CN113050647A - Operation control method and device for self-moving equipment - Google Patents

Abstract

The present application relates to an operation control method and device for self-moving equipment, belonging to the technical field of automatic control. The method includes: acquiring inclination data collected by an inclination sensor; determining whether the inclination data belongs to a preset safety range; When setting the security range, work according to the preset security policy; it can solve the problem that the self-moving device cannot recognize the inclination angle, which may cause the device to roll over; because the self-moving device can work according to the preset security policy when the inclination data is abnormal, it can Prevent the equipment from rolling over and prolong the service life of the equipment.

Description

Operation control method and device for self-moving equipment

technical field

The present application relates to an operation control method and device for self-moving equipment, belonging to the technical field of automatic control.

Background technique

Self-moving devices refer to devices that can move by themselves without user participation, such as lawn mowers, sweepers, etc.

During the self-moving process, the self-moving device may tilt due to poor road conditions. At this time, if the self-moving device cannot recognize the tilt and continues to move, it may cause the device to roll over and affect the service life of the device.

SUMMARY OF THE INVENTION

The present application provides an operation control method and device for a self-moving device, which can solve the problem that the self-moving device cannot recognize the tilt, which may cause the device to roll over and affect the service life of the device. This application provides the following technical solutions:

In a first aspect, an operation control method for a self-moving device is provided, where an inclination sensor is installed on the self-moving device, and the method includes:

acquiring the inclination data collected by the inclination sensor;

determining whether the inclination data falls within a preset safety range;

When the inclination data does not belong to the preset safety range, work according to a preset safety policy.

Optionally, the working according to a preset security policy includes:

controlling the self-moving device to stop running;

or,

Get the updated security path; move according to the updated security path.

Optionally, the obtaining the updated security path includes:

Determine the safe position during driving based on the historically acquired inclination data that belongs to the preset safe range; generate the updated safe path based on the safe position, and the updated safe path does not include those that do not belong to the driving position corresponding to the inclination data of the preset safety range;

or,

Sending a path update request to the control device; the path update request is used to request the control device to send a path update instruction, where the path update instruction is used to indicate the manner of generating the updated safe path; according to the path update instruction generating the updated safe path of the path; the control device is used for controlling the self-moving device.

Optionally, the self-moving device is further installed with an alarm device, and the method further includes:

When the inclination data does not belong to the preset safety range, an alarm signal is output through the alarm device.

Optionally, before the acquiring the inclination data collected by the inclination sensor, further comprising:

Determine whether the tilt protection function is activated;

When it is determined that the tilt angle protection function is activated, the step of acquiring the tilt angle data collected by the tilt angle sensor is triggered.

Optionally, the determining whether the tilt angle protection function is activated includes:

Determine whether there is an effective start signal of the tilt angle protection function; the valid start signal is sent by the control device when it receives a start trigger operation acting on the tilt angle protection start button, and the valid start signal is subsequently received. The turn-off signal of the tilt protection function becomes invalid after the turn-off signal is sent by the control device when it receives the turn-off trigger operation acting on the tilt protection start button; the control device is used to control the self-moving device;

When there is the valid activation signal, determine that the tilt angle protection function is activated;

When there is no valid activation signal, it is determined that the tilt angle protection function is not activated.

Optionally, the self-moving device further includes an inclination protection activation button, and the determining whether the inclination protection function is activated includes:

determining whether an activation triggering operation acting on the protection activation button is received;

When it is determined that the activation triggering operation is received, determining that the tilt angle protection function is activated;

When it is determined that the activation triggering operation is not received, it is determined that the tilt angle protection function is not activated.

Optionally, before the determining whether the inclination data belongs to a preset safety range, the method further includes:

receiving and storing the preset security range sent by a control device, where the control device is used to control the self-moving device;

or,

The preset security range input by the user based on the human-computer interaction interface on the self-mobile device is received and stored.

In a second aspect, an operation control device for a self-moving device is provided, the self-moving device is provided with an inclination sensor, and the device includes:

a data acquisition module for acquiring the inclination data collected by the inclination sensor;

a safety detection module for determining whether the inclination data belongs to a preset safety range;

The operation control module is configured to work according to a preset safety policy when the inclination data does not belong to the preset safety range.

The beneficial effects of the present application are: by installing an inclination sensor on a self-moving device, and acquiring inclination data collected by the inclination sensor; determining whether the inclination data belongs to a preset safety range; when the inclination data does not belong to the preset safety range, according to the preset safety range It can solve the problem that the self-moving device cannot recognize the tilt angle, which may cause the device to roll over; because the self-moving device can work according to the preset security policy when the inclination data is abnormal, it can prevent the device from rolling over and extend the equipment. service life.

The above description is only an overview of the technical solutions of the present application. In order to understand the technical means of the present application more clearly and implement them in accordance with the contents of the description, the preferred embodiments of the present application and the accompanying drawings are described in detail below.

Description of drawings

1 is a schematic structural diagram of an operation control system of a self-mobile device provided by an embodiment of the present application;

2 is a schematic diagram of a self-mobile device provided by an embodiment of the present application;

3 is a flowchart of an operation control method from a mobile device provided by an embodiment of the present application;

4 is a flowchart of a method for operating control of a self-mobile device provided by another embodiment of the present application;

FIG. 5 is a block diagram of an operation control apparatus of a self-mobile device provided by an embodiment of the present application.

Detailed ways

The specific implementations of the present application will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are used 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 for a self-mobile device provided by an embodiment of the present application. As shown in FIG. 1 , the system at least includes: a self-mobile device 1 and a control device 2 .

A self-moving device 1 refers to a device that can move on its own without human intervention. For example, the self-moving device 1 may be a lawn mower, a sweeper, or other devices, and the device type of the self-moving device 1 is not limited in this embodiment.

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:

chassis;

mowing mechanism located in the chassis;

A mowing drive assembly that drives the mowing mechanism; for example, the mowing drive assembly includes an engine, a transmission shaft and/or a transmission gear connected to the engine;

Mobile components used to drive the lawnmower to move; such as: wheel body, drive shaft connected to the wheel body, etc.;

A mobile drive assembly for driving the operation of the mobile assembly; for example, the mobile drive assembly includes an engine different from the mowing drive assembly, a transmission shaft and/or a transmission gear connected to the engine, and the like.

Optionally, the lawn mowing mechanism includes a cutter head, and the cutter head includes a sheet metal handle, a throwing knife and a protective cover. Of course, the lawn mowing mechanism may also be a mechanism with other forms of mowing ability, and this embodiment does not The implementation of the mowing mechanism is limited.

Optionally, the mowing mechanism further includes a lifting assembly, the lifting assembly is used to complete the lifting and lowering of the cutter head, and the mowing drive assembly transmits the power of the engine to the cutter head, and the transmission power is stable and does not jump during the lifting process of the cutter head. Change, rotate smoothly without friction.

Optionally, the moving assembly includes four wheel bodies mounted on the chassis, the four wheel bodies are independently driven, and the wheel bodies are connected to the chassis by adopting no shock absorption.

Optionally, the power of the generator in the lawnmower is a constant load. Due to the terrain, cutting objects, and cutting effects, the cutter is a variable load, and the engine power distribution mainly relies on self-adaptive distribution. The drive train connected to the generator includes a belt. The power generation and energy storage part of the lawn mower is composed of a generator, a voltage regulator unit and a battery. It is connected to a unified charging port for dustproof water, which is convenient for charging in winter.

Of course, the above components are only illustrative, and in actual implementation, the lawn mower may also include more components, such as: sensing components, power supply components, communication components, control components (such as programmable logic controllers (Programmable Logic Controllers). Controller, PLC) or other chips with control functions), engine working time recording instrument, mileage instrument, battery voltage instrument, battery power instrument, indicator light, steering gear, driver, etc., this embodiment does not include components included in the lawn mower limited.

The control device 2 is used to control the work from the mobile device 1 . For example, controlling the moving speed and moving direction of the self-mobile device 1, controlling the start and stop of the self-mobile device 1, etc., the control content of the control device 2 is not limited in this embodiment.

Optionally, the control device 2 may be a device independent from the self-mobile device 1 , such as a remote control, a mobile phone, a wearable device, etc. This embodiment does not limit the implementation of the control device 2 .

In this embodiment, referring to FIG. 2 , an inclination sensor 11 is installed on the mobile device 1. At this time, the control component 12 in the mobile device 1 is used to: acquire the inclination data collected by the inclination sensor; determine whether the inclination data belongs to the preset Set the safety range; when the inclination data does not belong to the preset safety range, work according to the preset safety policy.

Wherein, the control assembly 12 is connected in communication with the inclination sensor 11, for example, connected through a communication bus.

Optionally, the inclination sensor 11 supports the measurement of inclination angles in at least two directions. For example, the inclination sensor 11 is a dual-axis inclination sensor, or it is a plurality of single-axis inclination sensors installed in different directions. This embodiment does not use the inclination sensor. 11 The type and quantity are limited.

Optionally, the inclination data includes the lateral inclination angle and the longitudinal inclination angle of the mobile device 1; accordingly, the inclination angles in each direction correspond to a preset safety range one-to-one, or, the inclination angles in all directions correspond to the same preset safety range. range, this embodiment does not limit the setting method of the preset security range.

The preset security policy refers to a work policy for preventing the rollover of the self-mobile device, such as: shutting down, or moving according to the updated security path.

Optionally, the self-mobile device 1 is further installed with an alarm device 13 , and the alarm device 13 is connected to the control component 12 in communication. At this time, the control component 12 is further configured to output an alarm signal through the alarm device 13 when the inclination data does not belong to the preset safety range.

Optionally, the alarm device 13 includes, but is not limited to, a buzzer and/or an indicator light. Accordingly, the warning signal includes, but is not limited to, an audio signal and/or a light signal. For example: the alarm signal is that the three-color indicator flashes twice and the buzzer rings once. Of course, in actual implementation, the alarm signal may also be implemented in other manners, and this embodiment does not limit the implementation manner of the alarm signal.

To sum up, in this embodiment, by installing the inclination sensor on the mobile device, and acquiring the inclination data collected by the inclination sensor, it is determined whether the inclination data belongs to the preset safety range; when the inclination data does not belong to the preset safety range , work according to the preset security policy; it can solve the problem that the self-mobile device cannot recognize the tilt angle, which may cause the device to roll over; because the self-mobile device can work according to the preset security policy when the tilt angle data is abnormal, it can prevent the device from rolling over. , prolong the service life of the equipment.

FIG. 3 is a flowchart of a method for operating control of a self-mobile device provided by an embodiment of the present application. This embodiment is described by taking the method used in the self-mobile device 1 in the control system of the self-mobile device shown in FIG. 1 as an example. The method includes at least the following steps:

Step 301: Acquire inclination data collected by an inclination sensor.

Optionally, before acquiring the inclination data collected by the inclination sensor, the self-mobile device determines whether the inclination protection function is activated; when it is determined that the inclination protection function is activated, step 301 is performed. When it is determined that the inclination protection function is not activated, the process ends.

Among them, the method of determining whether the tilt protection function is activated includes but is not limited to the following:

In the first method: determine whether there is an effective start signal for the tilt protection function; the valid start signal is sent by the control device when it receives a start trigger operation acting on the tilt protection start button, and the valid start signal is received in the subsequent It will be invalid after the closing signal of the tilt protection function. The closing signal is sent by the control device when it receives the shutdown trigger operation acting on the tilt protection start button; the control device is used to control the self-moving device; when there is an effective start signal, determine The inclination protection function is activated; when there is no valid activation signal, it is determined that the inclination protection function is not activated.

In the second way: the self-moving device further includes an inclination protection start button. At this time, the self-mobile device determines whether a start trigger operation acting on the protection start button is received; when it is determined that the start trigger operation is received, it is determined that the tilt angle protection function is activated; when it is determined that the start trigger operation is not received, it is determined that the tilt angle protection function is activated Function not activated.

In other embodiments, the self-moving device may also directly detect the tilt data of the self-moving device without determining whether the tilt angle protection function is activated.

Step 302: Determine whether the inclination data belongs to a preset safety range.

Optionally, the preset security scope is stored by default in the mobile device; or, the preset security scope supports updating.

When the preset safety range supports updating, before determining whether the inclination data belongs to the preset safety range, the method further includes: receiving and storing the preset safety range sent by the control device, and the control device is used to control the self-mobile device; or, receiving and storing the user A preset security range based on input from the human-computer interaction interface on the mobile device.

Optionally, the human-computer interaction interface may be a touch screen, a keyboard, or the like, and the implementation manner of the human-computer interaction interface is not limited in this embodiment.

Step 303, when the inclination data does not belong to the preset security range, work according to the preset security policy.

Optionally, work according to a preset security policy, including but not limited to: controlling the mobile device to stop running; or, acquiring an updated security path; moving according to the updated security path.

Controlling the self-moving device to stop running includes: controlling the mobile driving component to stop running, the mobile driving component is used to drive the mobile component on the self-moving device to run, and the moving component is used to drive the self-moving device to move.

Obtaining an updated safe path includes: determining a safe position during driving based on historically obtained inclination data that falls within a preset safety range; generating an updated safe path based on the safe position, and the updated safe path does not include The driving position corresponding to the inclination data belonging to the preset safety range; or, sending a path update request to the control device; the path update request is used to request the control device to send a path update instruction, and the path update instruction is used to indicate the method of generating the updated safe path ; Generate a safe path after the path update according to the path update instruction; the control device is used to control the self-mobile device.

Wherein, generating the updated safe path based on the safe position includes: taking the safe position as the starting position of the updated safe path, and obtaining the updated driving direction, which is different from the historical driving direction; and driving directions to generate an updated safe path.

The route update indication includes, but is not limited to: the updated travel direction. Certainly, the path update indication may also be other contents, and the implementation manner of the path update indication is not limited in this embodiment.

Optionally, an alarm device is further installed on the self-moving device. At this time, when the inclination data does not belong to the preset safety range, the self-moving device outputs an alarm signal through the alarm device. After that, when the inclination data falls within the preset safety range, the self-mobile device stops outputting an alarm signal through the alarm device.

Optionally, when the inclination data falls within the preset safety range, the self-mobile device continues to move, and step 301 is performed again.

To sum up, the operation control method for a self-moving device provided by this embodiment, by installing an inclination sensor on the self-moving device, and acquiring the inclination data collected by the inclination sensor; determining whether the inclination data belongs to a preset safety range; When the data does not belong to the preset security range, work according to the preset security policy; it can solve the problem that the self-mobile device cannot recognize the inclination angle, which may cause the device to roll over; because the self-mobile device can follow the preset safety when the inclination data is abnormal The strategy works to prevent the equipment from rolling over and prolong the service life of the equipment.

In order to more clearly understand the operation control method of the self-mobile device provided by the present application, an example of the method will be described below. Referring to FIG. 4 , the method includes at least the following steps:

Step 41, determine whether the tilt angle protection function is activated; if yes, go to step 42, if not, go to step 41 again;

Step 42, determine whether the inclination data collected by the inclination sensor belongs to the preset safety range; if not, go to step 43; if so, go to step 44;

Step 43, stop running, and output an alarm signal through the alarm device, and the process ends;

In step 44, the operation continues from the mobile device without outputting an alarm signal through the alarm device, and the process ends.

FIG. 5 is a block diagram of an operation control apparatus for a self-mobile device provided by an embodiment of the present application. This embodiment is described by taking the device applied to the self-mobile device 1 in the control system of the self-mobile device shown in FIG. 1 as an example for description. . The apparatus at least includes the following modules: a data acquisition module 510 , a safety detection module 520 and an operation control module 530 .

a data acquisition module 510, configured to acquire the inclination data collected by the inclination sensor;

a safety detection module 520, configured to determine whether the inclination data belongs to a preset safety range;

The operation control module 530 is configured to work according to a preset safety policy when the inclination data does not belong to the preset safety range.

Reference is made to the above-described embodiments for relevant details.

It should be noted that: when the operation control device of the self-mobile device provided in the above-mentioned embodiment performs the operation control of the self-mobile device, only the division of the above-mentioned functional modules is used as an example for illustration. The function distribution is completed by different function modules, that is, the internal structure of the operation control device of the self-mobile device is divided into different function modules, so as to complete all or part of the functions described above. In addition, the apparatus for controlling the operation of a self-mobile device provided by the above embodiments and the method for controlling the operation of the self-mobile device belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

Optionally, the present application further provides a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the operation control of the mobile device according to the above method embodiment. method.

Optionally, the present application further provides a computer product, the computer product includes a computer-readable storage medium, and a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the above method embodiments The operation control method of the self-mobile device.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (9)

1. An operation control method for self-moving equipment, characterized in that, an inclination sensor is installed on the self-moving equipment, and the method comprises: acquiring the inclination data collected by the inclination sensor; determining whether the inclination data falls within a preset safety range; When the inclination data does not belong to the preset safety range, work according to a preset safety policy. 2. The method according to claim 1, wherein the working according to a preset security policy comprises: controlling the self-moving device to stop running; or, Get the updated security path; move according to the updated security path. 3. The method according to claim 2, wherein the acquiring the updated security path comprises: Determine the safe position during driving based on the historically acquired inclination data that belongs to the preset safe range; generate the updated safe path based on the safe position, and the updated safe path does not include those that do not belong to the driving position corresponding to the inclination data of the preset safety range; or, Sending a path update request to the control device; the path update request is used to request the control device to send a path update instruction, where the path update instruction is used to indicate the manner of generating the updated safe path; according to the path update instruction generating the updated safe path of the path; the control device is used for controlling the self-moving device. 4. The method according to claim 1, wherein the self-mobile device is further equipped with an alarm device, and the method further comprises: When the inclination data does not belong to the preset safety range, an alarm signal is output through the alarm device. 5. The method according to claim 1, wherein before the acquiring the inclination data collected by the inclination sensor, further comprising: Determine whether the tilt protection function is activated; When it is determined that the tilt angle protection function is activated, the step of acquiring the tilt angle data collected by the tilt angle sensor is triggered. 6. The method according to claim 5, wherein the determining whether the tilt angle protection function is activated comprises: Determine whether there is an effective start signal of the tilt angle protection function; the valid start signal is sent by the control device when it receives a start trigger operation acting on the tilt angle protection start button, and the valid start signal is subsequently received. The turn-off signal of the tilt protection function becomes invalid after the turn-off signal is sent by the control device when it receives the turn-off trigger operation acting on the tilt protection start button; the control device is used to control the self-moving device; When there is the valid activation signal, determine that the tilt angle protection function is activated; When there is no valid activation signal, it is determined that the tilt angle protection function is not activated. 7. The method according to claim 5, wherein the self-moving device further comprises an inclination protection activation button, and the determining whether the inclination protection function is activated comprises: determining whether an activation triggering operation acting on the protection activation button is received; When it is determined that the activation triggering operation is received, determining that the tilt angle protection function is activated; When it is determined that the activation triggering operation is not received, it is determined that the tilt angle protection function is not activated. 8. The method according to claim 1, wherein before the determining whether the inclination data belongs to a preset safety range, the method further comprises: receiving and storing the preset security range sent by a control device, where the control device is used to control the self-moving device; or, The preset security range input by the user based on the human-computer interaction interface on the self-mobile device is received and stored. 9. An operation control device for a self-moving device, wherein an inclination sensor is installed on the self-moving device, and the device comprises: a data acquisition module for acquiring the inclination data collected by the inclination sensor; a safety detection module for determining whether the inclination data belongs to a preset safety range; The operation control module is configured to work according to a preset safety policy when the inclination data does not belong to the preset safety range.

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