CN113064417B - Self-moving equipment and working method thereof - Google Patents
Self-moving equipment and working method thereof Download PDFInfo
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- CN113064417B CN113064417B CN202010598063.7A CN202010598063A CN113064417B CN 113064417 B CN113064417 B CN 113064417B CN 202010598063 A CN202010598063 A CN 202010598063A CN 113064417 B CN113064417 B CN 113064417B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The invention provides a self-moving device and a working method thereof, wherein the self-moving device can comprise: a first control module and a second control module, wherein the first control module and the second control module are configured to communicate with each other and cooperate to control the movement mechanism and the working module; the second control module is configured to control the self-moving equipment to execute safety guarantee operation, and perform self-checking on hardware and control programs related to the safety guarantee operation; and in the first control module and the second control module, only the second control module executes self-checking according to a preset plan in the working process of the self-moving equipment. The embodiment of the application provides a self-moving device with high safety performance.
Description
Technical Field
The invention relates to the field of automatic work, in particular to self-moving equipment and a working method thereof.
Background
With the continuous progress of computer and artificial intelligence technologies, more and more people choose to use automatic working systems in daily life. Self-moving devices operating in automatic operating systems, for example: intelligent products such as intelligent lawn mowers, sweeping robots and the like can automatically work after initial setting so as to release users from tedious and time-consuming housework such as room cleaning, lawn maintenance and the like.
Generally, self-moving devices can operate in scenarios where no human operation is monitored or where no human is present. Taking the automatic working system where the automatic mower is located to realize lawn cleaning as an example: the automatic lawn mower limits the working range by establishing a map of the lawn and automatically works in the working range. During the working process, unsafe phenomena such as going out of bounds and accidentally injuring pedestrians can be caused by defects of software or hardware of the mower, and safety of the mower during the working process can be guaranteed by writing a software safety function into the mower.
The existing mowing system generally determines whether the existing mowing system is out of bounds by sensing a magnetic field, and the corresponding functional modules are shown in fig. 1 and can include: the cutting machine comprises a control module, a moving mechanism, a cutting mechanism, a power supply assembly, an induction module and the like, wherein under the control of the control module, the moving mechanism drives the mower to move in a working area, the cutting mechanism executes cutting work in the working area, the induction module is used for supplying power to the machine in the moving and/or working process through a magnetic field signal generated by an induction boundary.
The lawn mower in the existing lawn mowing system is designed according to the following principle so as to achieve the purposes of responding various safety conditions (such as judging whether the lawn mower goes out of bounds or not, judging whether the lawn mower is in fault or not and the like) in real time and controlling the cost, and the design method comprises the following steps: 1) Under the condition of meeting the performance requirement, the processor specification in the control module is often low, for example, the processor can use a processor with similar performance such as M3 or M4 in the ARM; 2) An operating system which has a relatively simple function, such as a real-time operating system (RTOS), and allows direct operation on underlying hardware, such as a memory, is often adopted in the control module, or the operating system may not be used; 3) The capacity of the memory is small, such as: 8MB.
Because no user is present in the walking process of the automatic mower, certain requirements are made on the safety of the automatic mower. For example: mowers can only work within the working area and cannot be moved to non-working areas without authorization across the boundaries of the working area; the mower can reliably detect the obstacle and take actions such as avoiding or returning to the detected obstacle in time, and the safety processes are controlled by control software of the machine. Therefore, the safety function of the control software and the safety reliability of the hardware running the control software are important for the automatic lawn mower.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide self-moving equipment with higher safety performance and a working method thereof.
The above object of the present invention can be achieved by the following technical solutions: an autonomous mobile device comprising: a housing;
the moving mechanism is configured to support the shell and drive the self-moving equipment to move;
a work module configured to be mounted on the housing and perform a predetermined work;
the self-moving device further comprises:
a first control module and a second control module, wherein the first control module and the second control module are configured to communicate with each other and cooperate to control the movement mechanism and the working module;
the second control module is configured to control the self-moving equipment to execute safety guarantee operation and perform self-checking on hardware and control programs related to the safety guarantee operation;
and in the first control module and the second control module, only the second control module executes self-checking according to a preset plan in the working process of the self-moving equipment.
In one embodiment, the second control module controls the self-moving device to perform security and safety operations, including: the method includes controlling the self-moving device to be limited to moving and/or working within a work area defined by a boundary, and/or detecting whether an abnormal condition causing the self-moving device not to be allowed to move and/or work exists.
In one embodiment, the automatic work system comprises: the information acquisition device is used for acquiring current position information of a target object including the self-moving equipment; the first control module establishes and stores a map of the working area according to the position information of the boundary acquired by the information acquisition device, and sends the map to the second control module; correspondingly, the safety guarantee operation comprises the following steps: and the second control module controls the self-moving equipment to be limited to walk and/or work in a work area limited by a boundary according to the map, the comparison result of the map and the received current position information from the information acquisition device.
In one embodiment, when the self-moving device receives information from a user indicating whether the map conforms to the working area or not during walking according to the map, the first control module controls the self-moving device to confirm the map according to the information to obtain the confirmed map, and controls the self-moving device to be limited to move and/or work in the working area defined by the confirmed map.
In one embodiment, the second control module controls the self-moving device to perform security operation during moving, and when detecting that a security problem exists, the second control module controls the self-moving device to perform the following operations, including: shutdown, and/or alarm, and/or restart.
In one embodiment, the first control module comprises: and a memory management unit.
In one embodiment, the performing, by the second control module, a self-check on hardware that controls the running of the security and safety operation includes: detecting whether hardware in the self-moving equipment fails during starting or working, wherein the hardware comprises: and a storage module.
In one embodiment, the first control module and the second control module perform a self-test upon boot-up of the self-moving device.
In one embodiment, the second control module performs self-check according to a predetermined schedule during the operation of the self-moving device, and includes: and reading data from the physical address of the storage module, which stores the safety related data, and judging whether the self-moving equipment has a fault according to the read data.
The embodiment of the invention also provides a working method of the self-moving equipment, and the self-moving equipment comprises the following steps: a housing; the moving mechanism is configured to support the shell and drive the self-moving equipment to move; a work module configured to be mounted on the housing and perform a predetermined work; a first control module and a second control module configured to communicate with each other and to cooperate to control the movement mechanism and the work module, the method comprising: and the second control module controls the self-moving equipment to execute safety guarantee operation and performs self-check on hardware and control programs related to the safety guarantee operation, wherein in the first control module and the second control module, only the second control module executes self-check according to a preset plan in the working process of the self-moving equipment.
The self-moving equipment provided by the application has the beneficial effects that: the self-moving equipment controls the self-moving equipment to walk and work through the cooperative work of the two control modules which are communicated with each other, wherein only one control module controls the self-moving equipment to execute safety guarantee operation and performs self-check on hardware and control programs related to the control of the execution of the safety guarantee operation, and in the two control modules, only the control module executes the self-check according to a preset plan in the working process of the self-moving equipment. In the application, when two control modules exist in the self-moving equipment, one of the control modules is controlled to execute the safety guarantee operation, so that the safety of control software in the self-moving equipment can be guaranteed only by self-checking (periodic self-checking) of one of the control modules, and the self-checking process of the self-moving equipment, particularly the high-performance self-moving equipment, is simplified. By adopting the method provided by the application, the sensitivity and the running speed can be greatly improved on the premise of ensuring the safety of the self-moving equipment in the working process.
Drawings
The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
FIG. 1 is a schematic view of a prior art mowing system provided by the present invention;
FIG. 2 is a schematic structural diagram of a self-moving device provided in the present invention;
FIG. 3 is a schematic diagram of an automated work system scenario provided by an embodiment of the present invention;
FIG. 4 is a diagram of a self-propelled device provided by an embodiment of the invention;
FIG. 5 is a schematic diagram of a satellite positioning module according to an embodiment of the present invention;
FIG. 6 is a schematic view of a mower configuration provided by an embodiment of the present invention;
FIG. 7 is a schematic view of an embodiment of the present invention providing an automatic lawnmower configuration;
FIG. 8 is a schematic flow chart of the operation of the robotic lawnmower in planning a path in the first control module, according to an embodiment of the invention;
FIG. 9 is a schematic flow chart of the operation of the robotic lawnmower, as illustrated in the first control module, according to an embodiment of the present invention;
fig. 10 is a schematic workflow diagram of path planning performed by the first control module according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Before describing embodiments of the present invention in detail, it should be noted that relational terms such as left and right, up and down, front and back, first and second, and the like may be used solely in the description of the present invention to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
When the self-moving device works without the user being present, necessary continuous check on the reliability of software and hardware in the system is needed to ensure the safety of the software and the hardware. For example, the reliability of software needs to be checked from aspects such as software development environment, development process, software architecture design, software logic and the like; for running hardware with safety-related functions, measures such as power-on self-test and periodic self-test need to be adopted. That is, self-checking is required during operation of the self-moving device to ensure its safety. For a lawnmower system such as that shown in fig. 1, the self-test procedure is simple and a manufacturer producing a control module such as that shown in fig. 1 may provide a customer with a self-test code.
With the development of technologies such as artificial intelligence and sensors, when the computing power demand of users on machines is greatly increased, more advanced processors (CPUs), more complex or larger-scale control software, and larger-capacity (GB-level) memories are often required. Specifically, when the self-moving device has related positioning functions such as RTK borderless positioning, visual navigation, and the like, or functions of other complex algorithms, the computing power of the machine is required to be higher due to the increase of machine functions and the increase of algorithm complexity, and therefore, a self-moving device with higher performance than that shown in fig. 1 is required. Taking the positioning function in the self-moving device as an example, as shown in fig. 2, in the self-moving device, the information acquisition device sends the acquired current location information to the first control module, and the movement and/or work of the self-moving device is controlled by the information acquisition device, the first control module, and the self-moving device together.
For the self-moving device with positioning function shown in fig. 2, the difficulty of security check of the control software in the self-moving device is significantly increased because the self-moving device has higher computing power and the adopted processor and memory specifications are more complicated. The method is mainly embodied in two aspects: 1) Security of control software, for example: self-checking of operating systems, interactive data, and the like; 2) The hardware safety and reliability of the running control software is as follows: self-checking of clocks and timers, and self-checking of RAM, flash memory and the like.
Specifically, as shown in fig. 2, in a self-moving device having a relatively high data processing capability and a relatively advanced processor and using a relatively complex operating system (such as a Linux operating system), there are often problems that the original software security specification is difficult to implement or the implementation cost of the security specification is high. For example, in order to solve the problem of power-on self-test of hardware (such as a memory) running a Linux operating system, a corresponding self-test program segment needs to be inserted into a Boot Loader bootstrap program of the Linux operating system, and such operation needs to be completed only by spending a lot of time by a person skilled in the art who is well familiar with the Linux operating system bottom layer. For example, to detect the security of hardware in the software running process (periodic self-check), it is necessary to interrupt the process, perform clock check and memory scan self-check during the software running process. Generally, the time required for scanning 1MB of memory is in milliseconds, and the time required for 1GB of memory is in seconds. Therefore, when the system capacity is high (GB level), if the continuous control software performs hardware scanning in a certain period (for example, within 5 s), it will take a lot of time, which results in slow machine running speed, affects the normal operation of the machine, and may result in the machine not being able to respond in real time.
The self-moving equipment is provided in the application, considering the defect that when the performance of the self-moving equipment is improved, due to the fact that the complexity of a self-checking program written in the self-moving equipment is increased and the time spent in self-checking is long, the safety of the self-moving equipment cannot be guaranteed in the using process. In the self-moving equipment, firstly, the two control modules are used for jointly completing the operation required to be executed when the self-moving equipment works, so that the problems of high data processing capacity and low data processing speed of the self-moving equipment with high performance are solved; furthermore, when two control modules exist in the self-moving equipment, one control module can be controlled to execute the safety guarantee operation, so that the safety of control software in the self-moving equipment can be ensured only by carrying out self-checking (periodic self-checking) on the control module executing the safety guarantee operation, and the self-checking process of the self-moving equipment, particularly the high-performance self-moving equipment, is simplified. By adopting the self-moving equipment framework provided by the application, the sensitivity and the running speed of the self-moving equipment can be greatly improved on the premise of ensuring the safety in the working process. The present application will be described in detail with reference to specific examples.
In an embodiment of the present application, a self-moving device may include: a housing; the moving mechanism is configured to support the shell and drive the moving device to move; and a work module configured to be mounted on the housing and perform a predetermined work. When the self-moving device involves complex operations, the self-moving device may further include: the mobile mechanism comprises a first control module and a second control module, wherein the first control module and the second control module are configured to communicate with each other and cooperatively work to control the mobile mechanism and the work module; the second control module is configured to control the self-moving equipment to execute the safety guarantee operation and perform self-checking on hardware and control programs related to the safety guarantee operation; and in the first control module and the second control module, only the second control module executes self-checking according to a preset plan in the working process of the self-moving equipment.
In one embodiment of the present application, the first control module may include: and the memory management unit can manage the limited memory in the machine through the memory management unit when the data processing amount in the machine is larger so as to realize the process of executing the data processing amount larger through the first control module. The memory management unit may be configured to allocate a storage space corresponding to the virtual address to data in the self-moving device, and in an operation process of the self-moving device, since the memory management unit is provided in the first control module, in an operation process of the program, the machine allocates the storage space to the data through the memory management unit, which physical address the security-related data is stored at cannot be determined. However, the machine needs to read the security-related data during self-check, and since the machine does not determine which physical address the security-related data is located in, if the self-moving device is controlled by the first control module to perform the security operation, the self-moving device may have difficulty in implementing self-check. Therefore, in the embodiment of the application, the working process which is irrelevant to the safety logic and has a large data processing amount can be executed through the first control module, and the working process which relates to the safety logic is controlled and executed by using the simple control module which controls the self-moving and working of the mobile equipment, so that only the simple control module which relates to the safety logic needs to be started for self-checking or periodically for self-checking in the working process of the self-moving equipment, the self-checking process of the working system with high performance can be simplified, and the safety of the working system in the working process is ensured.
The second control module controls the mobile device to execute the security assurance operation, which may include: controlling the self-moving device is limited to moving and/or working within a work area defined by the boundary, and/or detecting whether an abnormal condition exists that causes the self-moving device not to allow moving and/or working. Specifically, the self-moving device moves and works in the work area under the control of the second control module, and when a safety problem such as machine out-of-bounds is detected, the second control module controls the self-moving device to perform the following operations, including but not limited to: shutdown, and/or alarm, and/or restart, and/or send a notification message to a user that a machine anomaly has occurred. When the mobile equipment detects that the mobile equipment has safety problems of falling, lifting and the like which can hurt a user in the working and moving processes, the second control module controls the mobile equipment to stop, and/or alarm, and/or restart, and/or sends a notification message of the abnormality of the machine to the user.
In one embodiment of the present application, the self-test may include: starting the self-test and the self-test executed according to the predetermined plan. Wherein, the self-test executed according to the predetermined plan may preferably include: the periodic self-test may also be a self-test with different time intervals according to user requirements or preset by the system. The first control module and the second control module may perform a startup self-test before the second control module performs a self-test according to a predetermined schedule.
In an embodiment of the present application, the performing, by the second control module, a self-check on hardware that controls the operation of the security assurance may include: detecting whether hardware in the mobile device fails during startup or operation, wherein the hardware may include: and a storage module. Specifically, the detecting, by the second control module, whether the hardware fails in the working process of the self-moving device, that is, performing the self-checking according to a predetermined schedule, may include: the second control module directly reads data from the physical address of the storage module, where the safety-related data is stored, and judges whether the self-moving device fails according to the read data. Specifically, the determining whether the self-moving device has a fault according to the read data may include: and detecting whether the read data is consistent with the stored data, if so, judging that the self-moving equipment has no fault, and if not, judging that the self-moving equipment has a fault. Or, detecting whether the hardware fails may be to sequentially input data in a plurality of physical addresses of the memory into a self-test program of the machine, and detect whether the machine fails according to the self-test program of the machine.
In the embodiment of the application, the self-moving equipment framework provided by the application can greatly improve the sensitivity and the running speed of the self-moving equipment on the premise of ensuring the safety in the working process.
In the following specific embodiments of the present application, the scheme of the present application is described in detail by taking an example of a positioning function with a large data processing amount of a self-mobile device. Of course, the system architecture and the data processing method described in the following embodiments are also applicable to other types of complex processes in the mobile device, and the application is not limited thereto.
As shown in the scenario diagram of the automatic work system shown in fig. 3 and the structural diagram of the self-moving device shown in fig. 4, the automatic work system may include: from the mobile device 20, the boundary 14, the charging station 16, the information acquisition apparatus 11, the first control module. Self-moving device 20 is confined to walking and working within work area 12 defined by boundary 14. The boundary 14 may be the periphery of the entire work area, generally end-to-end, enclosing the work area, and the boundary 14 may be solid. Wherein the physical boundary 14 may be a boundary formed by a wall, fence, railing, pool, and interface between the working area 12 and the non-working area 18, etc. The charging station 16 may be used to return to docking for recharging when the mobile device is under-powered. The information collecting device 11 may be configured to collect current position information of a target object including the self-moving device, and control walking and/or working of the self-moving device by collecting position information of the self-moving device or a boundary, an obstacle, or the like. Specifically, the information acquisition device 11 may include: a satellite positioning module and/or a vision module.
When the information collecting apparatus 11 is installed on the self-moving device 20, the information collecting apparatus 11 may be configured to obtain current location information of the self-moving device 20; when the information collection device 11 exists independently, the information collection device may be used to obtain its own current position information. As shown in fig. 4, the first control module may perform data interaction with the self-moving device 20, and the information collecting apparatus 14 may perform data interaction with the self-moving device 20. Furthermore, the first control module can be independent of the information acquisition device, and can also be detachably or fixedly arranged on the information acquisition device; the first control module may be independent of the robotic lawnmower, or may be removably or fixedly mounted to the robotic lawnmower. The first control module can receive the current position information from the information acquisition device or the second control module in a wired or wireless connection mode.
In this embodiment, the information collecting apparatus 11 may include: a satellite positioning module (GNSS, e.g., GPS, beidou, GPS-RTK, etc.) or a vision module, which is removably or fixedly mounted on the housing of the self-moving device 20. The satellite positioning module as shown in fig. 5 may include: a housing; the antenna is arranged on the top of the shell and used for receiving satellite signals; an RF front end installed inside the housing for performing processing such as filtering and amplification on the received satellite signal; the positioning processor and the memory are used for carrying out baseband or resolving and other processing on the satellite signals so as to output the coordinates of the positioning module; and the interface is used for electrically connecting with other electronic devices, when the positioning module is butted with the self-moving equipment 20, the interface is electrically connected with the self-moving equipment 20, and the interface can be in the form of a reed or a connector and the like, so that the positioning module can output position information to the self-moving equipment 20. The satellite positioning module may further include: and the data transceiver module is used for performing data interaction with other electronic devices in a wireless mode. In the process of generating the work area map, the position coordinates of the boundary, obstacle, and the like of the work area may be recorded by holding the satellite positioning module in hand or controlling the self-moving device 20 mounted with the satellite positioning module to walk along the boundary, obstacle, and the like of the work area. During the operation of the self-moving device 20, the information collecting apparatus 11 may be installed on the self-moving device 20, so that the self-moving device 20 may obtain the current position information of the self-moving device 20 connected to the information collecting apparatus in real time.
In an embodiment of the present application, the self-moving device 20 may include a robot having a walking function, such as a sweeping robot, an automatic mower, an automatic snow sweeper, and a meal delivery robot, which automatically walk on a surface of a working area to perform operations such as dust collection, grass cutting, or snow sweeping, or may be other devices suitable for unattended operation, which is not limited in this application. In the following embodiments of the present application, the mobile device is taken as an example of the robotic lawnmower 20.
The robotic lawnmower in one embodiment of the present application can comprise: information acquisition device and first control module. As shown in fig. 6 and 7, the robotic lawnmower in fig. 7 may include a second control module, and the robotic lawnmower may further include: the housing 35, the moving mechanism 37, the cutting mechanism 221, the moving mechanism, the cutting mechanism, and the second control module are mounted to the housing. The moving mechanism 37 may be a wheel rotatably disposed on the housing 35 and the cutting mechanism may include a cutter head. The robotic lawnmower can be moved and/or operated within the bounded work area 12 under the control of the second control module. The automatic mower also comprises a storage module for storing data or operating programs, a power module for driving the moving mechanism and the cutting mechanism, and a data transceiver module for transceiving data.
In this embodiment, the robotic lawnmower 20 may further include: a position sensor, which may also include, but is not limited to, at least one of: inertial navigation devices (IMU), ultrasonic sensors, radar sensors, infrared sensors, UWB sensors, etc., which may include gyroscopes, accelerometers, etc. The position sensor can be matched with a satellite navigation system, and auxiliary navigation is carried out on the satellite positioning module under the condition that satellite signals are poor.
In the embodiment of the present application, the robotic lawnmower 20 may further include: the abnormality detection unit can also be used for detecting abnormal conditions of the mower during walking and working. The exception may include: abnormal situations caused by external geographic factors or external human factors. Specifically, the abnormal condition may include, but is not limited to, at least one of: encounter obstacles, lift, get trapped, fall, etc.
In embodiments of the present application, the robotic lawnmower 20 may include a second control module that may receive current position information from the information acquisition device. And in the working process of the mower, the second control module receives the current position information sent by the information acquisition device in real time and controls the movement and the work of the mower in the working area based on the current position information.
In this embodiment, as shown in fig. 7, the first control module may further include: a data transceiver module for transceiving data from the lawn mower, and a storage module for storing related data. Preferably, the running speed of the first control module may be greater than or equal to the running speed of the second control module, so that the first control module may quickly establish a map of the working area according to the received position information of the boundary, so as to increase the working efficiency of the lawn mower. The first control module can be an upper computer, and the second control module can be a lower computer. The operating systems in the first control module or the second control module may be the same or different, and the first control module or the second control module may be an operating system such as Linux or RTOS. In other embodiments of the present application, the operating speed of the first control module may be less than that of the second control module, which is not limited in the present application.
In an embodiment of the present application, the robotic lawnmower may comprise: a mapping mode and a working mode. In the map building mode, the first control module builds a map of the working area according to the received position information of the boundary. In the working mode, the second control module controls the mower to move and/or work in the working area according to the map stored in the second control module and the received current position information from the information acquisition device. In this embodiment, a map of a working area is established by the first control module, and the machine is controlled by the second control module to execute safety logic-related working processes such as movement and work in the working area, that is, a process unrelated to safety logic and having a large data processing amount is executed in the first control module having a complex system, and a process related to safety logic is executed in the second control module having a simple control system, so that the safety of control software in the automatic lawn mower can be ensured only by performing self-checking on the second control module related to safety logic, and the self-checking on the complex system (the first control module) having a large data processing amount and requiring a complex algorithm is not required, thereby reducing the self-checking complexity and simplifying the self-checking process of the high-performance working system having a positioning function. On the premise of ensuring the safety of the automatic mower in the working process, the sensitivity and the running speed of the mower are improved.
In one embodiment of the present application, path planning may be performed directly in the second control module. Specifically, after receiving the map from the first control module, the second control module may directly plan the walking path of the mower in the second control module when receiving the path planning request, and then the mower controls the moving mechanism to drive the mower to move and/or work in the working area according to the map from the first control module, the walking path stored in the mower and the current position information of the mower.
In another embodiment of the present application, path planning may be performed in the first control module. Specifically, the second control module may send a path planning request to the first control module after receiving the map from the first control module; the first control module responds to the path planning request, plans a walking path according to a map of a working area or initial position information and target position information of the mower, and sends the walking path to the second control module; and then the second control module can control the moving mechanism to drive the mower to move and/or work in the working area according to the map, the walking path and the current position information.
As shown in fig. 8, a work flow chart of the robotic lawnmower during path planning in the first control module may specifically include the following steps:
s801: the positioning module sends the position information of the boundary to the second control module;
s802: the second control module receives position information of the boundary;
s803: the second control module sends the position information of the boundary to the first control module;
s804: the first control module establishes a map according to the position information of the boundary;
s805: the first control module sends the map to the second control module;
s806: the second control module receives a map;
s807: the second control module sends a path planning request to the first control module;
s808: the first control module plans a walking path according to the map;
s809: the first control module sends the planned walking path to the second control module;
s810: the second control module receives the planned walking path;
s811: the second control module controls the mower to move and/or work within the work area defined by the boundary according to the map, the walking path and the current position information.
In this embodiment, the first control module executes a process of building a map of a work area and planning a walking path with a large data volume, and the second control module controls the machine to execute a safety logic-related work process such as movement and work in the work area. Namely, the process irrelevant to the safety logic and large in data processing amount is executed in the first control module with the complex system, and the process related to the safety logic is executed in the second control module with the simple system, so that the safety of the control software in the automatic mower can be ensured only by carrying out self-check on the second control module related to the safety logic, the complex system with large data processing amount and complex algorithm execution is not required to carry out self-check, the self-check complexity is reduced, the self-check process of the high-performance working system with the positioning function is simplified, and the technical effects of improving the sensitivity and the running speed of the mower on the premise of ensuring the safety of the automatic mower in the working process are achieved.
In an embodiment of the present application, after the first control module or the second control module completes the map building and the path planning, the map and the walking path may be stored in the first control module and the second control module, respectively, which is not limited in this application.
In an embodiment of the application, in the mapping mode, a user can hold the information acquisition device or control a machine (such as a mower) carrying the information acquisition device to move along the boundary, and the information acquisition device acquires position information of the boundary in the moving process, namely, the information acquisition device is moved to acquire the position information of the boundary, so that the first control module can build a map of the working area according to the received boundary position information.
In one embodiment of the application, the lawn mower and the first control module are in the power-on state in the process that the information acquisition device is moved to acquire the position information of the boundary, the information acquisition device can send the position information of the boundary to the second control module in the moving process, and the second control module receives the position information of the boundary from the information acquisition device and sends the position information to the first control module.
In another embodiment of the application, in a process that the information acquisition device is moved to acquire the position information of the boundary, the first control module is in a power-on state, the information acquisition device can send the position information of the boundary to the first control module in the moving process, and the first control module can directly receive the position information from the information acquisition device.
In another embodiment of the present application, the information collecting apparatus may further include: the control unit (for example: MCU micro control unit) and the information acquisition device can store the position information of the boundary in the moving process. Specifically, in the process that the information acquisition device is moved to acquire the position information of the boundary, the information acquisition device is in a starting state, the information acquisition device can store the position information of the boundary in the moving process, and after the position information of the boundary is acquired, the information acquisition device is in signal connection with the first control module, so that the information acquisition device can send the position information to the first control module in a wired or wireless mode. In the embodiment of the application, the wireless transmission unit or the docking interface may be installed in the information acquisition device, the first control module or the second control module, so as to transmit and receive data such as a map or boundary position information. Of course, other data transmission modes may be adopted, which is not described herein again.
In this embodiment, after receiving the position information of the boundary, the first control module may establish a map of the work area according to the received position information of the boundary. After the map is built, the map may be backed up in the first control module. Further, maps can be backed up in the first control module and the second control module respectively, so that the maps can be updated and compared in the later working process.
In a specific embodiment, a work flow chart when the first control module builds the map according to the position information of the boundary in step S804 is shown in fig. 9. The method can comprise the following steps:
s8041: establishing a map according to the received position information of the boundary;
s8042: determining a map according to the received user information;
s8043: and saving the map confirmed by the user.
Specifically, as described in the above method, the self-moving device may further include: and in the map repairing mode, after the first control module establishes the map of the working area according to the received position information of the boundary, the machine can be controlled to enter the map repairing mode. In the map repairing mode, the first control module can receive information about whether the map is consistent with the working area from a user, and correct or confirm the established map according to the received information about whether the map is consistent with the working area, so as to obtain the map of the working area. Specifically, the machine travels in the work area according to the map created during the mapping process, and during the travel of the machine, the user observes whether the path traveled by the machine is consistent with the actual boundary 14. If the map is inconsistent with the actual boundary 14, the machine can obtain an updated map which is consistent with the actual boundary 14. When the machine enters the working mode to work later, the machine can walk according to the accurate boundary 14 without unsafe phenomena such as boundary departure and the like. In this embodiment, the user is finished confirming the map saving map in the first control module, and the map is sent and saved to the second control module. Then, the machine can compare the map stored in the second control module with the map in the first control module in the working process, and when the comparison result is consistent, the machine is controlled to work; when the comparison results are inconsistent, the machine is controlled to stop working and/or give an alarm, the map accuracy in the working process of the machine can be ensured, and the machine can walk and/or work according to the accurate map, so that the machine cannot be out of bounds, and the safety of the machine is ensured.
In another embodiment, the step of confirming the map may also be performed directly in the second control module. In step S804, the first control module only needs to establish a map according to the received position information of the boundary, and then in step S806, the second control module receives the map from the first control module and performs a work of confirming the map by using the second control module. Specifically, the method may include:
s8061: the second control module determines a map according to the received user information;
s8063: the second control module stores the map confirmed by the user.
Through the mode of directly confirming the map in the second control module, the map related to the safety of the machine in the walking process is directly stored in the second control module, so that the aim of ensuring the safety of the machine in the working process can be fulfilled only by carrying out self-checking on the second control module.
In the embodiment of the application, in the working mode, the information acquisition device is installed on the mower to acquire current position information, and the second control module controls the moving mechanism to drive the machine to move and/or work in the working area defined by the boundary according to the map and the current position information. Meanwhile, in the moving process of the mower, the second control module marks the map according to the abnormity detected by the abnormity detection unit so as to update the map at the later stage. Specifically, the abnormality detecting unit may be configured to detect, but is not limited to, at least one of the following situations, which may include: the method comprises the following steps of detecting whether the mower is passively displaced, detecting the satellite signal quality of the current position of the mower, detecting whether the mower encounters an obstacle, detecting whether the mower is trapped, and the like.
Specifically, in this embodiment, in the working mode, the mower may search for a location point closest to the current location information in the planned walking path according to the walking path in the second control module, and move to the location point. After reaching the location point, the second control module may walk and work along the planned path according to the map and the current location information. Or when the mower returns to be charged, the mower can walk to the charging station according to the received path to be charged.
In the working mode, when the mower moves, the second control module can mark the map according to the abnormity detected by the abnormity detection unit, update the map and store the updated map. Thereafter, the path planning may be resumed according to the updated map. In the embodiment, the mower detects whether the map changes due to external factors in the working process, and plans the walking path again according to the updated map, so that the accuracy of the walking path of the mower and the working efficiency of the mower can be ensured.
In one embodiment of the present application, the anomaly detection unit is signally connected to the second control module. When the abnormality detection unit detects that the mower encounters an abnormal condition such as an obstacle or a lift during walking, the second control module may mark a position where the abnormality occurs on the map. When the position marked on the map meets a preset condition, or the number of times or probability of abnormal conditions such as the mower being lifted at the same position and encountering obstacles meets a preset requirement, the abnormal position can be updated on the map in the second control module. The preset condition may be that the mark in the map may form an obstacle outline, the mower is lifted or meets the obstacle multiple times at the same position, etc.
In this embodiment, the second control module may send the path planning request in a scenario that the lawn mower is turned on, starts working, returns to charging, works for a period of time, detects a map update, or receives a user instruction about path planning.
When the second control module sends a path planning request to the first control module, wherein the path planning request comprises an updated map stored in the second control module, the first control module plans a walking path according to the map of the working area in response to the path planning request. In a specific embodiment, the work flow chart of the first control module performing the route planning according to the map in step S808 is shown in fig. 10, and may include the following steps:
s8081: comparing the received map with a stored map, if the received map is the same as the stored map, executing a step S8083, and if the received map is not the same as the stored map, executing a step S8082;
s8082: updating the map stored in the storage module into the received map;
s8083: and planning the path according to the stored map.
Specifically, the first control module compares the received map with a map stored by the first control module. And when the map received by the first control module is the same as the map stored by the first control module, the first control module sends the walking path stored by the first control module to the second control module. Or, the first control module may perform path planning according to a map stored in the first control module, and send the planned walking path to the second control module. When the map received by the first control module is different from the map stored by the first control module, the first control module updates the map stored in the storage module into the received map, carries out path planning according to the updated map and sends the re-planned walking path to the second control module.
In another embodiment of the present application, a path planning method is basically the same as that in the above embodiment, except that when the second control module sends a path planning request to the first control module, the path planning request does not carry an updated map. Specifically, when the second control module sends a path planning request to the first control module, the first control module sends a map obtaining request to the second control module in response to the path planning request, so that the second control module sends an updated map to the first control module. And then, the first control module plans a walking path according to the map of the working area.
In the embodiment of the application, when the second control module sends the path planning request, it may be detected whether the walking path is stored in the memory of the mower or the first control module, and if it is detected that the walking path is not stored, the walking path may be obtained by directly planning the walking path according to the map.
In another embodiment of the present application, when the second control module sends a path planning request and detects that the traveling path is stored in the memory of the mower or the first control module, the path planning may be performed again to obtain the traveling path in the manner shown in fig. 10.
In another embodiment of the present application, the path planning method is basically the same as that of the above embodiment, except that the abnormality detection unit is connected to the first control module. Specifically, the abnormality detection unit is in signal connection with the first control module. When the mower detects an abnormal condition, the first control module marks and updates the map in the map. When the lawn mower needs to perform path planning, the path planning can be performed directly according to the updated map without performing a map comparison and peer-to-peer process as shown in fig. 10.
Of course, after the map update and the walking path update are performed, the lawn mower may continue to detect the abnormal situation during the walking process, and update the map and the walking path in the manner described in the above embodiments, which is not limited in this application.
In this embodiment, the self-moving device controls the self-moving device to walk and work through the cooperative work of two control modules which communicate with each other, wherein only one control module controls the self-moving device to execute the security guarantee operation, and performs self-checking on hardware and control programs related to the control of the execution of the security guarantee operation, and of the two control modules, only the control module performs self-checking according to a predetermined plan in the working process of the self-moving device. In the application, when two control modules exist in the self-moving equipment, one control module is controlled to execute the safety guarantee operation, so that the safety of control software in the self-moving equipment can be ensured only by performing self-checking (periodic self-checking) on one control module, and the self-checking process of the self-moving equipment, particularly high-performance self-moving equipment, is simplified. By adopting the method provided by the application, the sensitivity and the running speed can be greatly improved on the premise of ensuring the safety of the self-moving equipment in the working process.
Corresponding to the self-moving device, another aspect of the present application further provides an operating method of the self-moving device, where the self-moving device includes: a first control module and a second control module, the method may include:
and the second control module controls the self-moving equipment to execute safety guarantee operation and performs self-check on hardware and control programs related to the safety guarantee operation, wherein in the first control module and the second control module, only the second control module executes self-check according to a preset plan in the working process of the self-moving equipment.
In this embodiment, the self-moving device controls the self-moving device to walk and work through the cooperative work of the two control modules which are in communication with each other, wherein only one control module controls the self-moving device to execute the security guarantee operation, and performs self-checking on hardware and a control program which are related to the control of the execution of the security guarantee operation, and in the two control modules, only the control module executes the self-checking according to a predetermined plan in the working process of the self-moving device. In the application, when two control modules exist in the self-moving equipment, one of the control modules is controlled to execute the safety guarantee operation, so that the safety of control software in the self-moving equipment can be guaranteed only by self-checking (periodic self-checking) of one of the control modules, and the self-checking process of the self-moving equipment, particularly the high-performance self-moving equipment, is simplified. By adopting the method provided by the application, the sensitivity and the running speed can be greatly improved on the premise of ensuring the safety of the self-moving equipment in the working process.
It should be noted that, in the description of the present invention, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is considered as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An autonomous mobile device comprising:
a housing;
the moving mechanism is configured to support the shell and drive the self-moving equipment to move;
a work module configured to be mounted on the housing and perform a predetermined work;
wherein the self-moving device further comprises:
a first control module and a second control module, wherein the first control module is configured to perform operations comprising: establishing a map and/or planning a walking path according to the map; the first control module and the second control module are configured to communicate with each other and to cooperate to control the movement mechanism and the working module;
the second control module is configured to control the self-moving equipment to execute safety guarantee operation, and perform self-checking on hardware and control programs related to the safety guarantee operation;
and in the first control module and the second control module, only the second control module executes self-checking according to a preset plan in the working process of the self-moving equipment.
2. The self-moving device of claim 1, wherein the second control module controls the self-moving device to perform security and safety operations comprising: the method includes controlling the self-moving device to be limited to moving and/or working within a work area defined by a boundary, and/or detecting whether an abnormal condition causing the self-moving device not to be allowed to move and/or work exists.
3. The self-moving device of claim 2, wherein the self-moving device comprises:
the information acquisition device is used for acquiring current position information of a target object including the self-moving equipment;
the first control module establishes and stores a map of the working area according to the position information of the boundary acquired by the information acquisition device, and sends the map to the second control module;
correspondingly, the safety assurance operations include:
and the second control module controls the self-moving equipment to be limited to walk and/or work in a work area limited by a boundary according to the map, the comparison result of the map and the received current position information from the information acquisition device.
4. The self-moving device as claimed in claim 3, wherein when receiving information from a user indicating whether the map is consistent with the working area during the self-moving device walking according to the map, the first control module controls the self-moving device to confirm the map according to the information to obtain the confirmed map, and controls the self-moving device to move and/or work within the working area defined by the confirmed map.
5. The self-moving device as claimed in claim 1, wherein the second control module controls the self-moving device to perform security guarantee operation during moving, and when detecting that there is a security problem, the second control module controls the self-moving device to perform operations including: shutdown, and/or alarm, and/or restart.
6. The self-moving device of claim 1, wherein the first control module comprises: and a memory management unit.
7. The self-moving device as recited in claim 1, wherein the second control module performing self-tests on hardware controlling the operation of the security assurance operation comprises: detecting whether hardware in the self-moving equipment fails during starting or working, wherein the hardware comprises: and a storage module.
8. The self-moving device of claim 1, wherein the first control module and the second control module perform self-checking upon boot-up of the self-moving device.
9. The self-moving device as claimed in claim 1, wherein the second control module performs self-check according to a predetermined schedule during the operation of the self-moving device, comprising: and reading data from the physical address of the storage module, which stores the safety related data, and judging whether the self-moving equipment has a fault according to the read data.
10. An operating method of a self-moving device, the self-moving device comprising: a housing; the moving mechanism is configured to support the shell and drive the self-moving equipment to move; a work module configured to be mounted on the housing and perform a predetermined work; a first control module and a second control module, the first control module configured to perform operations comprising: establishing a map and/or planning a walking path according to the map; the first control module and the second control module configured to communicate with each other and to cooperate to control the movement mechanism and the work module, the method comprising:
and the second control module controls the self-moving equipment to execute safety guarantee operation and performs self-checking on hardware and control programs related to the safety guarantee operation, wherein in the first control module and the second control module, only the second control module executes self-checking according to a preset plan in the working process of the self-moving equipment.
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| PCT/CN2020/133881 WO2021115206A1 (en) | 2019-12-13 | 2020-12-04 | Self-moving device and working method therefor |
| US17/785,005 US20230115421A1 (en) | 2019-12-13 | 2020-12-04 | Self-moving device and working method therefor |
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