CN113849393A

CN113849393A - Self-moving equipment and working method thereof

Info

Publication number: CN113849393A
Application number: CN202010598808.XA
Authority: CN
Inventors: 何明明; 吴双龙
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2021-12-28
Also published as: WO2022001929A1

Abstract

The invention provides a self-moving device and a working method thereof, wherein the self-moving device comprises: the mobile device comprises a positioning module and a control device, and further comprises: the storage module is configured to store the same operation parameter and/or the same operation program related to the self-moving device in a plurality of physical addresses, and is further used for storing a data comparison program, when the data comparison program is executed by the control device, the data stored in the data comparison program is read from the plurality of physical addresses, and if the read data are consistent or the read data are consistent after being processed, the storage module is determined to be fault-free; and if the read data are inconsistent or the read data are inconsistent after being processed, determining that the storage module has a fault. The embodiment of the application provides a self-moving device with high safety performance.

Description

Self-moving equipment and working method thereof

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 boundary is out by sensing a magnetic field, and the corresponding functional modules are shown in fig. 1 and may 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) in the case of meeting the performance requirement, the processor specification in the control module is often low, for example, the processor may use a processor with similar performance such as M3 or M4 in ARM; 2) an operating system, such as a real-time operating system (RTOS), which has relatively simple functions and allows direct operation on underlying hardware such as a memory, is often used in the control module, or the operating system may not be used; 3) the capacity of the memory is small, such as: 8 MB.

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, the autonomous mobile device comprising: a positioning module and a control device, wherein the positioning module is connected with the control device,

the self-moving equipment further comprises: a storage module configured to store therein a plurality of physical addresses a same operating parameter and/or a same operating program associated with the self-moving device, the storage module further configured to store a data comparison program,

the data comparison program is realized when being executed by the control device, the data stored in the data comparison program is read from the physical addresses, and if the read data are consistent or the read data are consistent after being processed, the storage module is determined to be fault-free; and if the read data are inconsistent or the read data are inconsistent after being processed, determining that the storage module has a fault.

In one embodiment, the same operating parameter related to the self-moving device is stored in a plurality of physical addresses of the storage module;

correspondingly, when the data comparison program is executed by the control device, the data comparison program reads a plurality of operating parameters from the plurality of physical addresses respectively, and compares the read operating parameters; if the read data are consistent, determining that the storage module has no fault; and if the read data are inconsistent, determining that the storage module has a fault.

correspondingly, when the data comparison program is executed by the control device, reading a plurality of operation parameters from the plurality of physical addresses respectively, inputting the read operation parameters into the same operation program respectively, and comparing operation results output by the operation program for multiple times; if the results are consistent, determining that the storage module has no fault; and if the results are not consistent, determining that the storage module has a fault.

In one embodiment, the same running program related to the self-moving device is stored in a plurality of physical addresses of the storage module;

correspondingly, when the data comparison program is executed by the control device, the data comparison program is realized by respectively inputting the same operation parameter to the same operation program in the plurality of physical addresses and comparing operation results output by the operation program twice; if the results are consistent, determining that the storage module has no fault; and if the results are not consistent, determining that the storage module has a fault.

In one embodiment, after determining that a fault occurs in the self-moving device, the control device controls the self-moving device to perform the following operations including: shutdown, alarm, or restart.

The embodiment of the present invention further provides a working method of a self-moving device, where a storage module of the self-moving device is configured to store a same operation parameter and/or a same operation program related to the self-moving device in a plurality of physical addresses thereof, and the method includes:

reading data stored therein from the plurality of physical addresses;

if the read data are consistent or the read data are consistent after being processed, determining that the storage module has no fault;

and if the read data are inconsistent or the read data are inconsistent after being processed, determining that the storage module has a fault.

respectively reading a plurality of operating parameters from the plurality of physical addresses, and comparing the read operating parameters;

if the read data are consistent, determining that the storage module has no fault;

and if the read data are inconsistent, determining that the storage module has a fault.

respectively reading a plurality of operating parameters from the plurality of physical addresses, respectively inputting the read operating parameters into the same operating program, and comparing operation results output by the operating program for multiple times;

if the results are consistent, determining that the storage module has no fault;

and if the results are not consistent, determining that the storage module has a fault.

respectively inputting the same operation parameter to the same operation program in the plurality of physical addresses, and comparing operation results output by the operation program for multiple times;

In one embodiment, after determining that a fault occurs in the self-moving device, controlling the self-moving device to perform the following operations, including: shutdown, alarm, or restart.

The self-moving equipment provided by the application has the beneficial effects that: a plurality of methods for detecting safety of the mower in the working process are provided, and whether hardware such as Flash or RAM memory in the mower with a complex system is normal or not can be detected through the methods. The self-checking mode is simple and easy to realize, and the safety of the mower can be guaranteed.

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 schematic diagram of a self-moving 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 illustrating the operation of the robotic lawnmower in path planning in the first control module, according to an embodiment of the present 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 flow chart illustrating a path planning process performed by the first control module according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of an automatic lawnmower according to another embodiment of the present invention;

FIG. 12 is a schematic flow chart illustrating a method for safety detection of an robotic lawnmower according to one embodiment of the present invention;

FIG. 13 is a schematic flow chart illustrating a method for safety detection of a robotic lawnmower according to another embodiment of the present invention;

FIG. 14 is a schematic flow chart illustrating a method for safety detection of an robotic lawnmower according to another embodiment of the present invention;

fig. 15 is a schematic flow chart of a security detection method for an information acquisition device 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 presence of a user, 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 artificial intelligence and sensor technologies, when the computing power demand of users on machines is greatly increased, more advanced processors (CPUs), more complex or larger-scale control software and memories with larger capacity (GB level) 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 self-moving device with a positioning function 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 information acquisition device, the first control module, and the self-moving device jointly control the movement and/or work of the self-moving device.

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 very 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 self-checking (periodic self-checking) 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 safety-related data during self-check, and since the machine does not determine which physical address the safety-related data is located at, if the self-moving device is controlled by the first control module to perform the safety guarantee operation, the self-moving device will hardly perform the 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 working 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 is abnormal. When the mobile device detects the safety problem that fall, lift and the like can hurt a user in the working and moving processes, the second control module controls the mobile device to stop, and/or alarm, and/or restart, and/or sends a notification message that the machine is abnormal 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: reading data from a physical address of a storage module, where safety-related data are stored, detecting whether the read data are consistent with the stored data, if so, determining that the self-moving equipment has no fault, and if not, determining 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 data processing method described in the following embodiments are also applicable to other types of complex processing procedures in self-moving devices, 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: the mobile device 20, the boundary 14, the charging station 16, the information acquisition device 11 and 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, interface between the working area 12 and the non-working area 18, and the like. The charging station 16 may be used to return to docking for recharging when the mobile device is not 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 acquisition device 11 is installed on the mobile device 20, the information acquisition device 11 may be used to acquire current location information from the mobile 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 device 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 processing the satellite signals by baseband or solution and the like 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 the robotic lawnmower 20 as an example.

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 can also comprise 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 self-checking the second control module related to safety logic, and the self-checking of 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 in a 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 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 in a hand 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 establish 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 present 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 flowchart of the operation when the first control module establishes 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 meets 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 the charging state, the mower can walk to the charging station according to the received path to perform charging.

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 replans the walking path 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 where 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 for 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 plan a path 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 self-checking (periodic self-checking) of one control module, 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.

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 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 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 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 self-checking (periodic self-checking) of one control module, 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.

For devices with higher data processing capability, relatively advanced processors, more complex operating systems, and larger capacity memories, since it is not easy to use the conventional way of inserting self-check codes to read the underlying codes therein to implement power-on (boot) self-check or periodic self-check, the security of the devices with the above characteristics in the working process cannot be guaranteed. For example, as shown in fig. 11, in the working system, since the Linux operating system is adopted in the first control module of the system, and the capacity of the storage module is in the GB level, it is not possible to ensure the security in the above-mentioned conventional manner. For another example, the information acquisition apparatus shown in fig. 5 and using a satellite positioning module as an illustration cannot be secured in the above conventional manner because it has a positioning processor and a large-capacity memory.

Based on this, the present application provides a self-moving device, which may include: an information acquisition device, wherein the information acquisition device may include: a satellite positioning module and/or a vision module. The mower system or the automatic mower can further comprise: and the control device can control the mower to move and work in the work area defined by the boundary. The mower or mower system can further comprise: a memory module configured to store the same operating parameter and/or the same operating program associated with the lawn mower in a plurality of physical addresses therein. The operation parameters can be acquired by the information acquisition device or detected by an abnormality detection unit in the automatic mower. Specifically, the operation parameter may be current position information and/or map, path planning data, or data detected by various sensors installed on the lawn mower, such as: temperature data, tilt angle data, acceleration data, or the like. The running program can be any program loaded into the storage module by the machine during running or can be a program written in the machine by a programmer. The storage module can also be used for storing a data comparison program, when the control device executes the data comparison program, the data stored in the storage module can be read from a plurality of physical addresses of the storage module, and if the read data are consistent or the read data are consistent after processing, the storage module is determined to be fault-free; and if the read data are inconsistent or the read data are inconsistent after being processed, determining that the storage module has a fault. In the working process of the mower, whether the mower breaks down or not is determined through the running parameters and/or the running programs stored in the storage module, the self-checking of the mower is indirectly realized, compared with the traditional mode, the process is simple and easy to realize, and the technical effects of improving the sensitivity and the running speed of the mower on the premise of ensuring the safety of the mowing system in the working process are achieved.

In one embodiment of the present application, the control device may comprise a control module installed in the lawn mower. In another embodiment of the present application, the control device may include the first control module and the second control module of the foregoing embodiments, which may both be installed in a lawn mower; one may be installed in a lawn mower and the other in an information gathering device. Of course, more than two control modules may be used, which is not limited in the present application.

In one embodiment of the present application, the technical solution of the present application will be described by taking an automatic mower as an example as shown in fig. 11. The control device may include a first control module and a second control module substantially the same as the robotic lawnmower of the embodiment of fig. 7, except that the robotic lawnmower of fig. 11 employs a control system in which the first control module alone controls the movement and operation of the lawnmower, or in which the first control module and the second control module together control the movement and operation of the lawnmower in the work area defined on the map, i.e., in this embodiment, the first control module having a complex system involves work related to the safety of the lawnmower. As the Linux operating system is adopted in the first control module of the system and the capacity of the storage module is in the GB level, the safety of the system cannot be ensured by adopting the traditional mode. The manner in which the following examples are presented may be employed. It should be noted that the solution described below can also be used in mowing systems such as those shown in fig. 1 or 7, for example, and the present application is not limited thereto.

In this embodiment, the data comparison program may be implemented when executed by the control device, and the data stored in the data comparison program is read from the plurality of physical addresses, and if the read data are consistent or the read data are consistent after being processed, it is determined that the storage module is not faulty; and if the read data are inconsistent or the read data are inconsistent after being processed, determining that the storage module has a fault. That is, the operation parameters and/or the operation programs related to the mower are backed up in the storage module for multiple times, the obtained parameters are compared, and whether hardware such as a Flash memory, a RAM memory and the like in the mower is normal or not is detected according to the comparison result.

The following is a description of the manner in which system faults are determined solely by the operating parameters and the manner in which operating parameters and operating programs are combined to determine system faults, respectively.

In one embodiment of the application, the same operation parameter can be stored in a plurality of physical addresses (at least two physical addresses) of the mower, so that in the working process, the mower can determine whether a fault occurs in the automatic mower according to the comparison result by reading any plurality of operation parameters from the plurality of physical addresses and comparing the read data. That is, whether the memory fails or not is determined according to the data comparison result by reading the same data located in different physical addresses. Specifically, as shown in fig. 12, the method may include the following steps, where the operation parameter is map data, and the plurality of physical addresses are two physical addresses.

S1201: writing the same map data into the storage blocks corresponding to the first physical address and the second physical address;

s1202: respectively reading data from the first physical address and the second physical address;

s1203: comparing whether the read data are consistent, if so, executing S1204, and if not, executing S1205;

s1204: controlling the machine to continue working;

s1205: and controlling the machine to stop.

Specifically, after the map is built, the machine writes the same map data into the first/second physical addresses respectively, and reads the data stored in the first physical address and the second physical address in real time in the later working process of the machine, or reads the stored data from the two physical addresses respectively when the machine needs to use the map, and compares whether the read data are consistent, if so, the memory has no fault, and if not, the memory has a fault. Upon detection of a memory failure, safety protection measures may be initiated, such as: and controlling the machine to alarm and stop, and sending a notification message that the machine is in failure to a user. When the memory is detected to be fault-free, the machine can be controlled to continue working.

In another embodiment of the application, the same operation parameters can be respectively stored in at least two physical addresses of the storage module, so that in the working process, the mower can respectively read the operation parameters stored twice from the at least two physical addresses, input the two read data into the same operation program, compare operation results output by the operation program for many times, and determine whether the automatic mower has faults according to the comparison results. Specifically, as shown in fig. 13, the method may include the following steps, where the following operation parameters take map data as an example, and the operation program takes an out-of-bounds judgment program as an example.

S1301: writing the current position information into a first physical address and a second physical address;

s1302: respectively reading data from the first physical address and the second physical address;

s1303: inputting data from the two physical addresses into an out-of-bound judgment program and operating;

s1304: comparing and judging whether the out-of-bounds operation results are consistent, if so, executing S1305, and if not, executing S1306;

s1305: controlling the machine to continue working;

s1306: and controlling the machine to stop.

Specifically, after the machine establishes the map, the same current position information in the two physical addresses is read and input into the same out-of-bound judgment program, and whether the memory has a fault or not is determined according to the read same current position information and an output result when the map is input into the out-of-bound judgment program. Upon detection of a memory failure, safety protection measures may be initiated, such as: and controlling the machine to alarm, stop and restart, and sending a notification message of machine failure to a user. When the memory is detected to be fault-free, the machine can be controlled to continue working.

In another embodiment of the application, the same operation programs can be respectively stored in a plurality of physical addresses of the storage module, so that in the working process, the mower can respectively read the operation programs stored twice from the physical addresses, respectively input the read operation parameters into any two physical addresses in which the same operation program is stored, compare operation results output by the operation programs for many times, and determine whether the automatic mower has a fault according to the comparison results. Specifically, as shown in fig. 14, the method may include the following steps, where the following operation parameters take map data as an example, and the operation program takes an out-of-bounds judgment program as an example.

S1401: backing up the same out-of-bounds judgment program in the first physical address and the second physical address;

s1402: reading map data and current position information from a storage module;

s1403: inputting the map data and the current position information into a first physical address and a second physical address respectively and calculating;

s1404: comparing and judging whether the out-of-bounds operation results are consistent, if so, executing S1405, and if not, executing S1406;

s1405: controlling the machine to continue working;

s1406: and controlling the machine to stop.

Specifically, the same out-of-bound judgment program is burnt into at least two physical addresses before the machine leaves a factory, or the same out-of-bound judgment program is backed up in the at least two physical addresses at any preset time after the machine is started, current position information and a map are read from a storage module in the working process and are respectively input into the two physical addresses as input data, the programs in the two physical addresses respectively process the input data to obtain operation results, whether the obtained operation results are consistent or not is compared, if so, the memory has no fault, and if not, the memory has a fault. Upon detection of a memory failure, safety protection measures may be initiated, such as: and controlling the machine to alarm, stop and restart, and sending a notification message of machine failure to a user. When the memory is detected to be fault-free, the machine can be controlled to continue working.

In one embodiment of the application, the mower can be controlled to be shut down and restarted within a preset time period, and periodic self-checking is achieved through periodic self-checking starting during periodic restarting. In one embodiment, the machine can be restarted when the mower returns to the charging station, and the machine is subjected to startup self-test after the restart so as to realize periodic self-test. In one embodiment, the automatic mower may also be set to be turned off and restarted within a safe time range of 2 hours or the like to realize periodic self-checking, which is not limited in the present application.

In the embodiment of the application, various methods for detecting safety of the mower in the working process are provided, and whether hardware such as Flash or RAM memory in the mower with a complex system is normal or not can be detected through the methods. The self-checking mode is simple and easy to realize, and the safety of the mower can be guaranteed.

In another embodiment of the present application, the information collecting apparatus may include: the mobile device comprises an acquisition module, a control module and a storage module, wherein the acquisition module is configured to acquire current position information of a target object including the mobile device under the control of the control module, store the current position information into the storage module and output the current position information to the control device. Namely, the information acquisition device is provided with an independent control module and a large-capacity storage module. As described with reference to the satellite positioning module shown in fig. 5, since the information acquisition device has a control module (e.g., a positioning processor) and a storage module (e.g., a mass storage), it is impossible to secure the information acquisition device in the above conventional manner. Because the conventional mode of inserting the self-checking code to read the bottom code therein is not easy to be adopted to realize the power-on (starting) self-checking or the periodic self-checking, and the module is generally obtained by purchasing directly by a supplier, the safety of the equipment with the characteristics in the working process can not be ensured. Specifically, the safety thereof can be secured in the following manner.

In this embodiment, the self-moving device may determine whether the information acquisition device fails according to whether the current position information acquired by the acquisition module changes suddenly. Specifically, the control device or the information acquisition device may determine whether the information acquisition device has a fault according to whether the current position information changes suddenly or not. Namely, the current position information output by the information acquisition device is utilized to judge whether the information acquisition device is normal or not, thereby ensuring the safety of the information acquisition device in the working process of the machine. The following may be illustrated by specific examples.

In an embodiment of the present application, the self-moving device may further include: the abnormality detection unit can be used for detecting whether the mower is passively displaced and/or the signal quality of the current position of the mower (the signal quality can comprise satellite positioning signal quality and visual image signal quality), or detecting abnormal conditions of the mower in the walking and working processes, and determining whether the information acquisition device has a fault according to the passive displacement condition of the mower, the signal quality of the current position and whether mutation occurs in the current position information. The abnormality detection unit may include, but is not limited to, at least one of: inertial navigation unit (IMU), ultrasonic sensor, radar sensor, infrared sensor, UWB sensor, lift-off detection sensor. For example, it may be determined whether the mower is moving by an inertial navigation device.

Specifically, the determination of whether the information acquisition device has a fault may be described by using the flowchart shown in fig. 15, and may include the following steps:

s1501: reading positioning data in an information acquisition device;

s1502: judging whether the machine is moved; if moved, S1507 is performed; if not, S1503 is executed;

s1503: whether the signal quality is greater than a preset threshold value; if the threshold value is greater than the preset threshold value, executing S1504; if the value is less than or equal to the preset threshold, S1505 is executed;

s1504: judging whether the positioning data mutates or not; if mutation occurs, executing S1507; if no mutation occurs, performing S1506;

s1505: judging whether the positioning data is not mutated; if no mutation occurs, executing S1507; if mutation occurs, performing S1506;

s1506: controlling the machine to continue working;

s1507: and controlling the machine to stop.

Specifically, in the working process of the machine, whether the machine has passive displacement changes such as lifting or not is detected, and if not, the current positioning quality of the machine is judged. When the positioning quality is poor, detecting whether the positioning data jumps or not, and if the positioning data does not jump, controlling the machine to stop; when the positioning quality is high, if the jump of the positioning data is detected, the machine is controlled to stop (alarm, or a notification message that the machine fails is sent to a user), and if the jump of the positioning data is detected, the machine is controlled to continue to work.

Specifically, in the above embodiment, when determining whether the machine is moved, such as lifting, etc., it may be detected by the inertial navigation unit (IMU) whether the motion parameter detected by the machine during walking is continuously changed, and if the motion parameter is continuously changed, it indicates that the machine is not moved, and if the motion parameter is non-continuously changed within a sampling frequency, a walking speed of the lawn mower equipped with the information acquisition device, or an error allowable range, it indicates that the machine is moved.

Specifically, in the above embodiment, taking the signal quality as the satellite signal quality as an example, when the satellite signal quality is determined, it may be determined whether the number of received satellites is greater than a preset value and/or whether the signal-to-noise ratio of the satellite positioning signal is greater than a preset signal-to-noise ratio. Generally, if the number of received satellites is greater than 3, the satellite signal quality is good.

In the embodiment of the present disclosure, according to the principle of satellite positioning: the position generating manner of the measurement point includes multiplying the propagation time difference by the propagation speed of the signal, and in one example, the strength of the satellite signal may be determined within a preset range according to the number of satellites, for example, if the number of detected satellites is greater than 3, the three-dimensional position data and the time information of the measurement point are obtained by an equation corresponding to the fact that the quality of the satellite positioning signal is within a preset threshold range. In another example, the satellite positioning signals may also include RTK signals, combining satellite positioning techniques with RTK techniques, including: the method comprises the steps that another satellite navigation positioning receiver is arranged on a reference station, satellite positioning signals are continuously received, the satellite positioning signals received by the reference station are sent to wireless receiving equipment at a measuring point in real time through wireless transmission equipment, the satellite positioning signals received by the measuring point and satellite positioning signal data representing position information of the reference station received by the wireless receiving equipment are utilized, and three-dimensional coordinates of the position of the measuring point at the position are settled in real time according to a relative positioning principle. Therefore, the satellite positioning signal received by the receiver and the reference station satellite positioning signal data received by the wireless receiving device at the measuring point have a large influence on the positioning result, so that the strength of the satellite positioning signal can be judged according to whether the signal-to-noise ratio of the RTK signal is within the range of the preset threshold. Here, the RTK signals include satellite positioning signals received by the receiver and reference station satellite positioning signals received by the wireless receiving device. It should be noted that the setting manner for determining that the quality of the satellite positioning signal is within the preset threshold range is not limited to the above example, and other modifications may be made by those skilled in the art within the spirit of the present application, but the scope of the present application should be covered as long as the functions and effects achieved by the present application are the same as or similar to those achieved by the present application.

In the embodiment of the present application, the following manner may be adopted to determine whether the positioning data has a sudden change.

Specifically, in one embodiment of the present application, when determining whether the positioning data has not changed suddenly, a preset threshold may be determined based on the positioning accuracy of an information acquisition device (e.g., RTK), etc., the sampling frequency of the positioning data, and the walking speed of the lawn mower on which the information acquisition device is installed, and when the difference between the adjacent positioning data that is read exceeds the preset threshold, the positioning data may be determined to have changed suddenly; otherwise, the data is not mutated. In other embodiments, the preset threshold may also be preset in a program or written in a product instruction manual by a manufacturer according to the selected information acquisition device, which is not limited in this application.

In another embodiment of the present application, a position sensor may be incorporated to determine whether the positioning data has not changed abruptly. For example: the position sensors may include an inertial navigation device IMU and an odometer odo. First, it is possible to determine whether the position sensor is malfunctioning. The IMU and odo data of each position point can be fused to determine whether the fused data of the current position point and the fused data of the previous position point are within a preset threshold range, wherein the preset threshold range is determined according to the positioning accuracy of position sensors (such as IMU and odo), the accuracy of a fusion algorithm, the sampling frequency of each position point and the walking speed of the mower. In the case where the plurality of position sensors are not faulty, it is possible to determine whether the information collecting device is faulty in combination with the information collecting device and the position sensors. Specifically, it may be compared whether the difference between the RTK positioning data of adjacent positions and the difference between the position sensor data of adjacent positions are approximately the same within an error tolerance range. The error range may be determined based on the positioning accuracy of the RTK, the positioning accuracy of the position sensor, and the accuracy of the fusion algorithm.

In the embodiment of the application, the safety detection mode is simple and easy to realize, and the safety of an information acquisition device in a mower system can be ensured.

In the working process of the mower, whether the automatic mowing system breaks down or not is determined through the running parameters and/or the running programs stored in the storage module, the self-checking of the mower is indirectly realized, compared with the traditional mode, the process is simple and easy to realize, and the technical effects of improving the sensitivity and the running speed of the mower on the premise of ensuring the safety of the mowing system in the working process are achieved.

In this embodiment, the self-moving device may determine whether the information acquisition device fails according to whether the current position information acquired by the acquisition module changes suddenly. Specifically, the control device or the information acquisition device may determine whether the information acquisition device has a fault according to whether the current position information changes suddenly or not. Namely, the current position information output by the information acquisition device is utilized to judge whether the information acquisition device is normal or not, thereby ensuring the safety of the information acquisition device in the working process of the machine.

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

1. An autonomous device, comprising: a positioning module and a control device, wherein the positioning module is connected with the control device,

2. The self-moving device as claimed in claim 1, wherein the plurality of physical addresses of the storage module store the same operating parameter associated with the self-moving device;

3. The self-moving device as claimed in claim 1, wherein the plurality of physical addresses of the storage module store the same operating parameter associated with the self-moving device;

4. The self-moving device as claimed in claim 1, wherein the plurality of physical addresses of the storage module store the same running program related to the self-moving device;

correspondingly, when the data comparison program is executed by the control device, the data comparison program is realized by respectively inputting the same operation parameter to the same operation program in the plurality of physical addresses and comparing operation results output by the operation program for multiple times; if the results are consistent, determining that the storage module has no fault; and if the results are not consistent, determining that the storage module has a fault.

5. The self-moving apparatus according to claim 1, wherein after determining that a failure has occurred in the self-moving apparatus, the control means controls the self-moving apparatus to perform operations including: shutdown, alarm, or restart.

6. A method for operating a self-moving device, wherein a storage module of the self-moving device is configured to store a same operation parameter and/or a same operation program related to the self-moving device in a plurality of physical addresses, the method comprising:

reading data stored therein from the plurality of physical addresses;

7. The method of claim 6, wherein the plurality of physical addresses of the storage module store the same operating parameter associated with the self-moving device;

8. The method of claim 6, wherein the plurality of physical addresses of the storage module store the same operating parameter associated with the self-moving device;

9. The method of claim 6, wherein the plurality of physical addresses of the storage module store the same operating program associated with the self-moving device;

10. The method of claim 6, wherein after determining that a failure has occurred in the self-moving device, controlling the self-moving device to perform operations comprising: shutdown, alarm, or restart.