CN112558616A - Intelligent self-walking equipment and control method - Google Patents
Intelligent self-walking equipment and control method Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 23
- 230000001276 controlling effect Effects 0.000 description 6
- 230000001681 protective effect Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—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
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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
- G05D1/0214—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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The application provides an intelligent self-walking device and a control method. According to the method and the device, the body angle of the self-walking device in the first walking state is recorded, and the corresponding reference value is generated according to the body angle range, so that the body angle is monitored in the running process of the self-walking device, and when the deviation of the body angle and the reference value is too large, the corresponding position in the current walking path is judged to be abnormal, so that the self-walking device meets an obstacle or is lifted. This application is high to the detection mode accuracy of barrier on the walking route of automatic walking equipment, can improve the security of equipment operation greatly to need not additionally to increase collision sensor, thereby save the installation space of collision sensor and corresponding backplate.
Description
Technical Field
The application relates to the technical field of automatic walking equipment, in particular to intelligent automatic walking equipment and a control method.
Background
Self-propelled devices such as intelligent lawn mowing robots have become widely popular. The automatic operation of the mower can be realized, and the conventional mower and other operation equipment are replaced, so that the labor required by operation is reduced.
However, self-walking equipment such as intelligent lawn mowers brings convenience to life of people and has potential safety hazards. Because self-walking equipment such as an intelligent mower does not have manual operation and control in the operation work such as mowing, when the self-walking equipment encounters an obstacle or is lifted during backing, the self-walking equipment needs to be provided with a machine which can quickly detect the obstacle or quickly detect that the machine is lifted, so that the self-walking equipment can respond in time.
In the prior art, the commonly used method for detecting obstacles is as follows: a rear guard plate is arranged on the rear side of the self-walking equipment, and a collision sensor is arranged between the rear guard plate and a base of the self-walking equipment. When the machine backplate meets an obstacle, the backplate deforms or moves relative to the base, and the triggering collision sensor detects a collision signal which is detected by the control unit so as to correspondingly trigger a coping mechanism. In this way, the rear guard plate of the self-propelled device generally needs to be set to be very low or other sensing detection elements are additionally installed, otherwise, a barrier with a low height cannot be detected when the self-propelled device retreats. However, obstacles with a low height can still damage the bottom work mechanism of the self-propelled device and the associated drive machine. If set up the backplate into great size to the lower barrier of height, then this backplate is easy in normal operating process, collides with step or ramp, influences the normal walking and the passing through of machine.
Disclosure of Invention
The utility model provides an intelligence is from walking equipment and control method to prior art's not enough, this application through the fuselage angle that detects from walking equipment, can in time detect from walking equipment collision barrier or detect that it is lifted by from walking equipment to trigger corresponding response mechanism, protective apparatus. The technical scheme is specifically adopted in the application.
Firstly, in order to achieve the above object, a control method of an intelligent self-walking device is provided, which comprises the steps of: acquiring and recording the body angle of the self-walking equipment in a first walking state, and correspondingly generating a reference value; detecting and calculating the deviation between the body angle of the self-walking equipment in the current walking state and the reference value, and judging that the walking path of the self-walking equipment is abnormal when the deviation exceeds a preset threshold value.
Optionally, the method for controlling an intelligent self-walking device according to any one of the above descriptions, wherein the first walking state includes: a state of traveling forward from the traveling apparatus or a state of traveling toward the boundary line of the working area from the traveling apparatus.
Optionally, the method for controlling an intelligent self-walking device according to any one of the above embodiments, wherein the body angle includes any one or a combination of: from the pitch angle of the walking equipment body, from the roll angle of the walking equipment body, from the speed of the walking equipment in any direction, from the acceleration of the walking equipment in any direction.
Optionally, the method for controlling an intelligent self-walking apparatus as described in any one of the above, wherein the reference value is updated by scrolling during the operation of the self-walking apparatus in the first walking state.
Optionally, the method for controlling an intelligent self-walking device according to any one of the above descriptions, wherein the reference value includes any one of: the statistical quantity of the angle of the machine body in the process of running the self-walking equipment in the first walking state for the set distance; and in the process that the self-walking equipment runs in the first walking state for the set time length, the statistic of the angle of the machine body is obtained.
Optionally, the method for controlling an intelligent self-walking apparatus as described in any one of the above, wherein the reference value includes: respectively corresponding machine body angles when the self-walking equipment is located at coordinates at different positions in the process of running in the first walking state; the deviation amount is: and the difference value between the angle of the machine body of the self-walking equipment in the current walking state and the reference value corresponding to the coordinate of the same position.
Optionally, the control method of the intelligent self-walking device as described above, wherein the self-walking device detects and calculates a deviation between the body angle of the self-walking device in the current walking state and the reference value in the backward movement, and determines that the walking path of the self-walking device is abnormal when the deviation exceeds a preset threshold.
Simultaneously, for realizing above-mentioned purpose, this application still provides an intelligence from walking equipment, and it includes: the body angle detection unit is used for acquiring the body angle of the self-walking equipment; the storage unit is used for storing corresponding reference values according to the fuselage angles in the process of running the self-walking equipment in the first walking state; the comparison unit is used for comparing the deviation amount between the body angle of the self-walking equipment in the current walking state and the reference value; and the control unit is used for judging that the walking path of the self-walking equipment is abnormal when the deviation exceeds a preset threshold value.
Optionally, the intelligent self-walking device as described in any one of the above, wherein the body angle detecting unit includes: any one or combination of angle sensors, gyroscopes, acceleration sensors.
Optionally, the intelligent self-walking device as described in any of the above, wherein the storage unit, in a process of running the self-walking device in the first walking state, performs rolling storage to update the body angles corresponding to the coordinate positions that the self-walking device has passed through most recently, as the reference values corresponding to the coordinate positions.
Optionally, in the intelligent self-walking device as described above, the storage unit further calls a reference value corresponding to the coordinate position according to the current coordinate position of the self-walking device in the process of comparing the deviation amount by the comparison unit, and outputs the reference value to the comparison unit.
Advantageous effects
According to the method and the device, the body angle of the self-walking device in the first walking state is recorded, and the corresponding reference value is generated according to the body angle range, so that the body angle is monitored in the running process of the self-walking device, and when the deviation of the body angle and the reference value is too large, the corresponding position in the current walking path is judged to be abnormal, so that the self-walking device meets an obstacle or is lifted. This application is high to the detection mode accuracy of barrier on the walking route of automatic walking equipment, can improve the security of equipment operation greatly to need not additionally to increase collision sensor, thereby save the installation space of collision sensor and corresponding backplate.
Further, the fuselage angle of the automatic walking equipment in the advancing process and the fuselage angle of the corresponding position of the automatic walking equipment in the retreating process under other conditions can be compared, and whether the automatic walking equipment meets an obstacle or not in the retreating process or not and is lifted up or not can be judged by calculating the deviation amount of the fuselage angle in different walking states at the same position.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
fig. 1 is a block diagram of an internal circuit configuration of a self-walking apparatus of the present application;
FIG. 2 is a schematic view of the self-propelled apparatus of the present application in an advanced state;
FIG. 3 is a schematic view of the present application in a reverse position from the walking apparatus;
fig. 4 is a schematic view of the self-walking apparatus of the present application when encountering an obstacle in a retracted state.
In the drawings, 1 denotes a self-propelled apparatus.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1 is a schematic diagram of a circuit unit of a self-propelled apparatus according to the present application, the self-propelled apparatus including:
the device comprises a walking unit, an operation unit, a control unit, a machine body angle detection unit and a comparison unit.
The walking unit is connected with the control unit, and the rotating speed of the walking motor is correspondingly adjusted under the control of instructions of the control unit so as to drive the walking wheels to drive the automatic walking equipment to walk.
Wherein, the operation unit can correspond the automatically walking equipment's such as intelligent lawn mower operation demand of mowing and corresponding setting includes: the lawn mower comprises a lawn mower disc, a lawn mowing motor and a driving circuit. The operation unit with the mowing function can be set to drive the mowing motor to drive the mowing cutter head to rotate to achieve mowing operation in the process that the automatic walking equipment traverses the operation path.
The device comprises a body angle detection unit, a storage unit and a control unit, wherein the body angle detection unit is used for acquiring a body angle of self-walking equipment and then storing a corresponding reference value in the storage unit according to the body angle in the process that the self-walking equipment runs in a first walking state; in a specific implementation, the above-mentioned body angle detection unit may be implemented by any one of the following sensors or a combination of the following sensors of different types or the same type: angle sensor, gyroscope, acceleration sensor.
The comparison unit is used for comparing the deviation amount between the body angle of the self-walking equipment in the current walking state and the reference value.
And the control unit is used for judging that the walking path of the self-walking equipment is abnormal when the deviation exceeds a preset threshold value.
Therefore, the angle of the machine body detected by the machine body angle detection unit at present and the angle recorded in the storage unit are compared, and whether the automatic walking equipment runs in a conventional working environment or not can be judged. Therefore, the conventional detection units such as the angle sensor are arranged, and whether the machine meets an obstacle or is lifted in the advancing or retreating process can be accurately judged through a simple comparison algorithm. This mode detects the accuracy height, has improved the security of machine operation greatly, and need not additionally use collision sensor, can practice thrift the installation space in the fuselage and save the rear side protective plate structure that collision sensor corresponds, is favorable to the miniaturization of equipment fuselage.
Under other implementation manners, in order to accurately judge whether the automatic traveling device runs into an abnormal obstacle or not at each position, the control unit of the automatic traveling device can be further set to detect the automatic traveling device according to the following manner:
acquiring and recording the angle of the body of the self-walking equipment in a first walking state such as forward walking and walking to the boundary line of a working area of the self-walking equipment, and accordingly generating a reference value according to the acquired pitch angle and roll angle of the body, the speed of the body in any direction and/or the acceleration of the body in any direction; the reference value can be updated in a rolling mode in the process that the self-walking device runs in the first walking state, so that the self-walking device can firstly obtain the reference value corresponding to the position closest to the turning point in the process that the self-walking device runs in the second walking state after reversely running, the comparison unit is triggered to correspondingly and sequentially call the reference value corresponding to the position according to the position where the self-walking device runs in the second walking state for comparison, and the angle range where the machine body is supposed to be located in the corresponding path position is recovered through the reference value. Therefore, the reference value can be correspondingly updated according to the road condition on the actual path, so that whether the automatic walking equipment meets the obstacle or not and whether protective response actions such as obstacle avoidance, alarming, stopping and the like are required or not can be accurately detected.
In a specific operation process, the reference values may be set as: in the process of running the self-walking equipment in the first walking state for the set distance, the average value and the distribution condition of the angle of the machine body can be calculated, and the average value and the distribution condition of the angle of the machine body can be calculated. The statistic can reflect the overall situation of the road condition at one end of the travel distance, so that the preset threshold value of the deviation suitable for the road condition is correspondingly determined.
In the operation process shown in fig. 2, 3 and 4, the present application may set and record the state information of the automatic traveling device during the traveling process, so that the automatic traveling device may detect whether the body angle meets the road condition corresponding to the pre-stored reference value in real time by the body angle detection unit during the operation process, compare the current body angle of the automatic traveling device with the state information obtained and recorded at the same position point at the previous time, and determine that the operation state of the automatic traveling device is abnormal when there is a significant difference between the real-time state information and the state information recorded at the previous time, thereby triggering protective actions such as shutdown.
In the traveling process shown in fig. 2, the body angle detection unit arranged on the body of the automatic traveling device detects and records the body angle information in the current forward state in real time, and the body angle information in the forward state may include various data such as the pitch angle and the roll angle of the body. When the mower runs into an obstacle or other conditions in front and moves backwards, the machine body angle detection unit detects the information of the backward moving state of the automatic walking equipment in the backward moving process in real time, and the information of the backward moving state also comprises a pitch angle, a roll angle and the like corresponding to the machine body in the backward moving state. Therefore, the comparing unit connected with the body angle detecting unit receives the body angle information in the forward state and the backward state information in the backward state detected by the body angle detecting unit in real time, compares the body angle information in the forward state with the backward state information in the corresponding position, and if the body angle information in the forward state and the backward state information in the corresponding position are inconsistent and the deviation reaches a preset threshold value, the operation state of the mower is considered to be abnormal.
In the traveling process of the automatic traveling equipment such as a mowing robot, the backward movement is usually required only when the automatic traveling equipment meets an obstacle in the front or travels to the vicinity of a boundary, and the backward distance is short. Therefore, as shown in fig. 2, when the mower progress state information is actually recorded, it is possible to record only the progress state information of the mowing robot at different position points within a distance D before the current position point. The distance D can be adjusted according to the requirement. Thus, in the retreating process shown in fig. 3, the retreating state information of each position point can be obtained in accordance with the distance D' of the actual retreat in fig. 3. And comparing the backward state information with the forward state information of each position point recorded before, and determining whether the running state of the mower is abnormal or not by judging whether the difference between the backward state information and the forward state information exceeds a set threshold value, so that the control unit is correspondingly triggered to control the machine to stop or perform other actions.
Specifically, after receiving the backward state information in the current backward traveling process, the comparing unit may correspondingly retrieve the respective corresponding body angles of the positions recently passed by the self-traveling device, which are updated by rolling in the storage unit, compare the forward state information with the body angle in the backward state according to the pitch angle and/or the roll angle, determine whether the body angle in the backward traveling process is consistent with the body angle recorded before, and when the body angle in the backward traveling process is obviously inconsistent with the pitch angle and/or the roll angle, determine that the machine state is abnormal, output abnormal information, and also perform actions such as sending an alarm.
The specific way for judging the obvious inconsistency between the two modes comprises the following steps: the magnitude of the difference between the angle of the backward path and the previously recorded angle and the positive and negative of the difference value are compared. If the difference value is higher than the set threshold value, the difference value and the set threshold value are not consistent; and the specific situation of the environmental abnormality can be further judged by determining the positive and negative of the difference value, and different kinds of abnormality information can be output.
For example, if the pitch and/or roll angles become larger during rollback, a new obstacle may appear behind the machine and the machine climbs up the obstacle in the manner of fig. 4. The machine should not be backed off at this point to prevent accidental injury. Similarly, when the pitch and/or roll angles are reversed and the angle is reduced, the machine may be tilted and the protection should be applied.
As shown in fig. 4, when the automatic traveling apparatus encounters an obstacle during the process of moving backward, the rear wheel is lifted, the pitch angle of the automatic traveling apparatus changes without fail, and when the pitch angle in the backward state information differs from the pitch angle in the forward state information recorded previously at the position point, in the determination process, when the difference between the pitch angle in the backward state information and the pitch angle in the forward state information exceeds a preset threshold, it is determined that the automatic traveling apparatus encounters an obstacle during the process of moving backward, and at this time, the automatic traveling apparatus is controlled to stop the backward movement, thereby avoiding damage to itself and/or a rear object.
In the automatic walking equipment, the control unit can be respectively connected with the walking unit, the operation unit and the comparison unit and used for receiving the abnormal information output by the comparison unit. And the control unit is arranged to execute the following steps so as to control the automatic walking equipment to make corresponding actions according to the received abnormal information:
s1, recording the forward state information of the automatic walking equipment in the forward process, wherein the forward state information comprises a pitch angle and a roll angle;
s2, when the automatic walking equipment needs to retreat, recording the retreating state information of the automatic walking equipment in the retreating process, wherein the retreating state information comprises a pitch angle and a roll angle;
and S3, judging whether the backward state information of the automatic walking equipment at the real-time position point is consistent with the recorded forward state information of the position point in the backward process, and if not, judging that the running state of the automatic walking equipment is abnormal. Specifically, the determination is made as to whether or not the difference between the pitch angle and the roll angle in the reverse state information and the forward state information exceeds a set threshold.
Therefore, the control unit can correspondingly judge different types of abnormal information according to the magnitude of the difference and the positive and negative conditions, thereby controlling the automatic walking equipment to make different coping actions.
In conclusion, the deviation between the machine body angle in the current walking state of the self-walking equipment and the corresponding reference value is detected and calculated, and when the deviation exceeds the preset threshold value, the walking path of the self-walking equipment is judged to be abnormal, so that the self-walking equipment is triggered to perform protective responses such as halt.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (11)
1. A control method of intelligent self-walking equipment is characterized by comprising the following steps:
acquiring and recording the body angle of the self-walking equipment in a first walking state, and correspondingly generating a reference value;
detecting and calculating the deviation between the body angle of the self-walking equipment in the current walking state and the reference value, and judging that the walking path of the self-walking equipment is abnormal when the deviation exceeds a preset threshold value.
2. The control method of an intelligent self-walking apparatus of claim 1, wherein the first walking state comprises:
a state of traveling forward from the traveling apparatus or a state of traveling toward the boundary line of the working area from the traveling apparatus.
3. The control method of the intelligent self-walking device according to claim 2, wherein the fuselage angle comprises any one or a combination of the following:
from the pitch angle of the walking equipment body, from the roll angle of the walking equipment body, from the speed of the walking equipment in any direction, from the acceleration of the walking equipment in any direction.
4. The intelligent self-walking apparatus control method of any one of claims 1-3, wherein the reference value is updated by scrolling during the self-walking apparatus is operated in the first walking state.
5. The control method of an intelligent self-walking apparatus of claim 4, wherein the reference value includes any one of:
the statistical quantity of the angle of the machine body in the process of running the self-walking equipment in the first walking state for the set distance;
and in the process that the self-walking equipment runs in the first walking state for the set time length, the statistic of the angle of the machine body is obtained.
6. The intelligent self-walking apparatus control method according to claim 4, wherein the reference value includes: respectively corresponding machine body angles when the self-walking equipment is located at coordinates at different positions in the process of running in the first walking state;
the deviation amount is: and the difference value between the angle of the machine body of the self-walking equipment in the current walking state and the reference value corresponding to the coordinate of the same position.
7. The method for controlling an intelligent self-walking device according to claim 5 or 6, wherein the self-walking device detects and calculates a deviation amount between the body angle of the self-walking device in the current walking state and the reference value in the backward movement, and when the deviation amount exceeds a preset threshold value, it is determined that the walking path of the self-walking device is abnormal.
8. An intelligent self-propelled device, comprising:
the body angle detection unit is used for acquiring the body angle of the self-walking equipment;
the storage unit is used for storing corresponding reference values according to the fuselage angles in the process of running the self-walking equipment in the first walking state;
the comparison unit is used for comparing the deviation amount between the body angle of the self-walking equipment in the current walking state and the reference value;
and the control unit is used for judging that the walking path of the self-walking equipment is abnormal when the deviation exceeds a preset threshold value.
9. The intelligent self-propelled device of claim 8, wherein the body angle detection unit comprises: any one or combination of angle sensors, gyroscopes, acceleration sensors.
10. The intelligent self-walking device of claim 9, wherein the storage unit is configured to, during the operation of the self-walking device in the first walking state, scroll-store and update the body angles corresponding to the coordinate positions that the self-walking device has recently passed through, as the reference values corresponding to the coordinate positions.
11. The intelligent self-walking device of claim 10, wherein the storage unit further retrieves a reference value corresponding to the coordinate position according to the coordinate position where the self-walking device is currently located during the comparison of the deviation amount by the comparison unit, and outputs the reference value to the comparison unit.
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| CN115250719A (en) * | 2022-06-22 | 2022-11-01 | 格力博(江苏)股份有限公司 | Garden tool safety control system and method and mower |
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| CN115250719A (en) * | 2022-06-22 | 2022-11-01 | 格力博(江苏)股份有限公司 | Garden tool safety control system and method and mower |
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