further improvement of the present invention, the automatic walking device further comprises a judging module for judging whether the preset direction needs to be updated and sending out direction updating information;
the control module is in communication connection with the judging module to receive the direction updating information and control the reverse direction of the original preset direction to be updated to a new preset direction.
As a further improvement of the present invention, the automatic walking device further comprises a time module for recording the working time of the automatic walking device; the judging module is in communication connection with the time module to send direction updating information when the working time for keeping the original preset direction reaches the preset time.
As a further improvement of the present invention, the automatic walking device further comprises a counting module for recording the number of times of continuous rotation of the automatic walking device in the direction opposite to the preset direction; the judging module is in communication connection with the counting module so as to send direction updating information and clear the times when the times of continuous rotation in the reverse direction of the preset direction reaches the preset times.
As a further improvement of the present invention, the automatic walking device further comprises a calculation module for calculating the value of the reverse rotation angle β.
As a further improvement of the present invention, the automatic traveling device is an automatic mower, and the automatic mower further includes a cutting assembly disposed on the body and a cutting motor for driving the cutting assembly to cut.
To solve one of the above problems, the present invention provides an automatic working system, comprising: the self-propelled device as described above; and a boundary for defining a working range of the automatic walking device, which travels and works within the boundary.
As a further improvement of the present invention, the boundary includes a boundary signal generating element and a boundary line electrically connecting the boundary signal generating element, the boundary line generating element being configured to send a periodic current signal to the boundary line.
Compared with the prior art, the control method of the automatic walking equipment can control the steering direction of the automatic walking equipment when the automatic walking equipment approaches or reaches the boundary, and can confirm the optimal steering direction through an attempt on the steering direction until the automatic walking equipment drives away from the boundary in the walking direction different from the original walking direction after approaching or reaching the boundary, thereby reducing the randomness and the repeated coverage rate of steering and improving the working efficiency.
Drawings
FIG. 1 is a schematic view of an automatic walking device according to one embodiment of the present invention;
FIG. 2 is a schematic view of the automatic walking device of the present invention in a second state;
FIG. 3 is a schematic view of the automatic walking device of the present invention in a third state;
fig. 4 is a schematic view of the automatic walking device of the present invention in a fourth state.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, the present invention provides a control method of an automatic walking device, which is used to control the automatic walking device to walk and work within a working range defined by a boundary. The control method comprises the following steps:
when an arrival signal is received when the automatic walking equipment approaches or arrives at a boundary, the automatic walking equipment rotates towards a preset direction by a preset angle alpha;
in the process of rotating to the preset angle alpha, when an over-range signal of the automatic walking equipment is received, the automatic walking equipment stops rotating to the preset direction and rotates to the reverse direction of the preset direction by the reverse angle beta.
It is apparent that the automatic walking apparatus maintains the original walking state and working state when the arrival signal is not received, and generally, the automatic walking apparatus walks in a straight line and gradually approaches or arrives at the boundary. And in the process of rotating to the preset angle alpha, if the out-of-range signal of the automatic walking equipment is not received, the automatic walking equipment continuously rotates to the preset direction to be separated from the initial rotating position by the preset angle alpha.
Thus, as shown in FIGS. 1 to 3, p-p, p '-p', p '-p' is preset as the central axis of the automatic walking device, and p-p represents the central axis of the automatic walking device at the initial position before the rotation, p '-p' is the central axis of the automatic walking device after the first rotation is completed, and p '-p' is the central axis of the automatic walking device after the second rotation is completed; b-b' is preset as a boundary. For convenience of description, it is preset that the robot in this embodiment includes a pair of rear wheels and a pair of front wheels, the rear wheels are driving wheels and are respectively driven by a pair of motors to realize turning by using differential speed, the front wheels are universal wheels, and may be one or more than one, so that, in this embodiment, the origin of rotation is the intersection point of the central axis and the two rear wheels. Specifically, the rear wheel includes a left wheel and a right wheel, and the automatic traveling apparatus rotates around the intersection. Of course, if the automatic traveling apparatus is not configured as described above, but is configured as another structure, the object of the present invention can be achieved as long as the above-described steering operation method can be achieved.
Fig. 1 shows a state that the automatic walking device reaches a boundary and receives a corresponding over-boundary signal, and if the preset direction is a clockwise direction of a top view at this time, the automatic walking device rotates clockwise by a preset angle α on the basis of fig. 1 as shown in fig. 2; if the preset direction is counterclockwise, as shown in fig. 3, the automatic walking device is firstly rotated counterclockwise on the basis of fig. 1 until the rotated angle θ is rotated and the out-of-limit signal is received, and then rotated in the opposite direction of the counterclockwise direction by the reverse angle β, and in fig. 3, the final rotation angle of the automatic walking device is represented by the rotation of the central axis p-p'.
Of course, if the automatic walking apparatus travels vertically to the boundary as shown in fig. 4, the preset direction can be implemented regardless of the direction.
Therefore, when the automatic walking equipment approaches or reaches the boundary, the control module of the automatic walking equipment can receive the arrival signal and firstly rotate towards the preset direction by the preset angle alpha. If the automatic walking equipment receives the over-limit signal in the process of rotating towards the preset direction, the automatic walking equipment can quickly touch the boundary again after the rotation is finished and further rotate the next time if the automatic walking equipment continues to rotate along the original direction, so that the automatic walking equipment needs to be controlled to rotate towards the opposite direction; if the over-boundary signal is not received, it indicates that the automatic walking equipment continues to move in the movement direction without immediately touching the boundary, and thus the automatic walking equipment can continue to rotate to the preset angle alpha in the preset direction to complete the operation. Therefore, the control method of the automatic walking equipment can control the steering direction of the automatic walking equipment when the automatic walking equipment approaches or reaches the boundary, and can confirm the optimal steering direction through an attempt on the steering direction until the automatic walking equipment drives away from the boundary in the walking direction different from the original walking direction after approaching or reaching the boundary, thereby reducing the randomness and the repeated coverage rate of steering and improving the working efficiency.
Wherein, the step of receiving the over-limit signal of the automatic walking device includes, in an embodiment:
a position signal is received at least twice that part of the self-propelled device is located on or outside the boundary. Because, in order to sense the above-mentioned over-limit signal and to have accurate direction judgment, at least two detection devices for sensing the position signal are required, and correspondingly, at least two position signals are also required. In such an embodiment, since the portion of the autonomous walking apparatus has contacted or crossed the boundary after approaching or reaching the boundary, the portion is already on or outside the boundary during the rotation, and thus, a position signal that the portion of the autonomous walking apparatus is on or outside the boundary is always received at least once regardless of whether the rotation in the opposite direction to the preset direction is required. Thus, to make the scheme more rigorous, it is arranged that the location signal is received at least twice. Of course, if one detection device for sensing the position signal is provided to make the response of the automatic traveling apparatus faster, the step "receiving the over-limit signal of the automatic traveling apparatus" is: a position signal is received that a portion of the automated walking device is located on or off the boundary.
Moreover, the part of the automatic walking device can be a detection module arranged on the automatic walking device, the detection module comprises at least two sensing elements 11, and the sensing elements 11 are usually arranged at the edge of the shell of the automatic walking device; thus, when at least two sensing elements 11 are simultaneously located outside the boundary and then outside or on the boundary, indicating that the self-propelled device has been rotated out of the boundary during the rotation, there is a risk of touching an obstacle, and therefore, the rotation must be stopped in time. In particular, in the present embodiment, the sensing elements 11 are generally disposed at a front portion of the automatic walking device and spaced apart from each other by a certain distance to ensure monitoring accuracy, and the specific arrangement will be described in detail later.
The step of receiving an over-range signal of the automatic walking device comprises the following steps in another embodiment: a position signal is received at least twice that a portion of the self-propelled device moves from within the boundary to outside the boundary. In such an embodiment, the position signals of the part of the self-propelled device that moves from inside the boundary to outside the boundary are counted, and when they occur twice, which corresponds to at least two inductive elements 11 moving from inside the boundary to outside the boundary according to the above, it can also be confirmed that the self-propelled device has rotated out of the boundary during the rotation by monitoring the position signals. It should be noted that, the above-mentioned one of the inside and outside of the boundary includes the case on the boundary, and the above-mentioned one can be selected to be set in a specific work operation.
Unlike the first embodiment described above, the position signal measured in this embodiment is different. In the above embodiment, it is equivalent to measure the positional relationship between the sensing element 11 of the automatic walking apparatus and the boundary, and only whether the sensing element 11 is located inside or outside the boundary is sensed. In the present embodiment, it is necessary to measure the action state of the sensing element 11 crossing from inside to outside of the boundary, and count the action state of the crossing boundary. In the present embodiment, specifically, if there are N sensing elements 11, the over-boundary signal is a position signal that receives N times that the sensing element 11 moves from inside to outside the boundary.
It should be noted that the portion of the self-propelled apparatus may be the sensing element 11, or may refer to some number of measurement points on the self-propelled apparatus. That is, it is sufficient that a portion (for example, a measurement point) of the autonomous traveling apparatus can be detected and the position signal can be formed, and it is not necessary to generate the position signal when the sensor element 11 moves in the vicinity of the boundary.
Further, the step of "receiving an arrival signal when the automatic walking device approaches or reaches the boundary" includes, in an embodiment: receiving a position signal that a straight distance between the portion of the automatic walking device and the boundary is less than or equal to a preset distance.
In such an embodiment, the position signal is obtained by detecting a linear distance between a portion of the autonomous walking device and the boundary, in particular, a linear distance of the sensing element 11 on the autonomous walking device from the boundary. Of course, since the number of the sensing elements 11 is at least two, the linear distance between the sensing element 11 and the boundary is also at least two, and thus the arrival signal can be sent out as long as the linear distance between one of the sensing elements 11 and the boundary is less than or equal to the preset distance.
Note that, when the linear distance is a vector and is set within the boundary, the linear distance is greater than 0, when the linear distance is outside the boundary, the linear distance is less than 0, and when the linear distance is on the boundary, the linear distance is equal to 0. In the present embodiment, the preset distance is 0; then, as described above, one of the inductive elements 11, typically the one closest to the boundary, emits an arrival signal when the linear distance between the boundaries equals 0.
Alternatively, the step of "receiving an arrival signal when the automatic walking device approaches or reaches the boundary" in the second embodiment includes: the position signal that the part receiving the automatic walking device senses the boundary current or the magnetic field. In particular, in the present embodiment, the boundary current or the magnetic field is controlled within a small range, and the boundary current or the magnetic field can be sensed only when the self-propelled device approaches the boundary.
In this second embodiment, instead of detecting a distance, it is determined whether a boundary is sensed by a portion of the automated walking device. In the present embodiment, the portion of the self-propelled apparatus is the inductive element 11, and the boundary includes a boundary signal generating element and a boundary line connecting the boundary signal generating element in telecommunication, and the boundary line generating element sends a periodic current signal to the boundary line. The periodic current signal also generates a magnetic field according to the principle of electromagnetic induction. Therefore, the sensing element 11 of the automatic walking device can sense the electric signal or the magnetic signal generated by the current signal on the boundary line, and thus can send out the arrival signal.
In the above, two embodiments are listed for the generation of the arrival signal and the over bound signal, respectively. It is seen that both the arrival signal and the boundary signal are determined by the above-mentioned position relationship between the portion and the boundary of the automatic walking device, but the expression and detection manner of the position relationship are not limited to the above four embodiments, or for example, the detection of the boundary signal may be performed by detecting a linear distance or inducing a boundary current or a magnetic field, and the detection of the arrival signal may be performed by detecting the relative position of the portion and the boundary of the automatic walking device or the action state of crossing the boundary.
Hereinafter, the confirmation of the reversal angle β of the reverse rotation to the preset direction provides four examples.
In the first embodiment, the rotation angle θ of the automatic walking device which has rotated in the preset direction when the rotation is stopped is confirmed, and the reverse rotation angle β is further determined. Specifically, the step of "the automatic traveling device stops rotating in the preset direction" and "the automatic traveling device rotates in the opposite direction of the preset direction by a reverse rotation angle β" includes:
confirming a rotated angle theta of the automatic walking equipment rotated towards a preset direction when the rotation is stopped;
calculating the value of the reverse angle beta;
the reverse rotation angle beta is as follows:
β is n · θ, n is an integer greater than 1.
Usually, the turned angle θ is smaller than 90 °, so the value of n should not be too small, otherwise the boundary is touched immediately after the reverse rotation.
In the first embodiment, the step of "confirming the rotated angle θ by which the automatic walking device has rotated in the preset direction when the rotation is suspended" includes: detecting the steering angle, the steering speed or the steering time of the walking module 2 in the process of rotating towards the preset direction; the turned angle theta of the automatic walking device is calculated. In the present embodiment, the traveling apparatus is generally two wheels, and the traveling module 2 includes left and right wheels, so that the turned angle θ of the automatic traveling apparatus can be calculated by detecting the differential speed of the left and right wheels. Of course, the rotated angle θ can be measured in other ways. Alternatively, if the traveling module 2 is a single wheel, the rotated angle θ can be confirmed by detecting the rotation angle of the single wheel.
In the second embodiment, the rotation angle θ of the autonomous traveling apparatus rotated in the predetermined direction when the rotation is stopped is confirmed, and the reverse rotation angle β is determined, but the calculation method of the reverse rotation angle β is different. Specifically, the step of "the automatic traveling device stops rotating in the preset direction" and "the automatic traveling device rotates in the opposite direction of the preset direction by a reverse rotation angle β" includes:
confirming a rotated angle theta of the automatic walking equipment rotated towards a preset direction when the rotation is stopped;
calculating the value of the reverse angle beta;
the reverse rotation angle beta is as follows:
and β + α, where α is a preset angle α of the autonomous traveling apparatus rotating in a preset direction when the over-limit signal of the autonomous traveling apparatus is not received.
In the second embodiment, the value of the preset angle α is preset, and then the confirmed value of the rotated angle θ is added, so that the second embodiment is equivalent to that the automatic walking device directly rotates by the preset angle α in the opposite direction of the preset direction when approaching or reaching the boundary. In this embodiment, the determination of the rotated angle θ is the same as that in the first embodiment, and is not described again.
In the third embodiment, the value of the turned angle θ is not calculated any more, but the inversion of this portion is realized by the inductive element 11. Specifically, the step "the automatic walking device rotates by a reverse rotation angle β in a direction opposite to the preset direction" includes:
rotating towards the reverse direction of the preset direction until receiving position signals of the part of the automatic walking equipment, which is positioned on the boundary or in the boundary, at least twice;
and rotating the automatic walking equipment by a preset angle alpha in the opposite direction of the preset direction, wherein the preset angle alpha is the preset angle alpha of the automatic walking equipment rotating towards the preset direction when the out-of-range signal of the automatic walking equipment is not received.
In the third embodiment, corresponding to the above-mentioned over-limit signal, the sensing element 11 of the detection device determines whether the sensing element is within the boundary, and after the sensing element is determined to be within the boundary, the sensing element is further rotated by the preset angle α. The third embodiment corresponds to the second embodiment in that it is confirmed that the automatic walking device is further rotated in the reverse direction by the preset angle α within the boundary. But the way in which the automated walking device is confirmed to be within the boundary is different.
In a fourth embodiment, the step "the automatic walking device rotates by the reverse rotation angle β in the direction opposite to the preset direction" includes: the preset reverse angle beta. In this fourth embodiment, the reversal angle β is the optimum reversal angle β that is sought after a number of experiments in advance.
As described above, if the out-of-range signal of the automatic walking device is not received, the automatic walking device rotates to the preset direction by the preset angle α, wherein α is greater than or equal to 90 degrees and less than 180 degrees.
The above four confirmation methods and calculation methods of the reversal angle β are provided, but the calculation method of the reversal angle β is not limited to the above four methods, and other methods are also included in the scope of the present invention.
In the following, in order to increase the randomness of the movement of the automatic walking device, the control method further comprises other steps.
Specifically, the control method further includes:
receiving direction update information;
and updating the reverse direction of the original preset direction to be the new preset direction.
Therefore, after the information is updated in the receiving direction, the preset direction is reversed, so that the preset direction can be adjusted for the automatic walking equipment, the automatic walking equipment is prevented from moving repeatedly along the edge of the boundary all the time, and the working coverage rate of the automatic walking equipment is increased. It should be noted that the preset direction is clockwise or counterclockwise.
Specifically, the present invention provides two ways that can determine direction update information, and specifically, in the first embodiment, the step "receiving direction update information" includes:
recording the working time of the automatic walking equipment;
and when the working time for keeping the original preset direction reaches the preset time, judging that the preset direction needs to be updated.
That is, for example, if the automatic walking device updates the preset direction every five minutes, the preset time is five minutes. And after the direction is changed, continuously recording the working time for keeping the direction after the direction is changed, and continuously updating the preset direction after five minutes.
Alternatively, in the second embodiment, the step "receiving direction update information" includes:
recording the times of continuous rotation of the automatic walking equipment towards the reverse direction of the preset direction;
when the number of times of continuous rotation in the opposite direction of the preset direction reaches a preset number, judging that the preset direction needs to be updated;
the number of times is cleared.
In such an embodiment, the number of times of continuous rotation in the reverse direction of the preset direction is counted, for example, the preset number of times is fifty, and the automatic walking device continuously rotates in the reverse direction of the preset direction for fifty times, so that it is foreseeable that the automatic walking device will adjust the preset direction or will continue to adjust the preset direction, and the subsequent repeated operation of rotating in the reverse direction is prevented, and the time and the energy are further saved.
The control method of the autonomous traveling apparatus has been described in detail above, and the control method is mainly based on four points of determination of an out-of-range signal, determination of an arrival signal, calculation of a reverse angle β, and determination of direction update information. Hereinafter, the configuration of the automatic traveling apparatus will be described in correspondence with the above-described control method.
The present invention also provides an automatic walking device, comprising:
a body;
the traveling module 2 is disposed below the body, generally, the traveling module 2 is a wheel body, and as described above, the present embodiment includes a left wheel and a right wheel, and of course, if the wheel body is one wheel or more than two wheels, the purpose of the present invention can be satisfied as long as the steering function can be achieved;
the power module is arranged in the body and is used for providing energy for the automatic walking equipment to advance and work;
the detection module is used for detecting an arrival signal and an over-range signal when the automatic walking equipment approaches or arrives at a boundary;
the control module is used for controlling the automatic walking equipment to rotate towards a preset direction by a preset angle alpha when receiving the arrival signal; and in the process of rotating to a preset angle alpha, when the over-range signal is received, controlling the automatic walking equipment to stop rotating to the preset direction and rotate to the reverse direction of the preset direction by a reverse angle beta.
Specifically, the detection module includes at least two sensing elements 11 disposed on the body, the sensing elements 11 are disposed two and close to the front side of the body, the automatic traveling device has a central axis along the traveling direction thereof, and the sensing elements 11 are disposed symmetrically to the central axis. Thus, the inductive elements 11 are separated from each other, and the accuracy of the measurement can be further determined.
Then, corresponding to the above, the over-boundary signal includes a position signal where at least two times the portion of the automatic traveling apparatus is located on or outside the boundary, and a position signal where at least two times the portion of the automatic traveling apparatus moves from inside the boundary to outside the boundary. This is consistent with both embodiments of the above-described over bound signal determination.
And the arrival signal comprises a position signal that a straight-line distance between the part of the automatic walking device and the boundary is less than or equal to a preset distance, and a position signal that the part of the automatic walking device induces a boundary current or a magnetic field. This is consistent with both embodiments of the arrival signal determination described above.
Furthermore, the automatic walking device also comprises a judging module used for judging whether the preset direction needs to be updated or not and sending direction updating information; the control module is in communication connection with the judging module to receive the direction updating information and control the reverse direction of the original preset direction to be updated to a new preset direction.
The automatic walking equipment also comprises a time module for recording the working time of the automatic walking equipment; the judging module is in communication connection with the time module to send direction updating information when the working time for keeping the original preset direction reaches the preset time. Or the automatic walking equipment further comprises a counting module for recording the number of times of continuous rotation of the automatic walking equipment towards the reverse direction of the preset direction; the judging module is in communication connection with the counting module so as to send direction updating information and clear the times when the times of continuous rotation in the reverse direction of the preset direction reaches the preset times. This is also consistent with the above judgment of updating information.
Of course, the automatic walking device of the present invention further includes a calculation module for calculating the value of the reverse rotation angle β.
In the invention, the automatic walking equipment is an automatic mower, and the automatic mower also comprises a cutting assembly arranged on the body and a cutting motor for driving the cutting assembly to cut. Therefore, the control method of the automatic traveling apparatus may be a control method applied to an automatic lawn mower.
The invention also provides an automatic working system, which comprises the automatic walking device and a boundary, wherein the boundary can be used for limiting the working range of the automatic walking device, and the automatic walking device travels and works in the boundary. As described above, the boundary includes the boundary signal generating element and the boundary line electrically connected to the boundary signal generating element, and the boundary line generating element is configured to transmit the periodic current signal to the boundary line. Thus, the detection module of the automatic walking device can sense the boundary and detect the over-boundary signal and the arrival signal correspondingly.
Therefore, in summary, the present invention provides an automatic working system, an automatic traveling apparatus, and a working method thereof, which can ensure traveling and working of the automatic traveling apparatus within a boundary, prevent the automatic traveling apparatus from being out of bounds, and perform steering in time even if a partial out-of-bounds condition occurs. And through the adjustment of the preset direction, the moving randomness of the automatic walking equipment is improved, the repeated coverage rate of the automatic walking equipment is reduced, and the working efficiency is improved.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (26)
1. A control method of an automatic walking device, characterized by comprising:
when an arrival signal is received when the automatic walking equipment approaches or arrives at a boundary, the automatic walking equipment rotates towards a preset direction by a preset angle alpha;
in the process of rotating to the preset angle alpha, when an over-range signal of the automatic walking equipment is received, the automatic walking equipment stops rotating to the preset direction and rotates to the reverse direction of the preset direction by the reverse angle beta.
2. The control signal of claim 1, wherein the step of receiving the over-range signal of the automatic walking device comprises:
a position signal is received at least twice that part of the self-propelled device is located on or outside the boundary.
3. The control method according to claim 1, wherein the step of "receiving an out-of-range signal of the automatic walking device" comprises:
a position signal is received at least twice that a portion of the self-propelled device moves from within the boundary to outside the boundary.
4. The control method according to claim 1, wherein the step of "receiving an arrival signal when the autonomous walking apparatus approaches or reaches a boundary" comprises:
receiving a position signal that a straight distance between the portion of the automatic walking device and the boundary is less than or equal to a preset distance.
5. The control method according to claim 1, wherein the step of "receiving an arrival signal when the autonomous walking apparatus approaches or reaches a boundary" comprises:
the position signal that the part receiving the automatic walking device senses the boundary current or the magnetic field.
6. The control method according to claim 1, wherein the step between "the automatic traveling apparatus stops rotating in the preset direction" and "the automatic traveling apparatus rotates in the reverse direction of the preset direction by a reverse angle β" includes:
confirming a rotated angle theta of the automatic walking equipment rotated towards a preset direction when the rotation is stopped;
calculating the value of the reverse angle beta;
the reverse rotation angle beta is as follows:
β is n · θ, n is an integer greater than 1.
7. The control method according to claim 1, wherein the step between "the automatic traveling apparatus stops rotating in the preset direction" and "the automatic traveling apparatus rotates in the reverse direction of the preset direction by a reverse angle β" includes:
confirming a rotated angle theta of the automatic walking equipment rotated towards a preset direction when the rotation is stopped;
calculating the value of the reverse angle beta;
the reverse rotation angle beta is as follows:
and β + α, where α is a preset angle α of the autonomous traveling apparatus rotating in a preset direction when the over-limit signal of the autonomous traveling apparatus is not received.
8. The control method according to claim 6 or 7, wherein the step of "confirming the rotated angle θ by which the automatic walking device has rotated in the preset direction when the rotation is stopped" comprises:
detecting the steering angle, the steering speed or the steering time of the walking module in the process of rotating towards the preset direction;
the turned angle theta of the automatic walking device is calculated.
9. The control method according to claim 1, wherein the step of "rotating the autonomous traveling apparatus by a reverse rotation angle β in a direction opposite to the preset direction" includes:
rotating towards the reverse direction of the preset direction until receiving position signals of the part of the automatic walking equipment, which is positioned on the boundary or in the boundary, at least twice;
and rotating the automatic walking equipment towards the reverse direction of the preset direction by a preset angle alpha, wherein the preset angle alpha is the preset angle alpha for the automatic walking equipment to rotate towards the preset direction when the over-limit signal of the automatic walking equipment is not received.
10. The control method according to claim 1, wherein the step of "rotating the autonomous traveling apparatus by a reverse rotation angle β in a direction opposite to the preset direction" includes:
the preset reverse angle beta.
11. The control method according to claim 1, wherein if the over-limit signal of the automatic walking device is not received, the automatic walking device is rotated in the preset direction by a preset angle α, wherein α is greater than or equal to 90 ° and less than 180 °.
12. The control method according to claim 1, characterized by further comprising:
receiving direction update information;
and updating the reverse direction of the original preset direction to be the new preset direction.
13. The control method according to claim 12, wherein the step of "receiving direction update information" comprises, before:
recording the working time of the automatic walking equipment;
and when the working time for keeping the original preset direction reaches the preset time, judging that the preset direction needs to be updated.
14. The control method according to claim 12, wherein the step of "receiving direction update information" comprises, before:
recording the times of continuous rotation of the automatic walking equipment towards the reverse direction of the preset direction;
when the number of times of continuous rotation in the opposite direction of the preset direction reaches a preset number of times, judging that the preset direction needs to be updated;
the number of times is cleared.
15. An automatic walking device comprises a body, a walking module and a power supply module; characterized in that, the automatic walking equipment includes:
the detection module is used for detecting an arrival signal and an over-range signal when the automatic walking equipment approaches or arrives at a boundary;
the control module is used for controlling the automatic walking equipment to rotate towards a preset direction by a preset angle alpha when receiving the arrival signal; and in the process of rotating to a preset angle alpha, when the over-range signal is received, controlling the automatic walking equipment to stop rotating to the preset direction and rotate to the reverse direction of the preset direction by a reverse angle beta.
16. The automated walking device of claim 15, wherein the over-range signal comprises a position signal of at least two times that the portion of the automated walking device is on or off the boundary, and a position signal of at least two times that the portion of the automated walking device moves from within the boundary to outside the boundary.
17. The automated walking apparatus of claim 15, wherein the arrival signal comprises a position signal that a straight distance between the portion of the automated walking apparatus and the boundary is less than or equal to a preset distance, and a position signal that the portion of the automated walking apparatus senses a boundary current or a magnetic field.
18. The automated walking device of claim 15, wherein the detection module comprises at least two sensing elements disposed on the body.
19. The automatic walking device of claim 18, wherein the sensing element is provided in two and disposed near the front side of the body, and wherein the automatic walking device has a central axis along its traveling direction, the sensing element being disposed symmetrically to the central axis.
20. The device for automated walking according to claim 15, further comprising a determining module for determining whether the preset direction needs to be updated and sending a direction update message;
the control module is in communication connection with the judging module to receive the direction updating information and control the reverse direction of the original preset direction to be updated to a new preset direction.
21. The automated walking device of claim 20, further comprising a time module to record the working time of the automated walking device; the judging module is in communication connection with the time module to send direction updating information when the working time for keeping the original preset direction reaches the preset time.
22. The automated walking device of claim 20, further comprising a counting module to record the number of times the automated walking device continuously rotates in a direction opposite to the preset direction; the judging module is in communication connection with the counting module so as to send direction updating information and clear the times when the times of continuous rotation in the reverse direction of the preset direction reaches the preset times.
23. The device according to claim 15, further comprising a calculation module for calculating a value of a reverse angle β.
24. The self-propelled apparatus of claim 15, wherein the self-propelled apparatus is a robotic lawnmower, the robotic lawnmower further comprising a cutting assembly disposed on the body and a cutting motor to drive the cutting assembly to cut.
25. An automatic work system, characterized by comprising:
the automated walking device of any one of claims 15 to 24;
and a boundary for defining a working range of the automatic walking device, which travels and works within the boundary.
26. The automatic work system according to claim 25, wherein the boundary comprises a boundary signal generating element and a boundary line electrically connected to the boundary signal generating element, the boundary line generating element being configured to send a periodic current signal to the boundary line.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910604710.8A CN112256013A (en) | 2019-07-05 | 2019-07-05 | Automatic working system, automatic walking equipment and control method thereof |
| PCT/CN2019/115693 WO2021003911A1 (en) | 2019-07-05 | 2019-11-05 | Automatic working system, automatic walking device and control method therefor |
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| CN201910604710.8A CN112256013A (en) | 2019-07-05 | 2019-07-05 | Automatic working system, automatic walking equipment and control method thereof |
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| CN113534800A (en) * | 2021-07-13 | 2021-10-22 | 南京苏美达智能技术有限公司 | Tracking control method, automatic walking equipment and readable storage medium |
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