CN112799388A - Working method of self-moving equipment and self-moving equipment - Google Patents
Working method of self-moving equipment and self-moving equipment Download PDFInfo
- Publication number
- CN112799388A CN112799388A CN201911031798.5A CN201911031798A CN112799388A CN 112799388 A CN112799388 A CN 112799388A CN 201911031798 A CN201911031798 A CN 201911031798A CN 112799388 A CN112799388 A CN 112799388A
- Authority
- CN
- China
- Prior art keywords
- self
- work
- working
- moving
- plan
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000005070 sampling Methods 0.000 claims abstract description 35
- 238000003032 molecular docking Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 4
- 239000002699 waste material Substances 0.000 abstract description 7
- 244000025254 Cannabis sativa Species 0.000 description 12
- 238000004891 communication Methods 0.000 description 7
- 235000008216 herbs Nutrition 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000011017 operating method Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Harvester Elements (AREA)
Abstract
The invention provides a working method and a working device of self-moving equipment, wherein the self-moving equipment moves and works in a working area limited by a boundary, and the method comprises the following steps: the self-moving equipment executes work in the work area according to a work plan, wherein the work plan can indicate the work time of the self-moving equipment and indicate the rest time when the self-moving equipment does not work; after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected; when the working load is smaller than the preset working load threshold value, the working area is determined not to work, and the mobile device is controlled to stop working, so that the working area can stop working when not working, the energy waste amount is reduced, the damage to the working area is reduced, and the same working plan can be adopted in different seasons.
Description
Technical Field
The invention relates to the technical field of electric tools, in particular to a working method of self-moving equipment and the self-moving equipment.
Background
At present, work plans of intelligent mowers need to be set manually by personnel, and due to the fact that the growth speeds of the junci herbs in different seasons are different, the personnel need to set differently according to the seasons, and the setting is complex. And after the setting, if the grass is cut in advance in the working time, the grass can be continuously mowed, which not only causes energy waste, but also damages the grassland.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide an operating method of a self-moving device, which is used to solve the problems of complex setting of an operating plan of the self-moving device, large energy waste and large damage to grasslands in the prior art.
A second object of the present invention is to provide a self-moving device.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides an operating method of a self-moving device, where the self-moving device moves and operates within a work area defined by a boundary, and the method includes:
the self-moving equipment executes work in a work area according to a work plan, wherein the work plan can indicate the work time of the self-moving equipment and indicate the rest time when the self-moving equipment does not work;
after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected;
and when the working load is smaller than a preset working load threshold value, determining that the working area does not need to work, and controlling the self-mobile equipment to stop working.
Further, the method further comprises the following steps: and when the working load is greater than or equal to a preset working load threshold value, determining that the working area needs to work, and controlling the self-mobile equipment to work according to a working plan.
Further, the sampling path is any path from the stop station to the far end of the boundary of the working area.
Further, the sampling path is formed by receiving a user's setting from the mobile device.
Further, the self-moving device is an intelligent mower, and the working load is working current of a cutting module of the intelligent mower.
Further, different sampling paths are selected from multiple operations of the mobile device.
Further, after controlling the self-moving device to stop working, the method further includes:
and controlling the self-moving equipment to return to the stop station.
Further, the method further comprises the following steps: obtaining a work log of the self-moving device, wherein the work log comprises: the actual working time period of the self-moving equipment and the working load corresponding to the actual working time period;
adjusting the work plan according to the work log, or,
the work log is provided to a person for the person to adjust a work plan from the mobile device.
According to the working method of the self-moving equipment, the self-moving equipment executes work in a working area according to a working plan, and the working plan can indicate the working time of the self-moving equipment and indicate the rest time of the self-moving equipment which does not work; after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected; when the working load is smaller than the preset working load threshold value, the working area is determined not to work, and the mobile device is controlled to stop working, so that the working area can stop working when not working, the energy waste amount is reduced, the damage to the working area is reduced, and the same working plan can be adopted in different seasons.
To achieve the above object, a second embodiment of the present invention provides a self-moving device, including: the self-moving equipment moves and works in a working area defined by a boundary, and further comprises:
the execution module is used for executing work in a work area according to a work plan, wherein the work plan can indicate the working time of the self-mobile equipment and indicate the rest time of the self-mobile equipment without working;
the detection module is used for driving the self-moving equipment along a sampling path of a working area and executing work after the working time of the working plan is reached, and detecting the working load of the self-moving equipment when the self-moving equipment executes the work;
and the control module is used for determining that the working area does not need to work when the working load is smaller than a preset working load threshold value, and controlling the self-moving equipment to stop working.
Further, the control module is further configured to,
and when the working load is greater than or equal to a preset working load threshold value, determining that the working area needs to work, and controlling the self-mobile equipment to work according to a working plan.
Further, the sampling path is any path from the stop station to the far end of the boundary of the working area.
Further, the sampling path is formed by receiving a user's setting from the mobile device.
Further, the self-moving device is an intelligent mower, and the working load is working current of a cutting module of the intelligent mower.
Further, different sampling paths are selected from multiple operations of the mobile device.
Further, the control module controls the self-moving equipment to return to the stop station after controlling the self-moving equipment to stop working.
Further, the self-moving device further comprises: the device comprises an acquisition module and an adjustment module;
the obtaining module is configured to obtain a work log of the self-moving device, where the work log includes: the actual working time period of the self-moving equipment and the working load corresponding to the actual working time period;
the adjusting module is used for adjusting the work plan according to the work log, or providing the work log for personnel so that the personnel can adjust the work plan of the mobile equipment.
The self-moving equipment of the embodiment of the invention comprises: the mobile equipment comprises a shell, a mobile module and a working module, wherein the mobile equipment moves and works in a working area defined by a boundary, the mobile equipment performs work in the working area according to a working plan, and the working plan can indicate the working time of the mobile equipment and indicate the rest time of the mobile equipment without working; after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected; when the working load is smaller than the preset working load threshold value, the working area is determined not to work, and the mobile device is controlled to stop working, so that the working area can stop working when not working, the energy waste amount is reduced, the damage to the working area is reduced, and the same working plan can be adopted in different seasons.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a method for scheduling a work plan of a mobile device according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of another method for scheduling a work plan of a self-moving device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a self-moving device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another self-moving device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another self-moving device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes an operating method of a self-moving apparatus and the self-moving apparatus according to an embodiment of the present invention with reference to the drawings.
Fig. 1 is a schematic flowchart of a working method of a self-moving device according to an embodiment of the present invention. The self-moving device moves and works within a work area defined by the boundary. As shown in fig. 1, the working method of the self-moving device includes the following steps:
s101, the self-moving equipment executes work in a work area according to a work plan, wherein the work plan can indicate the work time of the self-moving equipment and indicate the rest time when the self-moving equipment does not work.
In this embodiment, the self-moving device may be, for example, an intelligent lawn mower, an intelligent sweeping robot, or the like. In this embodiment, the work plan may include, for example: the number of working days in a cycle, the working time of each day, the working time period and the like. For example, five days a week, 12 hours a day, etc. The work plan may be determined by a person or an autonomous mobile device according to the work speed of the autonomous mobile device and the work volume of the work area, etc.
And S102, after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected.
In this embodiment, the self-moving device is an intelligent lawn mower, the work area is a lawn, and the work is mowing. Due to the difference in the growth rate of the herbs in different seasons, such as the slow growth rate of the herbs in winter and the fast growth rate of the herbs in spring, the working plans may be different in different seasons, such as the different working days in a cycle in different seasons, and the different working hours per day. Setting the work plan for each season is complicated. In the application, the same work plan can be set for each season, and after the working time of the work plan is reached, whether the work area needs to work or not is determined according to the working load. Taking the working area as the lawn as an example, when the grass on the lawn is high and needs to be cut, the working load is large when the lawn is cut by the mobile equipment; the workload when mowing from a mobile device is less when the grass on the lawn is lower and does not need to be cut. Therefore, whether the lawn needs to be mowed at present can be determined according to the workload of the self-moving equipment during working, so that the mowing frequency can be automatically adjusted according to seasons, repeated mowing and excessive mowing are avoided, excessive damage to the lawn is avoided, the energy consumption of the self-moving equipment can be reduced, and the service life of the self-moving equipment is prolonged.
In this embodiment, the sampling path is any path from the docking station to the far end of the boundary of the working area. The stop station is a position where the mobile equipment is charged or has a rest when not in operation. The far end of the working area boundary is the end of the working area boundary farthest from the docking station. Since the docking station is located outside the working area, and the area through which any path from the docking station to the far end of the boundary of the working area passes includes a non-working area and a working area, in order to ensure the accuracy of the detected workload, the proportion of the working area in the area through which the sampling path passes needs to be greater than a certain proportion threshold.
In this embodiment, one of the obtaining methods of the sampling path may be that the user sets and stores a path to the self-moving device. Wherein the sampling path may be represented by the position of each point in the path. In this embodiment, when the self-moving device is an intelligent lawn mower, the workload may be a working current of a cutting module in the intelligent lawn mower.
In this embodiment, in order to ensure the accuracy of the workload detected in each operation, different sampling paths may be selected from multiple operations of the mobile device.
S103, when the work load is smaller than a preset work load threshold value, determining that the work area does not need to work, and controlling the self-moving equipment to stop working.
In this embodiment, the preset workload threshold may be a minimum workload when the working area needs to work. For example, when the working area is a lawn, the working load when mowing the lawn is performed when the height of grass in the lawn reaches the minimum mowing height. Wherein, the larger the height of the grass is, the larger the working load when mowing the lawn is; the smaller the height of the grass, the smaller the workload when mowing the lawn.
In this embodiment, after the self-moving device is controlled to stop working, the self-moving device may be controlled to return to the docking station. The stop station can be a charging station, and after the mobile equipment is controlled to stop working, the mobile equipment can be controlled to move to the charging station for charging so as to ensure that the mobile equipment has enough electric quantity to work when the next working time comes.
In addition, the method may further comprise the steps of: and when the working load is greater than or equal to a preset working load threshold value, determining that the working area needs to work, and controlling the mobile equipment to work according to a working plan.
According to the working method of the self-moving equipment, the self-moving equipment executes work in a working area according to a working plan, and the working plan can indicate the working time of the self-moving equipment and indicate the rest time of the self-moving equipment which does not work; after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected; when the working load is smaller than the preset working load threshold value, the working area is determined not to work, and the mobile device is controlled to stop working, so that the working area can stop working when not working, the energy waste amount is reduced, the damage to the working area is reduced, and the same working plan can be adopted in different seasons.
Further, with reference to fig. 2, on the basis of the embodiment shown in fig. 1, the method may further include the following steps:
s104, obtaining a work log of the mobile device, wherein the work log comprises: an actual operating time period from the mobile device, and a workload corresponding to the actual operating time period.
In this embodiment, the self-moving device may record the actual working time period and the working load of the self-moving device in real time, and generate the working log.
And S105, adjusting the work plan according to the work log, or providing the work log to a person so that the person can adjust the work plan of the mobile device.
In this embodiment, the process of adjusting the work plan by the self-moving device according to the work log may be, for example, comparing the work log with the work plan, determining whether work of each day in the work plan is executed, if work of a certain day is not executed, determining that work of the certain day is not needed, and deleting work of the certain day in the work plan.
In addition, the self-moving device can provide a work log for personnel, and the personnel can manually adjust the work plan according to the work log.
In addition, in this embodiment, after the work plan is adjusted, the current season may be acquired, and the work plan may be stored as the work plan of the current season. And then, after the next season, executing the work plan and readjusting to obtain the work plan of the next season, thereby obtaining the work plan of each season.
In this embodiment, the work plan only needs to be set once and is for a single season. And adjusting the work plan by the self-moving equipment in the execution process of each season according to the work log to obtain the work plan of each season.
According to the working method of the self-moving equipment, the self-moving equipment executes work in a working area according to a working plan, and the working plan can indicate the working time of the self-moving equipment and indicate the rest time of the self-moving equipment which does not work; after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected; when the working load is smaller than a preset working load threshold value, determining that the working area does not need to work, and controlling the self-moving equipment to stop working; a work log obtained from a mobile device, the work log comprising: the method comprises the following steps of obtaining an actual working time period of the mobile equipment and a working load corresponding to the actual working time period; and adjusting the work plan according to the work log, or providing the work log to a person so that the person can adjust the work plan of the mobile device. Therefore, the work plan can be adjusted according to the actual execution condition of the work plan, the work plan of each season is obtained, different work plans are prevented from being made for each season, and the set quantity and the set complexity of the work plan are reduced.
Fig. 3 is a schematic structural diagram of a self-moving device according to an embodiment of the present invention. The self-moving device includes: the device comprises a shell, a mobile module and a working module. As shown in fig. 3, the self-moving apparatus further includes: an execution module 31, a detection module 32 and a control module 33.
The execution module 31 is configured to execute work in a work area according to a work plan, where the work plan can indicate a work time of the self-moving device and indicate a rest time when the self-moving device does not work;
the detection module 32 is used for driving the self-moving equipment along the sampling path of the working area and executing work after the working time of the working plan is reached, and detecting the working load of the self-moving equipment when the self-moving equipment executes the work;
and the control module 33 is configured to determine that the working area does not need to work when the workload is smaller than a preset workload threshold, and control the self-moving device to stop working.
In this embodiment, the self-moving device may be, for example, an intelligent lawn mower, an intelligent sweeping robot, or the like. In this embodiment, the work plan may include, for example: the number of working days in a cycle, the working time of each day, the working time period and the like. For example, five days a week, 12 hours a day, etc. The work plan may be determined by a person or an autonomous mobile device according to the work speed of the autonomous mobile device and the work volume of the work area, etc.
In this embodiment, the self-moving device is an intelligent lawn mower, the work area is a lawn, and the work is mowing. Due to the difference in the growth rate of the herbs in different seasons, such as the slow growth rate of the herbs in winter and the fast growth rate of the herbs in spring, the working plans may be different in different seasons, such as the different working days in a cycle in different seasons, and the different working hours per day. Setting the work plan for each season is complicated. In the application, the same work plan can be set for each season, and after the working time of the work plan is reached, whether the work area needs to work or not is determined according to the working load. Taking the working area as the lawn as an example, when the grass on the lawn is high and needs to be cut, the working load is large when the lawn is cut by the mobile equipment; the workload when mowing from a mobile device is less when the grass on the lawn is lower and does not need to be cut. Therefore, whether the lawn needs to be mowed at present can be determined according to the workload of the self-moving equipment during working, so that the mowing frequency can be automatically adjusted according to seasons, repeated mowing and excessive mowing are avoided, excessive damage to the lawn is avoided, the energy consumption of the self-moving equipment can be reduced, and the service life of the self-moving equipment is prolonged.
In this embodiment, the sampling path is any path from the docking station to the far end of the boundary of the working area. The stop station is a position where the mobile equipment is charged or has a rest when not in operation. The far end of the working area boundary is the end of the working area boundary farthest from the docking station. Since the docking station is located outside the working area, and the area through which any path from the docking station to the far end of the boundary of the working area passes includes a non-working area and a working area, in order to ensure the accuracy of the detected workload, the proportion of the working area in the area through which the sampling path passes needs to be greater than a certain proportion threshold.
In this embodiment, one of the obtaining methods of the sampling path may be that the user sets and stores a path to the self-moving device. Wherein the sampling path may be represented by the position of each point in the path. In this embodiment, when the self-moving device is an intelligent lawn mower, the workload may be a working current of a cutting module in the intelligent lawn mower.
In this embodiment, in order to ensure the accuracy of the workload detected in each operation, different sampling paths may be selected from multiple operations of the mobile device.
In this embodiment, the preset workload threshold may be a minimum workload when the working area needs to work. For example, when the working area is a lawn, the working load when mowing the lawn is performed when the height of grass in the lawn reaches the minimum mowing height. Wherein, the larger the height of the grass is, the larger the working load when mowing the lawn is; the smaller the height of the grass, the smaller the workload when mowing the lawn.
In this embodiment, after the self-moving device is controlled to stop working, the self-moving device may be controlled to return to the docking station. The stop station can be a charging station, and after the mobile equipment is controlled to stop working, the mobile equipment can be controlled to move to the charging station for charging so as to ensure that the mobile equipment has enough electric quantity to work when the next working time comes.
In addition, the control module 33 may be further configured to determine that the work area needs to work when the workload is greater than or equal to the preset workload threshold, and control the mobile device to work according to the work plan.
The self-moving equipment of the embodiment of the invention comprises: the mobile equipment comprises a shell, a mobile module and a working module, wherein the mobile equipment moves and works in a working area defined by a boundary, the mobile equipment performs work in the working area according to a working plan, and the working plan can indicate the working time of the mobile equipment and indicate the rest time of the mobile equipment without working; after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected; when the working load is smaller than the preset working load threshold value, the working area is determined not to work, and the mobile device is controlled to stop working, so that the working area can stop working when not working, the energy waste amount is reduced, the damage to the working area is reduced, and the same working plan can be adopted in different seasons.
Further, with reference to fig. 4 in combination, on the basis of the embodiment shown in fig. 3, the self-moving device may further include: an acquisition module 34 and an adjustment module 35;
the obtaining module 34 is configured to obtain a work log of the self-moving device, where the work log includes: the actual working time period of the self-moving equipment and the working load corresponding to the actual working time period;
the adjusting module 35 is configured to adjust the work plan according to the work log, or provide the work log to a person, so that the person can adjust the work plan of the mobile device.
In this embodiment, the process of adjusting the work plan by the adjusting module 35 according to the work log may be, for example, comparing the work log with the work plan, determining whether work in each day in the work plan is executed, if work in a certain day is not executed, determining that work in the certain day is not needed, and deleting work in the certain day in the work plan.
In addition, in this embodiment, after the work plan is adjusted, the current season may be acquired, and the work plan may be stored as the work plan of the current season. And then, after the next season, executing the work plan and readjusting to obtain the work plan of the next season, thereby obtaining the work plan of each season.
In this embodiment, the work plan only needs to be set once and is for a single season. And adjusting the work plan by the self-moving equipment in the execution process of each season according to the work log to obtain the work plan of each season.
The self-moving equipment of the embodiment of the invention comprises: the mobile equipment comprises a shell, a mobile module and a working module, wherein the mobile equipment moves and works in a working area defined by a boundary, the mobile equipment performs work in the working area according to a working plan, and the working plan can indicate the working time of the mobile equipment and indicate the rest time of the mobile equipment without working; after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected; when the working load is smaller than a preset working load threshold value, determining that the working area does not need to work, and controlling the self-moving equipment to stop working; a work log obtained from a mobile device, the work log comprising: the method comprises the following steps of obtaining an actual working time period of the mobile equipment and a working load corresponding to the actual working time period; and adjusting the work plan according to the work log, or providing the work log to a person so that the person can adjust the work plan of the mobile device. Therefore, the work plan can be adjusted according to the actual execution condition of the work plan, the work plan of each season is obtained, different work plans are prevented from being made for each season, and the set quantity and the set complexity of the work plan are reduced.
Fig. 5 is a schematic structural diagram of another self-moving device according to an embodiment of the present invention. The self-moving device includes:
The processor 1002, when executing the program, implements the self-mobile device work plan scheduling method provided in the above-described embodiments.
Further, the self-moving device further comprises:
a communication interface 1003 for communicating between the memory 1001 and the processor 1002.
A memory 1001 for storing computer programs that may be run on the processor 1002.
The processor 1002 is configured to implement the self-mobile device work plan scheduling method according to the foregoing embodiment when executing the program.
If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.
The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the working method of the self-moving device as described above.
The invention also provides a computer program product, which when executed by an instruction processor in the computer program product implements the working method of the self-moving device as described above.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (16)
1. A method of operating a self-moving device that moves and operates within a work area defined by a boundary, comprising:
the self-moving equipment executes work in a work area according to a work plan, wherein the work plan can indicate the work time of the self-moving equipment and indicate the rest time when the self-moving equipment does not work;
after the working time of the working plan is reached, the self-moving equipment drives along the sampling path of the working area and executes the work, and meanwhile, the working load of the self-moving equipment when the self-moving equipment executes the work is detected;
and when the working load is smaller than a preset working load threshold value, determining that the working area does not need to work, and controlling the self-mobile equipment to stop working.
2. The method of claim 1, further comprising:
and when the working load is greater than or equal to a preset working load threshold value, determining that the working area needs to work, and controlling the self-mobile equipment to work according to a working plan.
3. The method of claim 1, wherein the sampling path is any path between the docking station to the far end of the boundary of the work area.
4. The method of claim 1, wherein the sampling path is formed by receiving a user's setting from a mobile device.
5. The method of claim 1, wherein the self-moving device is a smart mower and the workload is an operating current of a smart mower cutting module.
6. The method of claim 1, wherein different sampling paths are selected from multiple operations of the mobile device.
7. The method of claim 1, wherein controlling the self-moving device to stop operating further comprises:
and controlling the self-moving equipment to return to the stop station.
8. The method of claim 1, further comprising:
obtaining a work log of the self-moving device, wherein the work log comprises: the actual working time period of the self-moving equipment and the working load corresponding to the actual working time period;
adjusting the work plan according to the work log, or,
the work log is provided to a person for the person to adjust a work plan from the mobile device.
9. An autonomous mobile device comprising: the self-moving equipment moves and works in a work area defined by a boundary, and is characterized by further comprising:
the execution module is used for executing work in a work area according to a work plan, wherein the work plan can indicate the working time of the self-mobile equipment and indicate the rest time of the self-mobile equipment without working;
the detection module is used for driving the self-moving equipment along a sampling path of a working area and executing work after the working time of the working plan is reached, and detecting the working load of the self-moving equipment when the self-moving equipment executes the work;
and the control module is used for determining that the working area does not need to work when the working load is smaller than a preset working load threshold value, and controlling the self-moving equipment to stop working.
10. The self-moving device of claim 9, wherein the control module is further configured to,
and when the working load is greater than or equal to a preset working load threshold value, determining that the working area needs to work, and controlling the self-mobile equipment to work according to a working plan.
11. The autonomous mobile device of claim 9, wherein the sampling path is any path between a docking station to a far end of a boundary of a work area.
12. The self-moving device of claim 9, wherein the sampling path is formed by receiving a user's setting from the mobile device.
13. The self-moving apparatus of claim 9, wherein the self-moving apparatus is a smart mower and the workload is an operating current of a smart mower cutting module.
14. The self-moving device as claimed in claim 9, wherein different sampling paths are selected in a plurality of operations of the self-moving device.
15. The self-moving device according to claim 9, wherein the control module controls the self-moving device to return to a docking station after controlling the self-moving device to stop operating.
16. The self-moving device according to claim 9, further comprising: the device comprises an acquisition module and an adjustment module;
the obtaining module is configured to obtain a work log of the self-moving device, where the work log includes: the actual working time period of the self-moving equipment and the working load corresponding to the actual working time period;
the adjusting module is used for adjusting the work plan according to the work log, or providing the work log for personnel so that the personnel can adjust the work plan of the mobile equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911031798.5A CN112799388A (en) | 2019-10-28 | 2019-10-28 | Working method of self-moving equipment and self-moving equipment |
| PCT/CN2020/117174 WO2021082817A1 (en) | 2019-10-28 | 2020-09-23 | Working method for self-moving device, and self-moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911031798.5A CN112799388A (en) | 2019-10-28 | 2019-10-28 | Working method of self-moving equipment and self-moving equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112799388A true CN112799388A (en) | 2021-05-14 |
Family
ID=75715791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911031798.5A Pending CN112799388A (en) | 2019-10-28 | 2019-10-28 | Working method of self-moving equipment and self-moving equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112799388A (en) |
| WO (1) | WO2021082817A1 (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102771246A (en) * | 2012-07-05 | 2012-11-14 | 芜湖鸿宇智能科技有限公司 | Intelligent mower system and intelligent mowing method thereof |
| CN103217977A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Control method of automatic working equipment |
| CN103217898A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Automatic working equipment and control method thereof |
| CN103576681A (en) * | 2012-07-26 | 2014-02-12 | 苏州宝时得电动工具有限公司 | Automatic traveling device and control method thereof |
| US20160075019A1 (en) * | 2014-09-16 | 2016-03-17 | Kabushiki Kaisha Yaskawa Denki | Work planner, method for planning work, and computer-readable storage medium storing a work planning program |
| CN206115269U (en) * | 2016-08-26 | 2017-04-19 | 苏州宝时得电动工具有限公司 | Stop station and automatic work systems |
| CN107912125A (en) * | 2017-12-20 | 2018-04-17 | 苏州科瓴精密机械科技有限公司 | Robot and its control method |
| CN108008987A (en) * | 2017-12-26 | 2018-05-08 | 上海棠宝机器人有限公司 | Service robot autonomous management method, apparatus, system and storage medium |
| CN108337986A (en) * | 2017-01-25 | 2018-07-31 | 苏州宝时得电动工具有限公司 | Grass trimmer |
| CN110234219A (en) * | 2017-04-28 | 2019-09-13 | 深圳市元征科技股份有限公司 | Mowing method and grass trimmer |
| CN110537412A (en) * | 2019-08-02 | 2019-12-06 | 宁波大叶园林设备股份有限公司 | path planning method of intelligent mower |
-
2019
- 2019-10-28 CN CN201911031798.5A patent/CN112799388A/en active Pending
-
2020
- 2020-09-23 WO PCT/CN2020/117174 patent/WO2021082817A1/en active Application Filing
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103217977A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Control method of automatic working equipment |
| CN103217898A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Automatic working equipment and control method thereof |
| CN102771246A (en) * | 2012-07-05 | 2012-11-14 | 芜湖鸿宇智能科技有限公司 | Intelligent mower system and intelligent mowing method thereof |
| CN103576681A (en) * | 2012-07-26 | 2014-02-12 | 苏州宝时得电动工具有限公司 | Automatic traveling device and control method thereof |
| US20160075019A1 (en) * | 2014-09-16 | 2016-03-17 | Kabushiki Kaisha Yaskawa Denki | Work planner, method for planning work, and computer-readable storage medium storing a work planning program |
| CN206115269U (en) * | 2016-08-26 | 2017-04-19 | 苏州宝时得电动工具有限公司 | Stop station and automatic work systems |
| CN108337986A (en) * | 2017-01-25 | 2018-07-31 | 苏州宝时得电动工具有限公司 | Grass trimmer |
| CN110234219A (en) * | 2017-04-28 | 2019-09-13 | 深圳市元征科技股份有限公司 | Mowing method and grass trimmer |
| CN107912125A (en) * | 2017-12-20 | 2018-04-17 | 苏州科瓴精密机械科技有限公司 | Robot and its control method |
| CN108008987A (en) * | 2017-12-26 | 2018-05-08 | 上海棠宝机器人有限公司 | Service robot autonomous management method, apparatus, system and storage medium |
| CN110537412A (en) * | 2019-08-02 | 2019-12-06 | 宁波大叶园林设备股份有限公司 | path planning method of intelligent mower |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021082817A1 (en) | 2021-05-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11372420B2 (en) | System and method docking robotic mower | |
| EP2547192B1 (en) | Method and system for navigating a robotic garden tool | |
| EP2551739B1 (en) | Robotic mower launch point system | |
| CN112715133B (en) | Intelligent mower system and mowing method | |
| EP2767150B1 (en) | Improved robotic work tool | |
| CN108762273B (en) | Sweeping method | |
| CN111937014A (en) | Automatic mower | |
| CN113519253B (en) | Mower route regression method and system, storage medium and mower | |
| US11245269B2 (en) | Method for obtaining information for operating an accumulator, method for obtaining periods of time for charging different accumulators, and electric gardening and/or forestry apparatus system | |
| JP2019110782A (en) | Travel route calculation system | |
| WO2024131230A1 (en) | Autonomous mobile device and method for controlling the same, and computer readable storage medium | |
| CN109247117A (en) | The method, apparatus and intelligent grass-removing of automatic detection boundary line broken string | |
| CN110063142A (en) | The homing method and device of grass trimmer | |
| WO2024078499A1 (en) | Control method and apparatus for intelligent operation device, device, medium and program product | |
| CN110347144B (en) | Self-mobile device, self-learning method thereof and readable storage medium | |
| CN112799388A (en) | Working method of self-moving equipment and self-moving equipment | |
| CN112445206B (en) | Self-moving equipment work plan determination method and self-moving equipment | |
| CN115606398A (en) | Height control method of collecting device, collecting device and readable storage medium | |
| CN112558597B (en) | Self-moving equipment | |
| CN114721364A (en) | Mobile robot control method, device, equipment and storage medium | |
| CN112204488A (en) | Working method and device of self-moving equipment and self-moving equipment | |
| EP4193820B1 (en) | Path planning system and method for defining a harvest path for harvesting a crop material from a field | |
| CN112445213B (en) | Automatic working system, automatic walking equipment, control method of automatic walking equipment, computer equipment and computer readable storage medium | |
| CN117540866A (en) | Method for determining cutting coverage, mower, and storage medium | |
| US20240262228A1 (en) | Energy management system for autonomous work robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210514 |