CN114365055B - Control method for automatic walking equipment to return to stop station and automatic walking equipment - Google Patents
Control method for automatic walking equipment to return to stop station and automatic walking equipment Download PDFInfo
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Abstract
The control method of the automatic walking equipment returning to the stop station and the automatic walking equipment are realized by acquiring the size parameters of the working area of the automatic walking equipment; setting a preset energy level threshold of the power module according to the size parameter; and detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value. The intelligent mower has the advantages that the energy level threshold value of the automatic walking equipment is flexibly set according to the size parameters of the working area, and the technical problem that the intelligent mower in the traditional technology is abnormally stopped in the process of returning to the charging station is solved.
Description
The present application claims priority from chinese patent application No. 201910672876.3, having application date 2019, month 07, 24, the entire contents of which are incorporated herein by reference.
Technical Field
The application relates to the field of garden technology, in particular to a control method for an automatic walking equipment to return to a stop and automatic walking equipment.
Background
The intelligent mower has an automatic walking function, can automatically complete the work of trimming the lawn, does not need manual direct control and operation, greatly reduces manual operation, and is a tool suitable for trimming and maintaining the lawn in places such as a family courtyard, a public green land and the like.
The storage battery is installed in the general intelligent mower, the residual energy of the storage battery is detected, and when the residual energy is smaller than or equal to a preset energy value, the mower is controlled to return to a charging station for charging.
However, in the conventional technology, the intelligent mower is easily stopped abnormally on the way to the charging station.
Disclosure of Invention
Based on the above, it is necessary to provide a control method for an automatic walking device to return to a stop station and an automatic walking device, aiming at the technical problem that the intelligent mower in the prior art is abnormally stopped in the way of returning to the charging station.
A control method of a self-propelled device returning to a docking station, the self-propelled device moving and operating within a work area defined by a boundary line, the self-propelled device including a power module that provides energy, the control method comprising: acquiring the size parameters of the working area of the automatic walking equipment; setting a preset energy level threshold of the power supply module according to the size parameter; and detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value.
In one embodiment, the size parameters of the working area include: the boundary line length of the working area and/or the area of the working area.
In one embodiment, the acquiring the size parameter of the working area of the walking device includes: an area parameter entered by a user is received.
In one embodiment, the control method includes: acquiring the length of a boundary line of a working area of the automatic walking equipment; setting a preset energy level threshold of the power supply module according to the length of the boundary line; and detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station along the boundary line when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value.
In one embodiment, the energy level of the power supply module is expressed in terms of the voltage or/and discharge current of the power supply module.
In one embodiment, the predetermined energy level threshold is positively correlated with the boundary line length, and increases as the boundary line length increases, and/or decreases as the boundary line length decreases. In one embodiment, the acquiring the border line length of the working area of the automatic walking device includes acquiring an outer border line length of the working area of the automatic walking device, and setting the preset energy level threshold of the power module according to the length of the outer border line.
In one embodiment, the acquiring the boundary line length of the working area of the automatic walking device includes receiving a parameter input by a user, and determining the boundary line length of the working area of the automatic walking device according to the parameter input by the user.
In one embodiment, the receiving the user input parameter includes receiving parameter information sent by the user through a control panel of the self-propelled device and/or a remote terminal.
In one embodiment, the acquiring the length of the boundary line of the working area of the automatic walking device includes controlling the automatic walking device to move one circle along the boundary line of the working area, and calculating the walking distance of the automatic walking device; and determining the boundary line length of the working area according to the walking distance of the automatic walking equipment.
In one embodiment, the controlling the self-walking device to move one turn along the boundary line of the working area includes: and controlling the automatic walking equipment to start moving by taking the stop as a starting point, and judging that the automatic walking equipment moves one circle along the boundary line of the working area when the automatic walking equipment returns to the stop along the boundary line.
In one embodiment, the controlling the self-walking device to move one turn along the boundary line of the working area includes: and controlling the automatic walking equipment to move along the boundary line of the working area, detecting whether the automatic walking equipment receives a preset signal, determining the current position as a starting point after the automatic walking equipment receives the preset signal, and judging that the automatic walking equipment moves one circle along the boundary line of the working area when the automatic walking equipment receives the preset signal next time.
In one embodiment, the calculating the walking distance of the self-walking device includes: recording the number of turns rotated by the driving motor of the automatic walking equipment in the process that the automatic walking equipment moves along the boundary line of the working area; and calculating the walking distance of the automatic walking equipment according to the number of turns rotated by the driving motor and the diameter of the driving wheel of the automatic walking equipment.
In one embodiment, the determining the boundary line length of the working area where the walking device is located includes: the automatic walking equipment moves for a plurality of times along the boundary line of the working area, and the walking distance of the automatic walking equipment which moves for a plurality of times is calculated; the average value of the travel distances of the plurality of movements is determined as the boundary line length of the working area of the automatic walking device.
In one embodiment, the determining the average value of the walking distances of the plurality of movements as the boundary line length of the working area of the automatic walking device includes: counting the number of times of movement of the automatic walking equipment along the boundary line of the working area; and when the moving times are smaller than or equal to a preset threshold value, determining the average value of the walking distances of the plurality of times of moving as the boundary line length of the working area.
In one embodiment, the control method further includes: when the moving times exceeds a preset threshold value, calculating an average value of the moving distance of the moving time within the preset threshold value; determining the walking distance of the automatic walking equipment which moves at the current time; the obtaining the boundary line length of the working area of the automatic walking equipment comprises the following steps: and taking an average value of the walking distance of the preset threshold value and the walking distance of the current movement as an average value, and determining the average value as the boundary line length of the working area of the automatic walking equipment.
In one embodiment, the determining the boundary line length of the working area of the walking device includes: controlling the automatic walking equipment to move for one circle along the boundary line of the working area, and acquiring the moving speed and the moving time of the automatic walking equipment; and determining the boundary line length of the working area of the automatic walking equipment according to the moving speed and the moving time.
An automatic walking device comprising: the system comprises a shell, a mobile module, a task execution module and a controller; the mobile module and the task execution module are installed in the shell; the controller is electrically connected to the mobile module and the task execution module, respectively, and includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor performing the steps of the method of any of the embodiments described above.
According to the control method for the automatic walking equipment returning to the stop station and the automatic walking equipment, the size parameters of the working area of the automatic walking equipment are obtained; setting a preset energy level threshold of the power module according to the size parameter; and detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value. The method and the device realize flexible setting of the preset energy level threshold of the automatic walking equipment according to the size parameters of the working area, and solve the technical problem that the automatic walking equipment is abnormally stopped in the process of returning to the charging station due to the fact that the preset energy level threshold of the power supply module cannot be flexibly set in the traditional technology.
Drawings
FIG. 1 is a flow chart of a method of controlling a return to a docking station for an automated walking device in one embodiment;
FIG. 2 is a flow chart of a method of controlling a return of an automated walking device to a docking station in one embodiment;
FIG. 3 is a flow chart of a method of controlling the return of an autonomous walk apparatus to a docking station in one embodiment;
FIG. 4 is a flow chart of a method of controlling the return of an autonomous walk apparatus to a docking station in one embodiment;
FIG. 5 is a flow chart of a method of controlling the return of an autonomous mobile apparatus to a docking station in one embodiment;
FIG. 6 is a flow chart of a method of controlling the return of an autonomous walk apparatus to a docking station in one embodiment;
FIG. 7 is a flow chart of a method of controlling the return of an autonomous walk apparatus to a docking station in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, the self-propelled device moves and operates within a work area defined by a boundary line, the self-propelled device including a power module that provides energy. Referring to fig. 1, the application provides a control method for a return stop of an automatic walking device, comprising the following steps:
s110, acquiring the size parameters of the working area of the automatic walking equipment.
The automatic walking equipment can be intelligent equipment with an automatic walking function, such as an intelligent mower, an intelligent snowplow, an intelligent sweeper, an intelligent ground washing vehicle, a robot cleaner and the like.
The boundary line may be a generic term of a boundary line at the periphery of the working area and a boundary line formed by an obstacle inside the working area, and refers to a boundary line for dividing the working area of the automatic walking device from the non-working area, and the area defined by the boundary line is the working area of the automatic walking device. The boundary lines at the periphery of the working area are usually connected end to end at the periphery of the working area, closing the working area. The boundary line may be electronic, and the electronic boundary line may be a boundary signal emitted by the boundary signal generating means, for example: electromagnetic signals, acoustic signals, or optical signals, etc.; the borderline may also be a physical, grass-to-non-grass borderline. The obstacle may be a flower bed, a pool, etc., and the boundary line formed by the obstacle in the working area may be similar to the boundary line of the periphery, may be electronic, or may be physical, for example: dividing lines of flower bed, water pool and the like with grass. The automatic walking device moves and works in the working area limited by the boundary line, and when the energy source is insufficient, the automatic walking device can return to the docking station to supplement energy.
In one embodiment of the application, the size parameters of the working area may include: the border line length of the working area and/or the area of the working area.
The length of the boundary line is the length around the edge of the working area where the walking device is located, i.e. the perimeter of the working area. Specifically, when the automatic walking device works along the boundary line of the work area where the automatic walking device is located, the boundary line length of the work area may be determined in various ways, for example, the boundary line length of the work area where the automatic walking device is located is manually measured, or the work area is mapped, the boundary line length of the work area is obtained using the mapped map, or the boundary line length of the work area is obtained during the process of the automatic walking device working along the boundary line of the work area, or the boundary line length is obtained during the process of the automatic walking device walking along the boundary line map, or the like.
The area may be the area of the working area where the robot is located and may be confirmed in a similar manner to the length of the boundary line. For example: manually measuring the length of the boundary line and then calculating by a user; or the mower builds a map of the working area or a user draws a map or the mower walks along the boundary line, and the mower is obtained through calculation of an internal program; or the area of the lawn is generally already known when the user purchases the lawn, so that the user can obtain the area of the working area according to the written area on the certificate.
S120, setting a preset energy level threshold of the power supply module according to the size parameter;
s130, detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station when the energy level of the power supply module is smaller than or equal to a preset energy level threshold.
In the embodiment of the application, the size parameters of the working area of the automatic walking equipment are obtained; setting a preset energy level threshold of the power module according to the size parameter; and detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value. The method and the device realize flexible setting of the preset energy level threshold of the automatic walking equipment according to the size parameters of the working area, and solve the technical problem that the automatic walking equipment is abnormally stopped in the process of returning to the charging station due to the fact that the preset energy level threshold of the power supply module cannot be flexibly set in the traditional technology.
In one embodiment of the present application, a walking device includes: the navigation device can be used for acquiring the current position information of the automatic walking equipment, and the control device in the automatic walking equipment can control the automatic walking equipment to move and work according to the position information. In particular, the navigation device may be a satellite positioning device (such as GPS or RTK-GPS) or vision, etc. The automatic walking of the automatic walking equipment can be realized under the condition that only entity boundary lines exist in a working area through the navigation device, so that when the energy level of a power supply module in the automatic walking equipment is smaller than or equal to a preset energy level threshold value, the automatic walking equipment can directly control the automatic walking equipment to return to a stop station according to a map or a vision device established by the satellite positioning device.
In another embodiment of the present application, the self-walking device may include: the control device in the automatic walking equipment can control the automatic walking equipment to move and work according to the electronic signals sensed by the magnetic induction device. That is, the magnetic induction device is suitable for a scene in which an electronic boundary line exists in a working area. When the energy level of the power supply module in the automatic walking equipment is smaller than or equal to a preset energy level threshold, the automatic walking equipment can control the automatic walking equipment to return to the stop along the boundary line according to the boundary signal sensed by the magnetic induction device.
In the embodiment of the present application, the correspondence of the size parameter (boundary line length or area) of the work area and the preset energy level threshold is a storage unit stored in advance in the automatic walking device. In the following embodiments of the application, this will be explained only from the point that the dimension parameter of the working area is the length of the boundary line and the return to the docking station along the boundary line. It should be noted that, although the following embodiments only relate to the length of the boundary line and the returning to the docking station along the boundary line, the present application is not repeated herein, and the present application is also applicable to the case where the size parameter of the working area is other size parameters such as the area of the working area and the automatic returning to the docking station of the automatic walking device.
The corresponding relation between the boundary line length and the preset energy level threshold value can be stored in a storage unit in the automatic walking equipment in the form of a preset energy level threshold value list, and corresponding data between the boundary line length and the preset energy level threshold value is pre-stored in the preset energy level threshold value list. The preset energy level threshold means a voltage or a discharge current that ensures that the self-walking device is operated in the work area and can return to the docking station or the charging station. In general, the preset energy level threshold is set according to actual situations, and is related to the battery capacity of the power module installed on the automatic walking device. Specifically, since the correspondence between the boundary line length and the preset energy level threshold reflects the correspondence data between the boundary line length and the preset energy level threshold, after determining the boundary line length of the working area where the automatic walking device is located, the preset energy level threshold that is required to be set by the automatic walking device may be set according to the boundary line length of the working area, for example, the preset energy level threshold is set as the regression voltage of the automatic walking device. Taking an intelligent mower as an example, the range of return voltage can be 16.9V to 17.6V.
In the prior art, the preset energy level threshold of the automatic walking equipment is fixed, but the working areas of the automatic walking equipment are different, and the automatic walking equipment in different working areas needs to pass different distances when returning to the stop, so that different working areas have different requirements on the preset energy level threshold, and the fixed preset energy level threshold in the prior art cannot meet the return voltage required by most working condition scenes. Particularly, for some working areas with larger areas or the boundary lines of the working areas are more tortuous, if the preset energy level threshold of the automatic walking equipment cannot be reasonably set, abnormal shutdown is easy to occur in the process of returning the automatic walking equipment. In the embodiment, the length of the boundary line of the working area of the automatic walking equipment is obtained; setting a preset energy level threshold of the power supply module according to the length of the boundary line; and detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station along the boundary line when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value. The method and the device realize flexible setting of the preset energy level threshold of the automatic walking equipment according to the boundary line length of the working area, and solve the technical problem that the automatic walking equipment is abnormally stopped in the process of returning to the charging station due to the fact that the preset energy level threshold of the power supply module cannot be flexibly set in the traditional technology.
In one embodiment, the energy level of the power supply module is expressed in terms of the voltage or/and discharge current of the power supply module. Specifically, when the automatic walking device moves in the working area defined by the boundary line, the energy level of the power supply module is detected in real time, the energy level of the power supply module can be determined by detecting the voltage and/or the discharge current of the power supply module, the voltage and/or the discharge current of the power supply module is compared with a preset energy level threshold, and when the voltage and/or the discharge current of the power supply module is smaller than or equal to the preset energy level threshold, the automatic walking device is judged to return to the stop station for energy supplement. Specifically, taking an intelligent mower as an example, the docking station includes a charging station, and the intelligent mower returns to the charging station along a boundary line to perform energy replenishment.
In one embodiment, the preset energy level threshold is positively correlated with the boundary line length, and increases as the boundary line length increases, and/or decreases as the boundary line length decreases. Specifically, the automatic walking device includes a storage unit, and the storage unit includes a correspondence between a preset energy level threshold and a boundary line length, specifically, the longer the boundary line length is, the longer the distance that the automatic walking device needs to pass when returning to the charging station, so that the larger preset energy level threshold needs to be set, whereas the smaller the boundary line length is, the shorter the distance that the automatic walking device needs to pass when returning to the charging station, so that the smaller preset energy level value needs to be set. Specifically, the boundary line length and the preset energy level threshold change in intervals, when the boundary line length is within a certain interval, the corresponding preset energy level threshold, that is, when the boundary line length increases, the preset energy level threshold does not necessarily need to be increased, but when the boundary line length increases to a certain extent, the preset energy level threshold increases, but the preset energy level threshold and the boundary line length integrally show positive correlation, that is, the boundary line length increases by a certain value, the preset energy level threshold correspondingly increases, and similarly, when the boundary line length decreases, the preset energy level threshold does not necessarily need to decrease, but when the boundary line length decreases to a certain extent, the preset energy level decreases, but the preset energy level and the boundary line length integrally show positive correlation, that is, the boundary line length decreases by a certain value, and the preset energy level threshold correspondingly decreases. Through making preset energy level follow the length increase and the increase of boundary line for preset energy level follows the length reduction of boundary line and reduces, realized setting up preset energy level according to the length variable of boundary line, can guarantee that the energy level of automatic walking equipment is enough to support it and return charging station, increases single sustainable working time length that charges simultaneously.
In one embodiment, obtaining the boundary line length of the work area of the self-propelled device includes obtaining an outer boundary line length of the work area of the self-propelled device, and setting the preset energy level threshold of the power module according to the length of the outer boundary line. In particular, the self-walking device moves and works within a work area, which is defined by boundary lines, in particular, comprising an outer boundary line and an inner boundary line. The outer boundary line is located at the periphery of the working area, defines an area where the automatic walking device can move and walk, and the inner boundary line is located inside the working area, defines an area where the automatic walking device does not need to process in the working area, and avoids processing an area surrounded by the inner boundary line when the automatic walking device moves to the inner boundary line, and in other embodiments, the inner boundary line further comprises an inner guide line for guiding the automatic walking device to return to the stop station. When the energy level of the power supply module of the automatic walking equipment is smaller than or equal to a preset energy level threshold value, the automatic walking equipment moves along the outer boundary line to return to the stop. The boundary line length of the working area may be an outer boundary line length of the working area. Specifically, after the boundary line length of the working area where the automatic walking device is located is obtained due to the corresponding relation between the outer boundary line length and the preset energy level threshold, the voltage or/and the discharge current of the power module of the automatic walking device can be set according to the outer boundary line length of the working area.
In one embodiment, obtaining the boundary line length of the work area of the self-propelled device includes receiving a user-entered parameter, and determining the boundary line length of the work area of the self-propelled device based on the user-entered parameter.
Specifically, the boundary line length may be obtained by receiving a parameter input by the user, and the parameter input by the user may be the boundary line length directly or may be a parameter of the boundary line, such as a shape and a size of the boundary line. For example, if the parameters input by the user are a circle and a radius, the boundary line length of the working area of the automatic walking device is calculated according to the circle shape and the radius of the circle input by the user. The application does not limit the parameters input by the user. Parameters such as user input may also be rectangular and the length and width of the rectangle.
In one embodiment, receiving the user-entered parameters includes receiving parameter information sent by the user through a self-propelled device control panel and/or a remote terminal. In particular, the self-walking device may be provided with a control panel through which parameters entered by the user are received. Or the automatic walking device can be provided with a communication module and a remote terminal, the user inputs parameter information through the remote terminal, and the remote terminal sends the parameter information to the communication module of the automatic walking device.
In one embodiment, obtaining the length of the boundary line of the working area of the automatic walking device comprises controlling the automatic walking device to move one circle along the boundary line of the working area, and calculating the walking distance of the automatic walking device; the length of the boundary line of the working area is determined according to the walking distance of the automatic walking equipment.
Specifically, in order to determine the boundary line length, the automatic walking device is instructed to walk one turn clockwise or counterclockwise along the boundary line of the work area, and the walking distance travelled by the automatic walking device one turn on the boundary line is calculated. The walking distance of the automatic walking equipment walking on the boundary line is the boundary line coil of the working area where the automatic walking equipment is located, and the walking distance of the automatic walking equipment is determined to be the length of the boundary line of the working area where the automatic walking equipment is located.
Further, in order to save time and improve the working efficiency of the automatic walking device, the automatic walking device may be instructed to work along the boundary line of the work area. The robot walks one circle along the boundary line of the working area while working, and the measurement and calculation of the walking distance are completed while the working is performed in the boundary line area, and the walking distance of the robot is determined as the boundary line length of the working area where the robot is located.
In the present embodiment, by calculating the travel distance of the self-traveling device when the self-traveling device moves one revolution along the boundary line of the work area, the travel distance of the self-traveling device is determined as the boundary line length of the work area where it is located. The calculation of the length of the boundary line is completed while the boundary line is moving, and no additional workload is added when the length of the boundary line is determined.
In one embodiment, controlling the autonomous walking device to move one turn along the boundary line of the work area includes: the automatic walking equipment is controlled to start moving by taking the stop as a starting point, and when the automatic walking equipment returns to the stop along the boundary line, the automatic walking equipment is judged to move one circle along the boundary line of the working area.
The docking station can be equipment where the automatic walking equipment in a non-working state is located, can also provide electric energy for a storage battery of the automatic walking equipment, and can also be called as a charging station. The boundary line in this embodiment may be a wire that forms a loop after being energized, and the boundary line is used to divide the working area of the self-walking device. The stop is electrically connected with the boundary line. The docking station may be used to supply a current to the borderline, thereby generating a constant magnetic field around the borderline, i.e. the borderline signal. In the working and walking process of the self-walking equipment, the information such as the magnetic field intensity, the direction and the like of the constant magnetic field can be identified, so that the working area is determined according to the constant magnetic field. Specifically, the automatic traveling device is controlled to start moving with the stop as a starting point, and when the automatic traveling device returns to the stop along the boundary line, it is determined that the automatic traveling device moves one turn along the boundary line of the work area.
Further, the automatic walking device may be provided with an edgewise operation mode, which means that the automatic walking device operates along the boundary line of the operation area. When the self-walking device is in the edgewise operation mode, i.e. the self-walking device is operated along the boundary line of the work area. Since the stop is arranged on the boundary line and the stop is used for providing current for the boundary line, the automatic walking equipment can start to move by taking the stop as a starting point and take the stop as an ending point, namely, the automatic walking equipment returns to the stop, and the automatic walking equipment in the edge working mode walks one circle along the boundary line. It should be noted that, in this embodiment, the docking stations serving as the starting point and the ending point may be in the form of charging stations, or may be in other forms, for example, when the automatic walking device receives a special signal for the first time, it is determined that the automatic walking device is located at the starting point, and when the automatic walking device walks around the boundary line for one turn, it is determined that the automatic walking device returns to the starting point when the special signal is received again.
In this embodiment, by indicating that the automatic walking device works along the boundary line of the working area, the automatic walking device starts from the stop and returns to the stop, completes one-turn movement of the boundary line of the working area, and determines the walking distance of the automatic walking device at one-turn of the boundary line as the length of the boundary line of the working area where the automatic walking device is located.
In one embodiment, controlling the autonomous walking device to move one turn along the boundary line of the work area includes: and controlling the automatic walking equipment to move along the boundary line of the working area, detecting whether the automatic walking equipment receives a preset signal, determining the current position as a starting point after the automatic walking equipment receives the preset signal, and judging that the automatic walking equipment moves one circle along the boundary line of the working area when the automatic walking equipment receives the preset signal next time.
Wherein the preset signals include, but are not limited to: magnetic signals (magnetic strips, permanent magnets, magnetic rings, etc.), wireless beacons (RFID, acousto-magnetic, RF beacon, etc.), optical signals (laser, infrared, visual icons, two-dimensional codes, etc.), electrical signals (short-circuit signals, special frequency signals, special coded signals), acoustic signals (voice signals, ultrasonic signals). Specifically, when the self-walking device works along the boundary line of the work area, it is detected whether the self-walking device receives a preset signal. After the automatic walking equipment detects the preset signal, the current position is determined as a starting point, the operation along the boundary line is continued, and when the automatic walking equipment receives the preset signal next time, namely, the automatic walking equipment walks one circle along the boundary line when the preset signal is detected again.
In one embodiment, please refer to fig. 2, the calculation of the walking distance of the self-walking device includes the following steps:
s210, recording the number of turns rotated by a motor of the automatic walking equipment in the process that the automatic walking equipment works along the boundary line of the working area;
s220, calculating the walking distance of the automatic walking equipment according to the number of turns rotated by the motor and the diameter of the wheels of the automatic walking equipment.
Specifically, the automatic walking equipment is provided with a motor, and the motor drives the automatic walking equipment to move. The diameter of the wheel of the automatic walking equipment is known, and the distance travelled by the automatic walking equipment can be known after the motor rotates one circle. If the walking distance of the automatic walking equipment is calculated, the number of turns of the motor of the automatic walking equipment is required to be known. The number of turns rotated by the motor of the automatic walking equipment can be recorded in the process that the automatic walking equipment starts to move by taking the stop as a starting point and returns to the stop. The number of turns of the motor of the automatic walking equipment can be recorded in the process of receiving the preset signal twice. Therefore, the running distance of the automatic running equipment can be calculated by the number of turns rotated by the motor, the gear rotation ratio of the motor and the wheel diameter of the automatic running equipment.
In one embodiment, determining the boundary line length of the work area in which the autonomous walk apparatus is located includes: the automatic walking equipment works for a plurality of times along the boundary line of the working area, and the walking distance of the automatic walking equipment for a plurality of times is calculated; the average value of the travel distances of the plurality of movements is determined as the boundary line length of the working area where the movement is located.
In particular, the calculated walking distance is inaccurate due to the complexity of the working condition of the automatic walking equipment, such as the situation that the automatic walking equipment slides wheels or encounters obstacles and the like when working. Therefore, the automatic walking device is operated for a plurality of times along the boundary line of the working area, a plurality of corresponding walking distances can be obtained through the plurality of times of movement, the walking distances of the plurality of times of movement are averaged, and the average value of the walking distances of the plurality of times of movement is determined as the length of the boundary line of the working area where the automatic walking device is located. In the embodiment, the walking distance is calculated for a plurality of times, and the accuracy of the walking distance is improved by calculating the average value of the calculation results for a plurality of times.
In one embodiment, referring to fig. 3, before determining the average value of the walking distances of the plurality of movements as the boundary line length of the working area, the method further includes:
S310, counting the number of times of movement of the automatic walking equipment along the boundary line of the working area;
and S320, when the number of times of movement is less than or equal to a preset threshold value, determining an average value of the walking distances of the plurality of times of movement as the length of the boundary line of the working area where the average value is located.
Specifically, the number of movements of the automatic walking device along the boundary line of the work area is counted while the automatic walking device is working along the boundary line of the work area. And comparing the counted moving times with a preset threshold value, calculating the average value of the walking distances of multiple times of work when the moving times are smaller than or equal to the preset threshold value, and determining the average value of the walking distances of multiple times of movement as the boundary line length of the working area where the average value of the walking distances of multiple times of work is located.
In the present embodiment, it is considered that there may be a case where the work area is replaced when the automatic walking device moves along the boundary line a plurality of times. Different working areas may correspond to different boundary line lengths, i.e. the length of the boundary line is also in a dynamically changing state when the automatic walking device is in operation. In order to improve the intelligence of the automatic walking device, a threshold corresponding to the number of movements is preset in this embodiment. The preset threshold is not limited in this embodiment, and may be set according to an actual working condition, for example, the preset threshold may be 5 times, 8 times, 10 times or more.
In one embodiment, referring to fig. 4, the method further comprises the steps of:
s410, when the moving times exceed a preset threshold value, calculating an average value of walking distances of work of the preset threshold value;
s420, determining the walking distance of the automatic walking equipment which moves at the current time;
acquiring the boundary line length of the working area of the automatic walking equipment, comprising:
and S430, taking an average value of the walking distance moved by the preset threshold value and the walking distance moved by the current time as an average value, and determining the average value as the boundary line length of the working area of the automatic walking equipment.
Wherein, when the automatic walking equipment works along the boundary line of the working area, the number of times of movement of the automatic walking equipment along the boundary line of the working area is counted. And comparing the counted moving times with a preset threshold, and when the working times are larger than the preset threshold, in order to improve the accuracy of a calculation result and the intelligent degree of the automatic walking equipment, when the boundary line length of the working area is calculated, not only the walking distance of the current movement of the automatic walking equipment, but also the walking distance of the previous preset threshold movement are required to be considered.
Specifically, when the counted number of movements exceeds a preset threshold, firstly, calculating an average value of the walking distances of the movements of the preset threshold; secondly, in the current movement, the automatic walking equipment moves along the boundary line of the working area, and the walking distance of the current movement of the automatic walking equipment is calculated; and finally, determining the average value of the walking distance of the preset threshold value and the average value of the walking distance of the current movement as the boundary line length of the working area.
For example, the preset threshold is 10, and the boundary line length of the 11 th moving working area is calculated by the following method: calculating the average value of the walking distance of the previous 10 movements to be 100m; the walking distance of 11 th work is 120m; the boundary line length of the working area where the automatic walking device is located is 110m. The calculation formula is as follows: (100+120)/(2=110).
For example, the preset threshold is 10, and the boundary line length of the 15 th moving working area is calculated by the following method: calculating the average value of the walking distance of the previous 10 movements to be 100m; the 15 th working walking distance is 136m; the boundary line length of the working area where the walking device is located is 118m. The calculation formula is as follows: (100+136)/(2=118).
In this embodiment, considering the change of the working area, when calculating the boundary line length of the working area, not only the running distance of the automatic running device moved at the present time, but also the running distance of the automatic running device moved at the previous preset threshold value are considered, so that the accuracy of the calculation result and the intelligent degree of the automatic running device are improved. It can be understood that the walking distance in this implementation is set according to the actual working condition of the automatic walking device, so as to improve the intelligent degree of the automatic walking device, so that the automatic walking device can automatically adapt to the change of the working area.
In one embodiment, referring to fig. 5, determining the boundary line length of the working area where the walking device is located includes:
s510, when the automatic walking equipment moves one circle along the boundary line of the working area, acquiring the moving speed and the moving time of the automatic walking equipment;
s520, determining the boundary line length of the working area where the automatic walking equipment is located according to the moving speed and the moving time.
Specifically, the moving speed of the automatic traveling apparatus may be set in advance, and the moving time of the automatic traveling apparatus for one round of traveling along the boundary line may be counted by a timer in the automatic traveling apparatus. In order to calculate the boundary line length of the working area, when the automatic walking equipment moves along the boundary line of the working area for one circle, the moving speed and the moving time of the automatic walking equipment are obtained, the product of the time and the speed is known to be equal to the distance, and the moving speed and the moving time are multiplied to obtain the boundary line length of the working area where the automatic walking equipment is located.
In one embodiment, referring to fig. 6, the method further comprises the steps of:
s610, detecting the current voltage of a storage battery installed on the automatic walking equipment;
and S620, when the current voltage is smaller than or equal to the return voltage, controlling the automatic walking equipment to stop working and returning to charge.
Wherein the secondary battery includes, but is not limited to, a lithium battery. The battery needs to supply electric power to the working motor and the traveling motor of the automatic traveling device. The current voltage of the storage battery can be detected in real time in the working process of the automatic walking equipment, the detected current voltage is compared with the set regression voltage, and when the current voltage is smaller than or equal to the regression voltage, the fact that the electric quantity of the storage battery of the automatic walking equipment is nearly used up is indicated, and the automatic walking equipment needs to be controlled to stop working and to return to charge. It will be appreciated that when the present voltage is greater than the return voltage, the self-propelled device is maintained in operation.
In the embodiment, by detecting the current voltage of the storage battery installed on the automatic walking equipment, when the current voltage is smaller than or equal to the return voltage, the automatic walking equipment is controlled to stop working and return to charge, and the technical problem that the intelligent mower in the prior art is abnormally stopped in the process of returning to the charging station is solved.
In one embodiment, the working area where the self-walking device is located is provided with a boundary line, and a docking station for the self-walking device is provided on the boundary line. When the automatic walking device works along the boundary line of the working area, the automatic walking device starts to move by taking the stop as a starting point and returns to the stop. The automatic walking device performs a plurality of works along the boundary line of the work area. Referring to fig. 7, the application provides a control method for a return stop of an automatic walking device, comprising the following steps:
S702, recording the number of turns of a motor when the automatic walking equipment works each time in the process that the automatic walking equipment starts to move by taking the stop as a starting point and returns to the stop;
s704, calculating the walking distance of the automatic walking equipment when each time of movement is performed according to the number of turns rotated by the motor and the diameter of wheels of the automatic walking equipment;
s706, counting the number of times of movement of the automatic walking equipment along the boundary line of the working area;
and S708, when the number of times of movement is less than or equal to a preset threshold value, determining an average value of the walking distances of the plurality of times of movement as the boundary line length of the working area.
S710, when the number of times of movement exceeds a preset threshold value, calculating an average value of the walking distance of the preset threshold value for the time of movement;
s712, determining the walking distance of the automatic walking equipment which moves at the current time;
s714, determining the average value of the walking distance of the preset threshold value and the average value of the walking distance of the current movement as the boundary line length of the working area;
s716, setting corresponding regression voltage according to the length of the boundary line of the working area where the automatic walking equipment is located;
illustratively, taking an intelligent mower as an example, the intelligent mower is provided with an edge cutting mode, and the intelligent mower can count the length of the boundary line in the edge cutting mode. Different regression voltages are set according to different boundary line lengths in combination with the regression voltage parameter list (table 1).
TABLE 1
| Length of boundary line | Regression voltage |
| 0-100m | 16.9V |
| 101m-150m | 17.0V |
| 151m-200m | 17.1V |
| 201m-250m | 17.2V |
| 251m-300m | 17.3V |
| 301m-350m | 17.4V |
| 351m-400m | 17.5V |
| Greater than 400m | 17.6V |
It should be noted that if the intelligent mower did not make an edge cut, the previous regressive voltage setting, such as 17.2V or 17.4V, may be retained.
S718, detecting the current voltage of a storage battery installed on the automatic walking equipment;
and S720, when the current voltage is smaller than or equal to the return voltage, controlling the automatic walking equipment to stop working and returning to charge.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described above may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, and the order of execution of the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with at least a part of the sub-steps or stages of other steps or other steps.
The application is described below in terms of a specific application scenario in which an automatic walking device is taken as an example of a mower, and in which only a physical boundary line is present in a working area, the mower is automatically moved and operated in the working area by means of a navigation device provided thereon. In the working process of the mower, a user can input the area of the working area in a client such as a mobile phone or directly input the area of the working area in the mower, so that the mower determines a preset energy level threshold value in regression according to the received area of the working area. And in the working process, the mower detects the energy level of the power supply module, and when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value, the mower is controlled to return to the stop.
In one embodiment, the present application provides a self-walking device comprising: the system comprises a shell, a mobile module, a task execution module and a controller; the mobile module and the task execution module are installed in the shell; the controller is electrically connected to the mobile module and the task execution module, respectively, and comprises a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the method steps of the embodiments described above. Taking an intelligent mower as an example for explanation, the task execution module is a mowing cutter head, and the moving module is a front wheel and a rear wheel.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (15)
1. A control method of a return-to-rest station of an automatic walking device, which moves and works within a work area defined by a boundary line, the automatic walking device including a power module that supplies energy, characterized in that the control method includes:
acquiring the size parameters of the working area of the automatic walking equipment;
setting a preset energy level threshold of the power supply module according to the size parameter;
Detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value;
the dimension parameter of the working area comprises the boundary line length of the working area;
the method for acquiring the boundary line length of the working area where the automatic walking equipment is located comprises the following steps:
the automatic walking equipment moves for a plurality of times along the boundary line of the working area, and the walking distance of the automatic walking equipment which moves for a plurality of times is calculated;
counting the number of times of movement of the automatic walking equipment along the boundary line of the working area;
when the moving times are smaller than or equal to a preset threshold value, determining an average value of the moving distances of the plurality of times of movement as the boundary line length of the working area;
when the moving times exceeds a preset threshold value, calculating an average value of the moving distance of the moving time within the preset threshold value; determining the walking distance of the automatic walking equipment which moves at the current time; and taking an average value of the walking distance of the preset threshold value and the walking distance of the current movement as an average value, and determining the average value as the boundary line length of the working area of the automatic walking equipment.
2. The control method of claim 1, wherein the dimensional parameter of the working area further comprises an area of the working area.
3. The control method according to claim 1, wherein acquiring the size parameter of the working area of the automatic walking device includes: an area parameter entered by a user is received.
4. The control method according to claim 1, characterized in that the control method includes:
acquiring the length of a boundary line of a working area of the automatic walking equipment;
setting a preset energy level threshold of the power supply module according to the length of the boundary line;
and detecting the energy level of the power supply module, and controlling the automatic walking equipment to return to the stop station along the boundary line when the energy level of the power supply module is smaller than or equal to a preset energy level threshold value.
5. The control method according to claim 1, characterized in that the energy level of the power supply module is expressed in terms of the voltage or/and the discharge current of the power supply module.
6. Control method according to claim 1, characterized in that the preset energy level threshold is positively correlated with the borderline length, the preset energy level threshold increasing as the borderline length increases and/or the preset energy level threshold decreasing as the borderline length decreases.
7. The control method according to claim 4, wherein the acquiring the boundary line length of the work area of the automatic walking device includes acquiring an outer boundary line length of the work area of the automatic walking device, and setting a preset energy level threshold of the power module according to the outer boundary line length.
8. The control method according to claim 4, wherein the acquiring the boundary line length of the work area of the automatic walking device includes receiving a parameter input by a user, and determining the boundary line length of the work area of the automatic walking device based on the parameter input by the user.
9. The control method according to claim 8, wherein receiving the user-entered parameters includes receiving parameter information sent by the user through a self-walking device control panel and/or a remote terminal.
10. The control method according to claim 4, wherein the acquiring the boundary line length of the work area of the automatic traveling apparatus includes controlling the automatic traveling apparatus to move one turn along the boundary line of the work area, and calculating the traveling distance of the automatic traveling apparatus;
and determining the boundary line length of the working area according to the walking distance of the automatic walking equipment.
11. The control method according to claim 10, characterized in that the controlling the automatic walking device to move one turn along the boundary line of the work area comprises: and controlling the automatic walking equipment to start moving by taking the stop as a starting point, and judging that the automatic walking equipment moves one circle along the boundary line of the working area when the automatic walking equipment returns to the stop along the boundary line.
12. The control method according to claim 10, characterized in that the controlling the automatic walking device to move one turn along the boundary line of the work area comprises: and controlling the automatic walking equipment to move along the boundary line of the working area, detecting whether the automatic walking equipment receives a preset signal, determining the current position as a starting point after the automatic walking equipment receives the preset signal, and judging that the automatic walking equipment moves one circle along the boundary line of the working area when the automatic walking equipment receives the preset signal next time.
13. The control method according to claim 10, characterized in that the calculating the travel distance of the automatic traveling apparatus includes:
recording the number of turns rotated by the driving motor of the automatic walking equipment in the process that the automatic walking equipment moves along the boundary line of the working area;
And calculating the walking distance of the automatic walking equipment according to the number of turns rotated by the driving motor and the diameter of the driving wheel of the automatic walking equipment.
14. The control method according to claim 10, wherein the determining the boundary line length of the work area of the automatic walking device includes:
controlling the automatic walking equipment to move for one circle along the boundary line of the working area, and acquiring the moving speed and the moving time of the automatic walking equipment;
and determining the boundary line length of the working area according to the moving speed and the moving time.
15. An automatic walking apparatus, comprising: the system comprises a shell, a mobile module, a task execution module and a controller;
the mobile module and the task execution module are installed in the shell;
the controller is electrically connected to the mobile module and the task execution module, respectively, the controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the method according to any one of claims 1 to 14.
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| CN2019106728763 | 2019-07-24 | ||
| PCT/CN2020/103499 WO2021013173A1 (en) | 2019-07-24 | 2020-07-22 | Method for controlling automatic traveling device to return to docking station, and automatic traveling device |
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| Free Floating Electric Car Sharing: A Data Driven Approach for System Design;Michele Cocca，等;《IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS》;第20卷(第12期);全文 * |
| 受能量约束的移动机器人最优路径规划;陈世明，等;《机床与液压》;第39卷(第9期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021012525A1 (en) | 2021-01-28 |
| WO2021013173A1 (en) | 2021-01-28 |
| CN114365055A (en) | 2022-04-15 |
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