CN112918444B - Parking control method and device for self-moving equipment - Google Patents
Parking control method and device for self-moving equipment Download PDFInfo
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- CN112918444B CN112918444B CN202110300057.3A CN202110300057A CN112918444B CN 112918444 B CN112918444 B CN 112918444B CN 202110300057 A CN202110300057 A CN 202110300057A CN 112918444 B CN112918444 B CN 112918444B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/10—Brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The application relates to a parking control method and device for self-moving equipment, belonging to the technical field of automatic control, and the method comprises the following steps: acquiring inclination angle data acquired by an inclination angle sensor; determining a braking strategy for the mobile device based on the tilt angle data; controlling the self-moving equipment to park according to a braking strategy; the problem that sudden braking or vehicle sliding is caused in the parking process of the self-moving equipment due to the fact that a braking strategy is fixed can be solved; because inclination data can reflect the slope on current road surface, and the size of slope can influence whether can produce emergency brake or swift current car phenomenon from mobile device, consequently, through confirming the braking strategy according to slope self-adaptation for self-mobile device can use the braking strategy of the current slope of adaptation to park, prevents to produce emergency brake or swift current car phenomenon, improves self-mobile device's parking effect.
Description
Technical Field
The application relates to a parking control method and device for self-moving equipment, and belongs to the technical field of automatic control.
Background
Self-moving devices refer to devices that can move by themselves without user involvement, such as: mowers, sweepers, and the like.
Self-propelled devices are typically parked according to a fixed braking strategy during self-propelled movement. Such as: and parking according to the fixed brake delay time.
However, the fixed braking strategy may not be suitable for different road conditions, and may cause problems such as sudden braking or vehicle sliding during the parking process.
Disclosure of Invention
The application provides a parking control method and device of a self-moving device, which can solve the problem that due to the fact that a braking strategy is fixed, sudden braking or sliding of the self-moving device is caused in the parking process. The application provides the following technical scheme:
in a first aspect, there is provided a parking control method for a self-moving apparatus having a tilt sensor mounted thereon, the method including:
acquiring inclination angle data acquired by the inclination angle sensor;
determining a braking strategy for the self-moving device based on the tilt angle data;
and controlling the self-moving equipment to park according to the brake strategy.
Optionally, the braking strategy includes a flat braking strategy and a hill braking strategy, and the determining the braking strategy of the self-moving device based on the inclination data includes:
when the inclination angle data belong to a first inclination angle range, determining the braking strategy as the flat ground braking strategy;
when the inclination angle data belong to a second inclination angle range, determining the braking strategy as the ramp braking strategy;
wherein the tilt angle data in the second tilt angle range is greater than the tilt angle data in the first tilt angle range.
Optionally, when the brake strategy is the flat ground brake strategy, the controlling the self-moving device to park according to the brake strategy includes:
acquiring a running speed parameter of the self-moving equipment;
determining a first brake delay time corresponding to the running speed parameter; the first brake delay time and the running speed parameter are in positive correlation;
and controlling the self-moving equipment to park according to the first brake delay time.
Optionally, the driving speed parameter comprises a driving parameter of a moving driving component in the self-moving device; the mobile driving assembly is used for driving a mobile assembly in the mobile equipment to operate, and the mobile assembly is used for driving the mobile equipment to move.
Optionally, when the braking strategy is the hill braking strategy, the controlling the self-moving device to park according to the braking strategy includes:
determining second brake delay time corresponding to the inclination angle data, wherein the second brake delay time and the inclination angle data are in a negative correlation relationship;
and controlling the self-moving equipment to park according to the second brake delay time.
Optionally, the second tilt angle range comprises a first sub-range and a second sub-range; the tilt angle data in the second sub-range is greater than the tilt angle data in the first sub-range;
the controlling the self-moving equipment to park according to the brake strategy comprises the following steps:
controlling the self-moving equipment to park without brake delay when the inclination angle data belongs to the second sub-range;
when the inclination angle data belong to the first sub-range, triggering and executing second brake delay time corresponding to the inclination angle data; and controlling the self-moving equipment to park according to the second brake delay time.
Optionally, the method further comprises:
acquiring latest continuously acquired inclination angle data for n times, wherein n is an integer greater than 1;
determining whether the inclination angle data are normal or not based on the inclination angle data acquired for the n times;
and when the inclination angle data is normal, triggering and executing the step of determining the braking strategy of the mobile equipment based on the inclination angle data.
Optionally, the determining whether the inclination data is normal based on the inclination data acquired in the n times includes:
when the variation of the n inclination angle data is smaller than or equal to a preset threshold value, determining that the inclination angle data is normal;
and when the variation of the n dip angle data is larger than a preset threshold value, determining that the dip angle data is abnormal.
In a second aspect, there is provided a parking control apparatus for a self-moving device having a tilt sensor mounted thereon, the apparatus comprising:
the data acquisition module is used for acquiring the inclination angle data acquired by the inclination angle sensor;
a strategy determination module for determining a braking strategy of the self-moving device based on the inclination angle data;
and the parking control module is used for controlling the self-moving equipment to park according to the brake strategy.
The beneficial effect of this application lies in: the method comprises the steps that an inclination angle sensor is installed on the self-moving equipment, and inclination angle data collected by the inclination angle sensor are obtained; determining a braking strategy for the mobile device based on the tilt angle data; controlling the self-moving equipment to park according to a braking strategy; the problem that sudden braking or vehicle sliding is caused in the parking process of the self-moving equipment due to the fact that a braking strategy is fixed can be solved; because inclination data can reflect the slope on current road surface, and the size of slope can influence whether the self-moving equipment can produce emergency brake or swift current car phenomenon, consequently, through confirming the braking tactics according to slope self-adaptation for the self-moving equipment can use the braking tactics that adapt to the current slope to park, prevents to produce emergency brake or swift current car phenomenon, improves the parking effect of self-moving equipment.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a parking control system for a self-propelled device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a self-moving device provided by one embodiment of the present application;
FIG. 3 is a flowchart of a parking control method for a self-propelled device according to an embodiment of the present application;
fig. 4 is a block diagram of a parking control apparatus for a self-propelled device according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application, but are not intended to limit the scope of the present application.
Fig. 1 is a schematic structural diagram of a control system of a self-moving device according to an embodiment of the present application, and as shown in fig. 1, the system at least includes: from a mobile device 1 and a control device 2.
The self-moving device 1 is a device that can move by itself without human intervention. Such as: the self-moving device 1 may be a mower, a sweeper, or the like, and the present embodiment does not limit the type of the self-moving device 1.
Taking the self-moving device 1 as a lawn mower as an example, the self-moving device 1 includes but is not limited to the following components:
a chassis;
a mowing mechanism located in the chassis;
a mowing driving component for driving the mowing mechanism to operate; such as: the mowing driving assembly comprises an engine, and a transmission shaft and/or a transmission gear which are connected with the engine;
a moving assembly for driving the mower to move; such as: the transmission mechanism comprises a wheel body, a transmission shaft connected with the wheel body and the like;
the movement driving component is used for driving the movement component to operate; such as: the mobile drive assembly comprises an engine different from the mowing drive assembly, a transmission shaft and/or a transmission gear connected with the engine, and the like.
Optionally, the mowing mechanism includes a mowing head, and the mowing head includes a sheet metal knife handle, a flail knife, and a protective cover, and certainly, the mowing mechanism may also be a mechanism with mowing capability in other forms, and the implementation manner of the mowing mechanism is not limited in this embodiment.
Optionally, the mowing mechanism further comprises a lifting assembly, the lifting assembly is used for completing lifting of the cutterhead, the mowing driving assembly transmits power of the engine to the cutterhead, and the power transmission is stable, does not jump and rotates smoothly without friction during lifting of the cutterhead.
Optionally, the moving assembly comprises four wheels mounted on the chassis, the four wheels are independently driven, and the wheels are connected with the chassis without damping.
Optionally, the generator power in the mower is a constant load, the cutting knife is a variable load due to terrain, cutting objects and cutting effects, and the engine power distribution mainly depends on self-adaptive distribution. The drive train connected to the generator includes a belt. The power generation and energy storage part in the mower consists of a power generator, a voltage stabilizing unit and a battery, and is externally connected with a dust-proof water unified charging port, so that the charging in winter is facilitated.
Of course, the above components are only illustrative, and in practical implementations, the lawn mower may also include further components, such as: the lawn mower comprises a sensing component, a power supply component, a communication component, a control component (such as a Programmable Logic Controller (PLC) or other chips with control functions), an engine working time recording instrument, a mileage instrument, a battery voltage instrument, a battery electric quantity instrument, an indicator light, a steering engine, a driver and the like, and the embodiment does not limit the components of the lawn mower.
The control device 2 is used for controlling the self-moving device 1 to work. Such as: the control of the moving speed and moving direction of the mobile device 1, the control of the start and stop of the mobile device 1, and the like are not limited in the present embodiment.
Alternatively, the control device 2 may be a device separate from the self-moving device 1, such as: a remote controller, a mobile phone, a wearable device, and the like, and the implementation manner of the control device 2 is not limited in this embodiment.
In this embodiment, referring to fig. 2, the self-moving device 1 is provided with a tilt sensor 11, and at this time, the control component 12 in the self-moving device 1 is configured to: acquiring inclination angle data acquired by an inclination angle sensor; determining a braking strategy for the mobile device based on the tilt angle data; and controlling the self-moving equipment to park according to a braking strategy.
The control unit 12 is connected to the tilt sensor 11 in communication, for example: connected by a communication bus.
Optionally, the tilt sensor 11 supports measuring tilt angles in at least two directions, such as: the tilt sensor 11 is a dual-axis tilt sensor, or a plurality of single-axis tilt sensors installed in different directions, and the present embodiment does not limit the type and number of the tilt sensors 11.
Alternatively, the present embodiment is described by taking the example of executing the parking control flow from the control module 12 in the mobile device 1, and in practical implementation, the parking control flow may also be executed by other devices, such as: executed by the control apparatus 2, etc., the present embodiment does not limit the main body that executes the parking control flow.
In summary, in the embodiment, the tilt sensor is installed on the mobile device, and the tilt data acquired by the tilt sensor is acquired; determining a braking strategy for the mobile device based on the tilt angle data; controlling the self-moving equipment to park according to a braking strategy; the problem that due to the fact that a braking strategy is fixed, sudden braking or sliding of the self-moving equipment in the parking process can be solved; because inclination data can reflect the slope on current road surface, and the size of slope can influence whether can produce emergency brake or swift current car phenomenon from mobile device, consequently, through confirming the braking strategy according to slope self-adaptation for self-mobile device can use the braking strategy of the current slope of adaptation to park, prevents to produce emergency brake or swift current car phenomenon, improves self-mobile device's parking effect.
Fig. 3 is a flowchart of a parking control method for a self-propelled device according to an embodiment of the present application. The present embodiment will be described by taking as an example the case where the method is used in the self-moving apparatus 1 in the control system of the self-moving apparatus shown in fig. 1. The method at least comprises the following steps:
Optionally, before acquiring the inclination data acquired by the inclination sensor, the self-moving device determines whether a parking control function is started; when it is determined that the parking control function is activated, step 301 is executed. When it is determined that the parking control function is not activated, the flow ends.
The manner of determining whether the parking control function is activated includes, but is not limited to, the following:
in a first mode: determining whether a valid start signal of a parking control function is available; the effective starting signal is sent when the control equipment receives a starting triggering operation acted on a parking control starting button, the effective starting signal fails after subsequently receiving a closing signal of a parking control function, and the closing signal is sent when the control equipment receives a closing triggering operation acted on the parking control starting button; the control equipment is used for controlling the self-moving equipment; when the effective starting signal exists, determining that the parking control function is started; when the valid start signal is not present, it is determined that the parking control function is not activated.
In a second way: the self-moving apparatus further includes a parking control start button. At this time, the self-moving apparatus determines whether a start trigger operation acting on the parking control start button is received; when the starting triggering operation is determined to be received, determining that the parking control function is started; and when the starting triggering operation is determined not to be received, determining that the parking control function is not started.
In other embodiments, the self-propelled device may also directly control the parking process of the self-propelled device without determining whether the parking control function is activated.
A braking strategy is determined from the mobile device based on the tilt angle data, step 302.
The braking strategy is suitable for the gradient of the current driving road surface corresponding to the inclination angle data, and the phenomenon of sudden braking or slope slipping of the self-moving equipment can be prevented.
Optionally, since the accuracy of the inclination angle data directly affects the accuracy of determining the gradient of the current driving road surface, in this embodiment, before step 302, the inclination angle data acquired last n times continuously is also acquired; determining whether the inclination angle data are normal or not based on the inclination angle data acquired for n times; when the inclination data is normal, step 302 is executed. n is an integer greater than 1
Wherein, whether the inclination angle data are normal is determined based on the inclination angle data acquired for n times, and the method comprises the following steps: when the variation of the n inclination angle data is smaller than or equal to a preset threshold value, determining that the inclination angle data is normal; and when the variation of the n inclination angle data is larger than the preset threshold value, determining that the inclination angle data is abnormal.
The value of the preset threshold is small, such as: the preset threshold is 0 or close to 0, and the value of the preset threshold is not limited in this embodiment.
n may be a fixed value or determined based on the set time length and the acquisition interval time length of the tilt sensor, and the setting manner of n is not limited in this embodiment.
Such as: if the preset time is 10ms (millisecond), when n inclination angle data collected within 10ms are consistent and unchanged, the inclination angle data are normal, and the fixed inclination angle data are used as the inclination angle data for determining the braking strategy.
Optionally, if the variation of the n inclination angle data is smaller than or equal to the preset threshold, but there are at least two different inclination angle data, at this time, an average value of the n inclination angle data may be used as the inclination angle data for determining the braking strategy; alternatively, the inclination angle data with the largest occurrence number in the n inclination angle data may be used as the inclination angle data for determining the braking strategy, and the selection manner of the inclination angle data is not limited in this embodiment.
And step 303, controlling the self-moving equipment to park according to the brake strategy.
In one example, the braking strategy includes a flat ground braking strategy and a hill braking strategy. The flat ground braking strategy is used for preventing sudden braking of the self-moving equipment in the parking process; the hill braking strategy is used to prevent the self-moving device from rolling downhill during parking. At this time, determining a braking strategy from the mobile device based on the tilt angle data includes: when the inclination angle data belong to a first inclination angle range, determining that the braking strategy is a flat ground braking strategy; when the inclination angle data belong to a second inclination angle range, determining that the braking strategy is a ramp braking strategy; wherein the tilt angle data in the second tilt angle range is greater than the tilt angle data in the first tilt angle range.
Optionally, in order to ensure the security of the mobile device, when the inclination data includes inclination data in at least two directions, if the inclination data in any direction belongs to a second inclination range, determining that the braking strategy is a hill braking strategy; and when the inclination angle data in all directions belong to the first inclination angle range, determining the braking strategy as a flat road braking strategy.
Within a first tilt range, the self-moving device is considered to be moving on level ground; within the second tilt range, the self-moving device is considered to be moving on the ramp. Illustratively, the first range of tilt angles may be [0 °, 5 °), and the second range of tilt angles may be [5 °, 35 ° ]; of course, in practical implementation, the upper limit value and the lower limit value of the first inclination angle range and the second inclination angle range may also be set to other values, and the embodiment does not limit the value of the first inclination angle range and the second inclination angle range.
In one example, controlling the self-moving apparatus to park according to a brake strategy when the brake strategy is a flat ground brake strategy includes: obtaining a travel speed parameter from a mobile device; determining first brake delay time corresponding to the running speed parameter; the first brake delay time and the driving speed parameter are in positive correlation; and controlling the self-moving equipment to park according to the first brake delay time.
The travel speed parameter is used to indicate a travel speed from the mobile device.
The driving speed parameter and the first brake delay time can be in a linear positive correlation relationship; alternatively, there is a non-linear positive correlation. In other words, as the travel speed parameter decreases, the first braking delay time decreases.
Optionally, the driving speed parameter comprises a driving parameter for moving a driving component in the self-moving device; the mobile driving assembly is used for driving the mobile assembly in the mobile equipment to operate, and the mobile assembly is used for driving the mobile equipment to move. Such as: the mobile driving component is a motor, the driving parameter is the motor rotating speed, the maximum value of the motor rotating speed is 3000r/min, and the minimum value of the motor rotating speed is 0 r/min; the maximum value of the brake delay is 1 second, the minimum value is 0, when the self-moving equipment determines to park, if the rotating speed of the motor is 3000r/min, the maximum brake is used for delaying parking; and when the self-moving equipment determines to park, if the rotating speed of the motor is 0r/min, parking without brake delay. It should be added that, in this example, only the maximum value of the braking delay is 1 second for example, in actual implementation, the maximum value of the braking delay may also be another value, and the maximum value of the braking delay may be set by a user, or may be set in the mobile device by default, and the value and the setting manner of the maximum value of the braking delay are not limited in this embodiment.
Alternatively, controlling the self-propelled device to park according to the brake delay time (e.g., the first brake delay time and the second brake delay time herein) means: after the self-moving equipment determines parking, and after the brake delay time, the brake relay is powered off, and the self-moving equipment brakes.
In other examples, the flat braking strategy may also be other strategies, such as: when the running speed parameter is greater than the speed threshold value, determining first brake delay time corresponding to the current running speed parameter based on a linear positive correlation between the running speed parameter and the first brake delay time; when the driving speed parameter is less than or equal to the speed threshold value, parking by using fixed brake delay time; the embodiment does not limit the implementation manner of the flat braking strategy.
In one example, when the braking strategy is a hill braking strategy, controlling the self-moving device to park according to the braking strategy comprises the following steps: determining second brake delay time corresponding to the inclination angle data, wherein the second brake delay time and the inclination angle data are in a negative correlation relationship; and controlling the self-moving equipment to park according to the second brake delay time.
Optionally, the second tilt angle range comprises a first sub-range and a second sub-range; the tilt angle data in the second sub-range is greater than the tilt angle data in the first sub-range. Wherein, according to the parking of brake strategy control mobile device, include: controlling the self-moving equipment to park without brake delay when the inclination angle data belong to a second sub-range; when the inclination angle data belong to the first sub-range, triggering and executing second brake delay time corresponding to the inclination angle data; and controlling the self-moving equipment to park according to the second brake delay time.
Such as: the first sub-range in the second inclination angle range is [5 °, 30 ° ], the second sub-range is (30 °, 35 ° ], and when the inclination angle data belongs to the first sub-range, the second braking delay time is gradually decreased with the increase of the inclination angle data, that is, when the inclination angle data is 5 °, the second braking delay time is maximum, when the inclination angle data is 30 °, the second braking delay time is minimum, for example, 0, at which the parking without braking delay is performed.
Of course, in other embodiments, the hill braking strategy may also be implemented in other ways, such as: the second inclination angle range may not be further divided, that is, the inclination angle data and the second braking delay time are always in a negative correlation relationship in the whole second inclination angle range, and the implementation manner of the hill-hold braking strategy is not limited in this embodiment.
In summary, in the parking control method for the self-moving device provided in this embodiment, the tilt sensor is installed on the self-moving device, and the tilt data acquired by the tilt sensor is acquired; determining a braking strategy for the mobile device based on the tilt angle data; controlling the self-moving equipment to park according to a braking strategy; the problem that due to the fact that a braking strategy is fixed, sudden braking or sliding of the self-moving equipment in the parking process can be solved; because inclination data can reflect the slope on current road surface, and the size of slope can influence whether can produce emergency brake or swift current car phenomenon from mobile device, consequently, through confirming the braking strategy according to slope self-adaptation for self-mobile device can use the braking strategy of the current slope of adaptation to park, prevents to produce emergency brake or swift current car phenomenon, improves self-mobile device's parking effect.
Fig. 4 is a block diagram of a parking control apparatus for a self-propelled device according to an embodiment of the present invention, and the present embodiment will be described by taking an example in which the apparatus is applied to the self-propelled device 1 in the control system for a self-propelled device shown in fig. 1. The device at least comprises the following modules: a data acquisition module 410, a strategy determination module 420, and a park control module 430.
A data obtaining module 410, configured to obtain tilt angle data collected by the tilt angle sensor;
a strategy determination module 420 for determining a braking strategy of the self-moving device based on the tilt angle data;
and the parking control module 430 is used for controlling the self-moving equipment to park according to the braking strategy.
For relevant details reference is made to the above-described embodiments.
It should be noted that: in the parking control device for a self-moving device provided in the above embodiment, when the parking control of the self-moving device is performed, only the division of the above functional modules is exemplified, and in practical applications, the above functions may be distributed by different functional modules as needed, that is, the internal structure of the parking control device for a self-moving device may be divided into different functional modules to complete all or part of the above described functions. In addition, the parking control device of the self-moving device provided by the above embodiment and the parking control method embodiment of the self-moving device belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment and is not described again.
Optionally, the present application further provides a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the parking control method of the self-moving apparatus of the above-described method embodiment.
Optionally, the present application further provides a computer product including a computer readable storage medium, in which a program is stored, the program being loaded and executed by a processor to implement the parking control method of the self-moving apparatus of the above-mentioned method embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. 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, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A parking control method of a self-moving apparatus, characterized in that the self-moving apparatus is mounted with a tilt angle sensor, the method comprising:
acquiring inclination angle data acquired by the inclination angle sensor;
determining a braking strategy for the self-moving device based on the tilt angle data; the braking strategies comprise a slope braking strategy and a flat ground braking strategy; when the inclination angle data belong to a first inclination angle range, determining the braking strategy as the flat ground braking strategy; when the inclination angle data belong to a second inclination angle range, determining the braking strategy as the ramp braking strategy; wherein the tilt angle data in the second tilt angle range is greater than the tilt angle data in the first tilt angle range;
controlling the self-moving equipment to park according to the brake strategy;
when the brake strategy is the hill brake strategy, controlling the self-moving equipment to park according to the brake strategy comprises the following steps:
determining second brake delay time corresponding to the inclination angle data, wherein the second brake delay time and the inclination angle data are in a negative correlation relationship;
and controlling the self-moving equipment to park according to the second brake delay time.
2. The method of claim 1, wherein said controlling the autonomous mobile machine to park in accordance with the braking strategy when the braking strategy is the flat ground braking strategy comprises:
acquiring a running speed parameter of the self-moving equipment;
determining a first brake delay time corresponding to the running speed parameter; the first brake delay time and the running speed parameter are in positive correlation;
and controlling the self-moving equipment to park according to the first brake delay time.
3. The method of claim 2, wherein the travel speed parameters include drive parameters of a moving drive assembly in the self-moving device; the mobile driving assembly is used for driving a mobile assembly in the self-moving equipment to operate, and the mobile assembly is used for driving the self-moving equipment to move.
4. The method of claim 1, wherein the second tilt angle range comprises a first sub-range and a second sub-range; the tilt angle data in the second sub-range is greater than the tilt angle data in the first sub-range;
the controlling the self-moving equipment to park according to the brake strategy comprises the following steps:
controlling the self-moving equipment to park without brake delay when the inclination angle data belongs to the second sub-range;
when the inclination angle data belong to the first sub-range, triggering and executing second brake delay time corresponding to the determined inclination angle data; and controlling the self-moving equipment to park according to the second brake delay time.
5. The method of claim 1, further comprising:
acquiring inclination angle data acquired last n times continuously, wherein n is an integer greater than 1;
determining whether the inclination angle data are normal or not based on the inclination angle data acquired for the n times;
and when the inclination angle data is normal, triggering and executing the step of determining the braking strategy of the mobile equipment based on the inclination angle data.
6. The method of claim 5, wherein said determining whether the tilt data is normal based on the n collected tilt data comprises:
when the variation of the n inclination angle data is smaller than or equal to a preset threshold value, determining that the inclination angle data is normal;
and when the variation of the n dip angle data is larger than a preset threshold value, determining that the dip angle data is abnormal.
7. A parking control apparatus for a self-moving device, characterized in that the self-moving device is mounted with a tilt angle sensor, the apparatus comprising:
the data acquisition module is used for acquiring the inclination angle data acquired by the inclination angle sensor;
a strategy determination module for determining a braking strategy of the self-moving device based on the inclination angle data; the braking strategy comprises a slope braking strategy and a flat ground braking strategy; when the inclination angle data belong to a first inclination angle range, determining the braking strategy as the flat ground braking strategy; when the inclination angle data belong to a second inclination angle range, determining the braking strategy as the ramp braking strategy; wherein the tilt data in the second tilt range is greater than the tilt data in the first tilt range;
the parking control module is used for controlling the self-moving equipment to park according to the brake strategy; when the brake strategy is the hill brake strategy, controlling the self-moving equipment to park according to the brake strategy comprises the following steps: determining second brake delay time corresponding to the inclination angle data, wherein the second brake delay time and the inclination angle data are in a negative correlation relationship; and controlling the self-moving equipment to park according to the second brake delay time.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110300057.3A CN112918444B (en) | 2021-03-22 | 2021-03-22 | Parking control method and device for self-moving equipment |
| PCT/CN2022/082164 WO2022199564A1 (en) | 2021-03-22 | 2022-03-22 | Parking control method and apparatus for self-moving device |
| JP2023559072A JP2024511490A (en) | 2021-03-22 | 2022-03-22 | Parking control method and device for autonomous mobile equipment |
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| CN202110300057.3A CN112918444B (en) | 2021-03-22 | 2021-03-22 | Parking control method and device for self-moving equipment |
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| CN112918444A CN112918444A (en) | 2021-06-08 |
| CN112918444B true CN112918444B (en) | 2022-07-19 |
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| JP (1) | JP2024511490A (en) |
| CN (1) | CN112918444B (en) |
| WO (1) | WO2022199564A1 (en) |
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| CN112918444B (en) * | 2021-03-22 | 2022-07-19 | 苏州大学 | Parking control method and device for self-moving equipment |
| CN113682314B (en) * | 2021-09-22 | 2023-06-02 | 汤恩智能科技(常熟)有限公司 | Gradient detection method and terminal |
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| DE102005046015A1 (en) * | 2004-09-28 | 2006-04-13 | Continental Teves Ag & Co. Ohg | Method for executing of braking operation for motor vehicle entails operating service brake if longitudinal inclination angle of motor vehicle is established as being less than threshold value |
| JP4814045B2 (en) * | 2006-10-06 | 2011-11-09 | 富士重工業株式会社 | Electric parking brake control device |
| CN102198805B (en) * | 2011-03-09 | 2016-09-28 | 王子辉 | A kind of pure electric automobile ramp method in slope that magneto drives |
| CN104417511A (en) * | 2013-09-11 | 2015-03-18 | 上海荣乐汽车电子有限公司 | Electronic parking braking system |
| KR101703619B1 (en) * | 2015-09-08 | 2017-02-07 | 현대자동차 주식회사 | Device for controlling parking on a slope and method for controlling parking using the same |
| CN205642848U (en) * | 2016-04-14 | 2016-10-12 | 宁波格陆博科技有限公司 | Automotive electronics parking braking system simulation device |
| CN107765697B (en) * | 2016-08-23 | 2023-11-03 | 苏州宝时得电动工具有限公司 | Self-moving device and self-moving device control method |
| CN110143196A (en) * | 2019-04-28 | 2019-08-20 | 东莞市易联交互信息科技有限责任公司 | The control method and system of a kind of vehicle and vehicle anti-skid vehicle |
| CN110254414A (en) * | 2019-05-06 | 2019-09-20 | 万向钱潮股份有限公司 | A kind of electronic parking system of four-wheel braking |
| CN110861622B (en) * | 2019-11-29 | 2021-03-16 | 安徽江淮汽车集团股份有限公司 | Automatic parking method, device, equipment and storage medium |
| CN112918444B (en) * | 2021-03-22 | 2022-07-19 | 苏州大学 | Parking control method and device for self-moving equipment |
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| CN112918444A (en) | 2021-06-08 |
| JP2024511490A (en) | 2024-03-13 |
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