CN115309167B - Autonomous mobile apparatus, control method thereof, and computer-readable storage medium - Google Patents
Autonomous mobile apparatus, control method thereof, and computer-readable storage medium Download PDFInfo
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- 238000003860 storage Methods 0.000 title claims abstract description 9
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Classifications
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- G05D1/248—
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention provides an autonomous mobile device, a control method thereof and a computer readable storage medium, the method comprising: acquiring the positioning precision acquired by the autonomous mobile equipment at fixed time or in real time; when the positioning precision of the autonomous mobile equipment at a first position is lower than a preset threshold value, controlling the autonomous mobile equipment to randomly walk from the first position; when the positioning precision of the autonomous mobile equipment is higher than or equal to the preset threshold value, controlling the autonomous mobile equipment to move to a second position, continuing to walk along an originally planned working path from the second position and executing the working task, wherein the first position and the second position are separated by a preset distance, and the first position is located on the originally planned working path. The invention improves the working efficiency of the autonomous mobile equipment.
Description
Technical Field
The present invention relates to the technical field of autonomous mobile devices, and in particular, to an autonomous mobile device, a control method thereof, and a computer readable storage medium.
Background
Autonomous mobile devices refer to mobile devices, e.g., autonomous mobile devices are lawnmowers, sweepers, and the like.
The autonomous mobile equipment is provided with a positioning module, and the autonomous mobile equipment completes the set work task depending on the position positioned by the positioning module. However, the positioning module is limited by uncertain factors such as fences, high walls, crowns and cloud layers, so that the positioning accuracy of the positioning module is reduced, namely, the autonomous mobile equipment is located in an area with poor positioning quality, and the autonomous mobile equipment cannot finish the set work task based on the accurate positioning position.
In the exemplary technology, when the autonomous mobile apparatus is located at an initial position with low positioning accuracy, the autonomous mobile apparatus walks to a position with high positioning quality, and returns to the initial position again to continue to execute the work task. However, the positioning precision of the autonomous mobile apparatus at the initial position is low, so that the autonomous mobile apparatus walks to a position with high positioning quality, and the autonomous mobile apparatus falls into a cycle of walking from the position with low positioning precision to the position with high positioning precision, thereby causing low working efficiency of the autonomous mobile apparatus.
Disclosure of Invention
The invention provides an autonomous mobile device, a control method thereof and a computer readable storage medium, which are used for solving the problem of low working efficiency of the autonomous mobile device.
In one aspect, the present invention provides a control method of an autonomous mobile apparatus, including:
acquiring the positioning precision acquired by the autonomous mobile equipment at fixed time or in real time;
when the positioning precision of the autonomous mobile equipment at a first position is lower than a preset threshold value, controlling the autonomous mobile equipment to randomly walk from the first position;
when the positioning precision of the autonomous mobile equipment is higher than or equal to the preset threshold value, controlling the autonomous mobile equipment to move to a second position, continuing to walk along an originally planned working path from the second position and executing the working task, wherein the first position and the second position are separated by a preset distance, and the first position is located on the originally planned working path.
In an embodiment, before the controlling the autonomous mobile apparatus to move to the second position, the method further comprises:
and determining the second position according to the first position.
In an embodiment, the originally planned working path includes a first walking path and a second walking path, and the determining the second location according to the first location includes:
determining a first walking path where the first position is located;
a second travel path is determined adjacent to the first travel path and the second location is determined on the second travel path.
In an embodiment, the originally planned working path includes a first travel path, and the determining the second location from the first location includes:
determining a first walking path where the first position is located;
the second location is determined on the first travel path.
In an embodiment, further comprising:
when the positioning precision of the autonomous mobile equipment is higher than or equal to the preset threshold value and the autonomous mobile equipment is in a second position, controlling the autonomous mobile equipment to re-plan a path by taking the second position as a starting point;
and controlling the autonomous mobile equipment to walk according to the re-planned path.
In an embodiment, after the controlling the autonomous mobile apparatus to walk randomly from the first location, the controlling further includes:
acquiring the times of changing the walking direction of the autonomous mobile equipment in the random walking process;
when the times reach the preset times, outputting prompt information and/or controlling the autonomous mobile equipment to walk to a preset position, wherein the prompt information is used for indicating the autonomous mobile equipment to be manually processed.
In an embodiment, after the controlling the autonomous mobile apparatus to walk randomly from the first location, the controlling further includes:
acquiring duration time when the positioning precision of the autonomous mobile equipment is lower than the preset threshold value;
and when the duration reaches the preset duration, outputting prompt information and/or controlling the autonomous mobile equipment to walk to a preset position, wherein the prompt information is used for indicating the autonomous mobile equipment to be manually processed.
In an embodiment, before the step of acquiring the positioning information acquired by the autonomous mobile apparatus at the timing or in real time, the method further comprises:
planning a working path of the autonomous mobile device;
and controlling the autonomous mobile equipment to walk along the working path and executing the working task of the autonomous mobile equipment.
In an embodiment, when the positioning accuracy of the autonomous mobile apparatus in the first position is lower than a preset threshold, the autonomous mobile apparatus is controlled to return to the charging pile.
In an embodiment, when the positioning accuracy of the autonomous mobile apparatus in the first position is lower than a preset threshold, the autonomous mobile apparatus is controlled to stop traveling in situ, and after a preset time, the charging pile is returned.
In another aspect, the present application also provides an autonomous mobile device, comprising:
the acquisition module is used for acquiring the positioning precision acquired by the autonomous mobile equipment at fixed time or in real time;
the control module is used for controlling the autonomous mobile equipment to randomly walk from the first position when the positioning precision of the autonomous mobile equipment in the first position is lower than a preset threshold value;
and the determining module is used for controlling the autonomous mobile equipment to move to a second position when the positioning precision of the autonomous mobile equipment is higher than or equal to the preset threshold value, continuing to walk along the originally planned working path from the second position and executing the working task, wherein the first position and the second position are separated by a preset distance, and the first position is positioned in the originally planned working path.
According to the autonomous mobile device, the control method thereof and the computer readable storage medium, the positioning precision of the autonomous mobile device is obtained at fixed time or in real time, when the positioning precision of the autonomous mobile device in a first position is lower than a preset threshold value, the autonomous mobile device is controlled to walk randomly, and when the positioning precision is higher than or equal to the preset threshold value, the autonomous mobile device is controlled to walk to a second position to continue to execute a work task. According to the invention, after the autonomous mobile equipment walks from the position with low positioning precision to the position with high positioning precision, the autonomous mobile equipment walks to the second position which is different from the first position by a preset distance to execute the work task, so that the autonomous mobile equipment is prevented from directly returning to the first position with low positioning precision, namely, the autonomous mobile equipment is prevented from being in a cycle of walking from the position with low positioning precision to the position with high positioning precision, and the work efficiency of the autonomous mobile equipment is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic flow chart of a first embodiment of a control method of an autonomous mobile apparatus according to the present invention;
FIG. 2 is a schematic diagram of the autonomous mobile apparatus of the present invention;
FIG. 3 is a flow chart of a control method of an autonomous mobile apparatus according to a second embodiment of the present invention;
FIG. 4 is a flow chart of a third embodiment of a control method of an autonomous mobile apparatus according to the present invention;
FIG. 5 is a flow chart of a control method of an autonomous mobile apparatus according to a fourth embodiment of the present invention;
fig. 6 is a flowchart of a fifth embodiment of a control method of an autonomous mobile apparatus according to the present invention;
fig. 7 is a flowchart of a sixth embodiment of a control method of an autonomous mobile apparatus according to the present invention;
fig. 8 is a flowchart of a seventh embodiment of a control method of an autonomous mobile apparatus according to the present invention;
FIG. 9 is a schematic diagram of functional blocks of an autonomous mobile device of the present invention;
fig. 10 is a schematic diagram of a hardware structure of an autonomous mobile apparatus according to the present invention.
Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The following describes the technical scheme of the present invention and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a first embodiment of a control method of an autonomous mobile apparatus according to the present invention, the control method of the autonomous mobile apparatus comprising the steps of:
step S101, positioning accuracy acquired by the autonomous mobile equipment is acquired at fixed time or in real time.
In this embodiment, the autonomous mobile apparatus may be a sweeper or a mower. For ease of description, devices are hereinafter referred to as autonomous mobile devices.
The device is provided with a positioning module, for example, a GPS (Global Positioning System ) module or an RTK (Real-Time Kinematic) module. The RTK module performs positioning by processing the carrier phase observables of the two measuring stations in real time.
When the equipment executes a work task, the area where the equipment is affected by cloud cover, high wall, tree crown, human body and the like, so that the positioning accuracy of the positioning module is reduced, and the determined position of the equipment is inaccurate. In this regard, when the device performs the task, the device may acquire the positioning information of the autonomous mobile device in real time or at a fixed time, and then determine the positioning accuracy based on the positioning information, that is, the device acquires the positioning accuracy of the autonomous mobile device in real time or at a fixed time. In one example, the device determines positioning accuracy based on the number of common satellite observation frequency bands at the sampling point.
And step S102, when the positioning precision of the autonomous mobile apparatus at the first position is lower than a preset threshold value, controlling the autonomous mobile apparatus to randomly walk from the first position.
After the equipment obtains the positioning accuracy, the positioning accuracy is compared with a preset threshold value. If the positioning accuracy is lower than the preset threshold, the poor positioning quality of the equipment at the current position can be determined, and the current position is defined as a first position. Furthermore, whether the positioning accuracy is lower than a preset threshold value can be determined according to the comparison of the number of the public satellite observation frequency bands and the preset number. For example, the number of the public satellite observation frequency bands is larger than a preset number, and the positioning accuracy is higher than a preset threshold; if the number of the public satellite observation frequency bands is smaller than the preset number, the positioning accuracy is lower than a preset threshold value.
The equipment currently executes a work task according to an originally planned work path, the positioning precision of the equipment at a first position is lower than a preset threshold value, and the equipment enters a random walking mode, namely, the equipment starts to walk randomly from the first position.
Further, the device may continue to perform the work task during the random walk, for example, the device is a mower, the mower mows according to the planned work path, and if the positioning accuracy at the first position is lower than the preset threshold, the mower mows randomly. In the embodiment, the autonomous mobile device can continue to execute the work task in the process of walking from the position with low positioning precision to the position with high positioning precision, so that the completion progress of the work task is increased, and the working efficiency of the autonomous mobile device is further improved.
It should be noted that there are two modes of performing the task by the device, one is the edge mode and the other is the center mode. An edgewise mode of operation refers to the device performing a work task along the boundary of a work area, e.g., a mower mowing along the boundary. The center working mode refers to that the equipment plans a working path in a working area and executes working tasks according to the working path, for example, the working path is an arcuate path, and when the mower runs in the center working mode, mowing is performed according to the arcuate path. Because the edge working mode is to execute the working task along the boundary, if the equipment detects that the positioning precision is lower than the preset threshold value, the equipment walks randomly, and the equipment walks randomly out of the boundary to enter a non-working area, so that the damage to dynamic obstacles such as people or animals can be caused, and when the equipment detects that the positioning precision is lower than the preset precision, the equipment does not walk randomly if the equipment runs the edge working mode. And the equipment detects that the positioning precision is lower than the preset precision and the equipment operates in a central working mode, the equipment can be controlled to walk randomly from the first position and execute the working task.
Step S103, when the positioning precision of the autonomous mobile equipment is higher than or equal to a preset threshold value, controlling the autonomous mobile equipment to move to a second position, continuing to walk along the originally planned working path from the second position and executing the working task, wherein the first position and the second position are separated by a preset distance, and the first position is located in the originally planned working path.
The device acquires positioning accuracy in real time or at a fixed time. In the random walking process of the equipment, if the acquired positioning precision is higher than or equal to a preset threshold value, the control equipment moves to a second position, and then the second position of the hole continues to walk along the originally planned working path and execute the working task, namely the control equipment continues to execute the working task according to the original plan.
It should be noted that, the second position is spaced from the first position by a preset distance, so that the device does not return to the first position with low positioning accuracy when detecting that the positioning accuracy is higher than or equal to the preset threshold. Because the equipment executes the work task according to the originally planned work path before randomly walking, the first position is positioned on the originally planned work path. In addition, the second location is a location where the device does not pass, i.e., the device is not performing a work task at the second location. For example, the device is a mower, and the second position is a position where the mower is mowing. Referring to fig. 2, the device executes a work task according to an originally planned work path, the positioning accuracy of the device at a first position is lower than a preset threshold, the device starts to walk randomly and execute the work task, and after detecting that the positioning accuracy is higher than or equal to the preset threshold, the device walks to a second position and walks along the originally planned work path based on the second position and executes the work task.
In this embodiment, the positioning accuracy of the autonomous mobile apparatus is obtained at regular time or in real time, when the positioning accuracy of the autonomous mobile apparatus in the first position is lower than a preset threshold, the autonomous mobile apparatus is controlled to walk randomly, and when the positioning accuracy is higher than or equal to the preset threshold, the autonomous mobile apparatus is controlled to walk to the second position to continue to execute the work task. According to the invention, after the autonomous mobile equipment walks from the position with low positioning precision to the position with high positioning precision, the autonomous mobile equipment walks to the second position which is different from the first position by a preset distance to execute the work task, so that the autonomous mobile equipment is prevented from directly returning to the first position with low positioning precision, namely, the autonomous mobile equipment is prevented from being in a cycle of walking from the position with low positioning precision to the position with high positioning precision, and the work efficiency of the autonomous mobile equipment is improved.
In an embodiment, the device obtains the first sensing information and the second sensing information of the autonomous mobile device at regular time or in real time, and when the positioning accuracy of the first sensing information of the autonomous mobile device is lower than a preset threshold value, the autonomous mobile device is controlled to walk according to the second sensing information until the positioning accuracy of the first sensing information of the autonomous mobile device is higher than the preset threshold value.
Based on the above embodiment, when the positioning accuracy of the first sensing information is lower than a preset threshold, the device controls itself to start to walk randomly at the first position based on the second sensing information; when the positioning accuracy of the first sensing information is higher than a preset threshold value, switching to the first sensing information control equipment to return to the second position to continue walking along the originally planned working path and executing the working task.
The first sensing device of the apparatus for acquiring the first sensing information is different from the second sensing device for acquiring the second sensing information in terms of operation principle. The first sensing device and the second sensing device are different in the type of acquired data. The feedback of the two data to the environmental information is different.
In one embodiment, the first sensing information includes at least one of positioning information, image information, ultrasonic information, or mileage accumulation information, and may be fusion information of a plurality of information.
The second sensing information includes at least another one of positioning information, image information, ultrasonic information, or mileage accumulation information, and may be fusion information of a plurality of information, and the first sensing information is distinguished from the second sensing information.
The device comprises a first sensing device and a second sensing device, wherein the first sensing device comprises a positioning module, and the positioning module is, for example, a GPS (Global Positioning System ) module or a RTK (Real-Time Kinematic) module. The RTK module performs positioning by processing the carrier phase observables of the two measuring stations in real time. Furthermore, the second sensing device comprises an image acquisition module or an ultrasound module. The image acquisition module can be a camera or a visual sensor, and the ultrasonic module can be an ultrasonic module or a radar. The positioning information acquired by the positioning module is defined as first sensing information, and the image information acquired by the image acquisition module or the ultrasonic information acquired by the ultrasonic module is defined as second sensing information; the autonomous mobile equipment can realize the functions of obstacle recognition, boundary recognition, path planning and the like through image information or ultrasonic information. The device may collect the first sensed information and the second sensed information at a timing or in real time.
In one embodiment, the first sensing device includes an RTK positioning module, an IMU (Inertial Measurement Unit ) module, and the first sensing information is fusion information of the RTK information and the IMU information. The first sensing device can also comprise other data acquisition modules capable of realizing positioning, and the first sensing information can also be fused with other types of positioning data.
In this embodiment, the apparatus is mainly located by the first sensing device, and when unstable, the apparatus uses the second sensing device to assist in walking randomly, avoiding an obstacle. And when the first sensing device is stable, the first sensing device is utilized for positioning.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of a control method of an autonomous mobile apparatus according to the present invention, based on the first embodiment, step S103 includes:
in step S301, when the positioning accuracy of the autonomous mobile apparatus is higher than or equal to the preset threshold, the second position is determined according to the first position.
Step S302, the autonomous mobile device is controlled to move to a second position, and the autonomous mobile device continues to walk along the originally planned working path from the second position and executes the working task.
In this embodiment, after detecting that the positioning accuracy is higher than or equal to the preset threshold in the random walking process, the device determines a second position based on the first position, and then controls the autonomous mobile device to move to the second position, and continues to walk along the originally planned working path from the second position and execute the working task.
In an example, the distance between the first location and the second location is a preset distance, the device may circle the initial map with the first location as a center, the preset distance as a radius, and the device determines each intersection of the circle and the working path. Since the second position is a position where the device does not pass, the device determines an intersection where the device does not pass among the respective intersections as the second position.
In another example, the device may determine location information for the second location from location information for the first location. The position information of the first position may be a coordinate of the first position in the initial map, the device decomposes the preset distance into an abscissa value and an ordinate value in a coordinate system in the initial map, adds the abscissa value of the first position to the abscissa value of the preset distance, and adds the ordinate value of the first position to the ordinate value of the preset distance to obtain an abscissa value and an ordinate value of the second position, and the position information of the second position is also a coordinate of the second position in the initial map. Alternatively, the abscissa value and the ordinate value of the second position may be obtained by subtracting the abscissa value of the first position from the abscissa value of the predetermined distance and subtracting the ordinate value of the first position from the ordinate value of the predetermined distance. The initial map is a map of a work area corresponding to a work task established by the device.
In the embodiment, if the device detects that the positioning accuracy is higher than the preset threshold value in the random walking process, the second position is accurately determined based on the first position, and then the device is controlled to continuously execute the work task from the second position, so that the situation that the device returns to the first position to cause the device to walk randomly again is avoided, and the working efficiency of the device is improved.
Referring to fig. 4, fig. 4 is a third embodiment of a control method of an autonomous mobile apparatus according to the present invention, based on the second embodiment, step S301 includes:
step S401, determining a first walking path where the first position is located.
In this embodiment, the device performs the task according to a central working mode, in which the device moves according to an arcuate line. And the arcuate line includes a plurality of travel paths. Referring to fig. 2, each arrow of the working path corresponds to one walking path.
Step S402, determining a second walking path adjacent to the first walking path, and determining a second position on the second walking path.
The first location and the second location may be located on different travel paths. The device then first determines a travel path in which the first location is located, the travel path being defined as a first travel path. The device re-determines a second travel path adjacent to the first travel path, any location on the second travel path being determined to be the second location.
The two adjacent traveling paths may be the paths intersecting each other or the two paths having the shortest distance. For example, the working path is an arcuate line, and includes a travel path a, a travel path b, a travel path c, a travel path d, and the like, the travel path a is in contact with the travel path b, and an angle between the travel path a and the travel path b is 90 °; the walking path b is connected with the walking path c, and the angle between the walking path b and the walking path c is 90 degrees; the walking path c is connected with the walking path d, and the angle between the walking path c and the walking path d is 90 degrees; if the first position is located on the walking path b, the walking path adjacent to the walking path a may be the intersecting walking path b, or the walking path c parallel to the walking path a, that is, the second position may be located on the walking path b or the walking path c.
In addition, since the second travel path is a path through which the device does not travel, the device needs to acquire a travel path adjacent to the first travel path as the second travel path, and the area of the area not handled by the device is reduced as much as possible, that is, the effective workload of the device is increased as much as possible. For example, the apparatus is a mower, if the second travel path is connected end to end with the first travel path, the maximum value of the path not mowed by the mower is the first travel path+the second travel path; if the first walking path and the third walking path are connected end to end and the third walking path and the second walking path are connected end to end, the maximum value of the mowing path of the mower is the first walking path, the third walking path and the third walking path. In order to increase the mowing area, the mower is configured to select a second position on the travel path adjacent to the first travel path.
In addition, when the equipment executes the work task, the progress of the work task is updated along with the walking of the equipment. The device pauses to update the progress of the work task when the device is located at the first position, and updates the progress of the work task based on the positional relationship between the second travel path and the first travel path when the device is located at the second position, so that the device can start to execute the work task from the second position.
In this embodiment, the device determines the first walking path where the first position is located, and then determines the second walking path adjacent to the first walking path, so that the second position is determined on the second walking path, and the effective workload of the device is improved.
Referring to fig. 5, fig. 5 is a fourth embodiment of a control method of an autonomous mobile apparatus according to the present invention, based on any one of the first to third embodiments, step S103 includes:
in step S501, when the positioning accuracy of the autonomous mobile apparatus is higher than or equal to the preset threshold and the autonomous mobile apparatus is at the second position, the autonomous mobile apparatus is controlled to reprogram the path with the second position as a starting point.
Step S502, the autonomous mobile device is controlled to walk according to the re-planned path.
In this embodiment, the device calculates the positioning accuracy at regular time during random walking. If the positioning accuracy is higher than or equal to the preset threshold value and the equipment has returned to the second position, the equipment re-plans the path by taking the second position as a starting point. The device walks again along the path of the re-session.
The re-planned path can cover the area where the equipment walks and the area where the equipment does not walk in the random walking process, the equipment does not execute work in the walked area, and the missing of the equipment can be avoided by re-planning the path, so that the effective workload of the equipment is improved. The work of all areas can be completed.
In one embodiment, the working path includes a first walking path. After determining the first walking path where the first position is located, the device determines the second position on the first walking path.
In an example, the first travel path includes a path that the device has traveled and a path that the device has not traveled. The first location is a junction between a walked path and an unworn path. And the distance between the first position and the second position is a preset distance, and the position which is a preset distance away from the first position is determined on the non-walking path and is used as the second position. The preset distance is greater than zero.
In the embodiment, the second position is determined on the walking path where the first position is located, so that the equipment returns to a position close to the first position to continue to execute the work task, the missing work area of the equipment is reduced, and the work coverage rate of the equipment is improved.
Referring to fig. 6, fig. 6 is a fifth embodiment of a control method of an autonomous mobile apparatus according to the present invention, based on any one of the first to fourth embodiments, after step S102, further including:
step S601, obtaining the number of times of changing the walking direction of the autonomous mobile apparatus in the random walking process.
In this embodiment, the device randomly changes the walking direction and performs the task during the random walking process. The triggering condition for randomly changing the walking direction may be that the equipment detects that the positioning accuracy is lower than a preset threshold, that is, when the positioning accuracy detected by the equipment every time a period is lower than the preset threshold, the equipment randomly changes the walking direction. When the walking direction is replaced each time, the equipment updates the times of replacing the walking direction, namely, the times are added with 1 to obtain updated times.
Step S602, when the times reach the preset times, outputting prompt information and/or controlling the autonomous mobile equipment to walk to the preset position, wherein the prompt information is used for indicating the manual processing of the autonomous mobile equipment.
After the times reach the preset times, the equipment can be determined to be always in the area where the positioning signals are unstable, and the equipment cannot walk out of the area, so that manual intervention is needed. In this case, the device outputs a prompt message and stops walking. The prompt information is used for indicating that the equipment needs to be manually processed, namely, the equipment is moved out of the unstable area of the positioning signal in a manual mode.
In addition, when the times reach the preset times, the equipment can be controlled to walk to the preset position. The preset position is a position in the signal stabilizing region so that the device can walk out of the signal unstable region. The preset position can also be the position of the charging pile or the base station, so that the equipment is prevented from being always positioned in an unstable signal area to cause power failure.
In this embodiment, when the number of times reaches the preset number of times, a prompt message is output and/or the device is controlled to walk to a preset position, so as to avoid that the device is always in an unstable signal area and cannot complete a work task.
Referring to fig. 7, fig. 7 is a sixth embodiment of a control method of an autonomous mobile apparatus according to the present invention, based on any one of the first to fifth embodiments, after step S102, further including:
step S701, obtaining a duration time when the positioning accuracy of the autonomous mobile apparatus is lower than a preset threshold.
Step S702, when the duration reaches the preset duration, outputting prompt information and/or controlling the autonomous mobile apparatus to walk to the preset position, wherein the prompt information is used for indicating the autonomous mobile apparatus to perform manual processing.
In this embodiment, after the positioning accuracy of the device in the first position is lower than the preset threshold, the device acquires a duration for which the positioning accuracy of the device is lower than the preset threshold.
When the duration reaches the preset duration, the equipment can be determined to be in a signal unstable area all the time, namely the equipment is in a random walking state all the time to execute the work task, and the work task of the equipment cannot be executed to finish. For this, the device outputs a prompt message and/or controls the device to walk to a preset position. The preset duration may be any number of times. The prompt information and the preset position refer to the above description, and will not be described in detail herein.
In this embodiment, when the time length that the positioning accuracy of the device is continuously lower than the preset threshold value reaches the preset time length, a prompt message is output and/or the device is controlled to walk to a preset position, so that the problem that the device cannot complete a work task due to the fact that the device is always in a signal unstable area is avoided.
Referring to fig. 8, fig. 8 is a flowchart of a seventh embodiment of a control method of an autonomous mobile apparatus according to the present invention, and before step S101, further includes:
step S801, planning a working path of an autonomous mobile apparatus.
In this embodiment, the device needs to plan a working path based on the working area of the working task before executing the working task.
Specifically, the device stores a working map of a working area corresponding to the working task. The device first determines the mode of operation in which the work task is to be performed. When the working mode is a center working mode, working paths are planned within virtual boundaries in the working map, and the working paths may be arcuate paths. The virtual boundary is fitted from various positions acquired as the device walks along the physical boundary of the work area. The physical boundary is a physical boundary of the work area, e.g., the work area is a lawn, and the physical boundary is a road surrounding the lawn. When the operation mode is the edge operation mode, the operation path is a virtual boundary. It will be appreciated that the working path includes a boundary path, such as an arcuate path, and an intermediate path, such as a path of virtual boundaries.
The work map is created by the device prior to planning the work path. The device receives an external instruction, controls the device to walk for one circle along the boundary of the entity based on the external instruction, and collects a plurality of position information in the walking process. The device then builds an initial map from the various location information. The position information can be the coordinates of the acquired positions, namely, the coordinates of each position can be fitted into a virtual boundary, and then an initial map can be constructed. After the initial map is constructed, testing is required. At the moment, the equipment receives the test instruction, walks along the virtual boundary based on the test instruction to test the initial map, and the initial map can be used as a working map after the test is successful.
Step S802, the autonomous mobile device is controlled to walk along the working path and execute the working task of the autonomous mobile device.
After determining the working path, the device walks along the working path and performs the working tasks sponsoring the mobile device. For example, the work task is mowing, and the apparatus mows along the work path.
In the embodiment, the equipment plans the working path, controls the equipment to walk along the working path and execute the working tasks, avoids the disordered execution of the working tasks by the equipment, and improves the effective workload of the equipment.
In an embodiment, the control device returns to the charging stake when the positioning accuracy of the device when in the first position is below a preset threshold.
In one example, the location of the charging stake is the area where the positioning signal is stable. The device returns to the charging pile from the first position, so that the device can be positioned at a position with high positioning precision, and further, the device can continue to execute the work task.
Further, the positioning accuracy of the device at the first position is lower than a preset threshold value, the device is controlled to stop travelling, and the device returns to the charging pile after a preset time. The equipment reports errors in a running stopping mode, and if the errors are reported for a period of time, the equipment automatically returns to the charging pile. The error reporting time is a preset time, and the preset time can be any suitable time length.
In this embodiment, when the positioning accuracy of the device in the first position is lower than the preset threshold, the device returns to the charging pile, and the positioning accuracy of the device in the position where the charging pile is located is high, so that the device can travel to the position where the positioning accuracy is high, and further, the device can continue to execute the work task, and the work efficiency of the device is improved.
The present invention also provides an autonomous mobile apparatus, referring to fig. 9, an autonomous mobile apparatus 900 includes:
an acquisition module 910, configured to acquire positioning accuracy acquired by the autonomous mobile apparatus at regular time or in real time;
a control module 920, configured to control the autonomous mobile apparatus to start walking randomly from the first location when the positioning accuracy of the autonomous mobile apparatus at the first location is lower than a preset threshold;
and the control module 920 is configured to control the autonomous mobile apparatus to move to a second position when the positioning accuracy of the autonomous mobile apparatus is higher than or equal to a preset threshold, and to continue walking along the originally planned working path from the second position and execute the working task, where the first position is spaced from the second position by a preset distance, and the first position is located in the originally planned working path.
In an embodiment, autonomous mobile device 900 includes:
and the determining module is used for determining the second position according to the first position.
In an embodiment, autonomous mobile device 900 includes:
the determining module is used for determining a first walking path where the first position is located;
and the determining module is used for determining a second walking path adjacent to the first walking path and determining a second position on the second walking path.
In an embodiment, autonomous mobile device 900 includes:
the determining module is used for determining a first walking path where the first position is located;
and the determining module is used for determining the second position on the first walking path.
In an embodiment, autonomous mobile device 900 includes:
a control module 920, configured to control the autonomous mobile apparatus to reprogram the path with the second location as a starting point when the positioning accuracy of the autonomous mobile apparatus is higher than or equal to a preset threshold and the autonomous mobile apparatus is in the second location;
a control module 920 for controlling the autonomous mobile apparatus to walk according to the re-planned path.
In an embodiment, autonomous mobile device 900 includes:
an obtaining module 910, configured to obtain the number of times that the autonomous mobile device changes the walking direction in the random walking process;
the output module is used for outputting prompt information and/or controlling the autonomous mobile equipment to walk to a preset position when the times reach the preset times, wherein the prompt information is used for indicating the autonomous mobile equipment to be manually processed.
In an embodiment, autonomous mobile device 900 includes:
an obtaining module 910, configured to obtain a duration of time when the positioning accuracy of the autonomous mobile apparatus is lower than a preset threshold;
the output module is used for outputting prompt information and/or controlling the autonomous mobile equipment to walk to a preset position when the duration reaches the preset duration, wherein the prompt information is used for indicating the autonomous mobile equipment to be manually processed.
In an embodiment, autonomous mobile device 900 includes:
the planning module is used for planning the working path of the autonomous mobile equipment;
and the control module is used for controlling the autonomous mobile equipment to walk along the working path and executing the working task of the autonomous mobile equipment.
In an embodiment, autonomous mobile device 900 includes:
the control module 920 is configured to control the autonomous mobile apparatus to return to the charging pile when the positioning accuracy of the autonomous mobile apparatus in the first position is lower than a preset threshold.
In an embodiment, autonomous mobile device 900 includes:
the control module 920 is configured to control the autonomous mobile apparatus to stop traveling in situ when the positioning accuracy of the autonomous mobile apparatus in the first position is lower than a preset threshold, and return to the charging pile after a preset time.
Fig. 10 is a schematic diagram of a hardware architecture of an autonomous mobile device, according to an example embodiment.
The autonomous mobile apparatus 1000 may include: a processor 1001, such as a CPU, a memory 1002, a transceiver 1003. Those skilled in the art will appreciate that the structure shown in fig. 10 is not limiting of an autonomous mobile device and may include more or fewer components than shown, or may combine certain components, or may be arranged in a different arrangement of components. The memory 1002 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The processor 1001 may call a computer program stored in the memory 1002 to perform all or part of the steps of the control method of the autonomous mobile apparatus described above.
The transceiver 1003 is configured to receive information transmitted from an external device and transmit information to the external device.
A non-transitory computer readable storage medium, which when executed by a processor of an autonomous mobile device, enables the autonomous mobile device to perform the above-described control method of the autonomous mobile device.
A computer program product comprising a computer program which, when executed by a processor of an autonomous mobile device, enables the autonomous mobile device to perform the above-described control method of the autonomous mobile device.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (13)
1. A control method of an autonomous mobile apparatus, comprising:
acquiring the positioning precision acquired by the autonomous mobile equipment at fixed time or in real time;
when the positioning precision of the autonomous mobile equipment at a first position is lower than a preset threshold value, controlling the autonomous mobile equipment to randomly walk from the first position;
when the positioning precision of the autonomous mobile equipment is higher than or equal to the preset threshold value, the autonomous mobile equipment is controlled to move to a second position, the autonomous mobile equipment continues to walk along an originally planned working path from the second position and executes a working task, the first position and the second position are separated by a preset distance, the first position is located in the originally planned working path, and the second position is a position which is not passed by the autonomous mobile equipment.
2. The method of controlling an autonomous mobile device of claim 1, wherein the controlling the autonomous mobile device prior to moving to a second location further comprises:
and determining the second position according to the first position.
3. The method of controlling an autonomous mobile device of claim 2, wherein the originally planned working path comprises a first travel path and a second travel path, the determining the second location from the first location comprising:
determining a first walking path where the first position is located;
a second travel path is determined adjacent to the first travel path and the second location is determined on the second travel path.
4. The method of controlling an autonomous mobile device of claim 2, wherein the originally planned working path comprises a first travel path, the determining the second location from the first location comprising:
determining a first walking path where the first position is located;
the second location is determined on the first travel path.
5. The control method of an autonomous mobile device according to claim 1, further comprising:
when the positioning precision of the autonomous mobile equipment is higher than or equal to the preset threshold value and the autonomous mobile equipment is in a second position, controlling the autonomous mobile equipment to re-plan a path by taking the second position as a starting point;
and controlling the autonomous mobile equipment to walk according to the re-planned path.
6. The control method of an autonomous mobile apparatus according to claim 1, characterized by further comprising, after the control of the autonomous mobile apparatus to walk randomly from the first position:
acquiring the times of changing the walking direction of the autonomous mobile equipment in the random walking process;
when the times reach the preset times, outputting prompt information and/or controlling the autonomous mobile equipment to walk to a preset position, wherein the prompt information is used for indicating the autonomous mobile equipment to be manually processed.
7. The control method of an autonomous mobile apparatus according to claim 1, characterized by further comprising, after the control of the autonomous mobile apparatus to walk randomly from the first position:
acquiring duration time when the positioning precision of the autonomous mobile equipment is lower than the preset threshold value;
and when the duration reaches the preset duration, outputting prompt information and/or controlling the autonomous mobile equipment to walk to a preset position, wherein the prompt information is used for indicating the autonomous mobile equipment to be manually processed.
8. The method of controlling an autonomous mobile device according to any of claims 1-7, further comprising, prior to the step of acquiring the positioning information acquired by the autonomous mobile device at the timing or in real time:
planning a working path of the autonomous mobile device;
and controlling the autonomous mobile equipment to walk along the working path and executing the working task of the autonomous mobile equipment.
9. The method of controlling an autonomous mobile apparatus according to any of claims 1 to 7, wherein the autonomous mobile apparatus is controlled to return to a charging stake when the positioning accuracy of the autonomous mobile apparatus in a first position is below a preset threshold.
10. The control method of an autonomous mobile apparatus according to claim 9, wherein when the positioning accuracy of the autonomous mobile apparatus in a first position is lower than a preset threshold, the autonomous mobile apparatus is controlled to stop traveling in situ, and after a preset time, the charging pile is returned.
11. An autonomous mobile device, comprising:
the acquisition module is used for acquiring the positioning precision acquired by the autonomous mobile equipment at fixed time or in real time;
the control module is used for controlling the autonomous mobile equipment to randomly walk from the first position when the positioning precision of the autonomous mobile equipment in the first position is lower than a preset threshold value;
and the determining module is used for controlling the autonomous mobile equipment to move to a second position when the positioning precision of the autonomous mobile equipment is higher than or equal to the preset threshold value, and continuing to walk along an originally planned working path from the second position and executing a working task, wherein the first position and the second position are spaced by a preset distance, the first position is positioned on the originally planned working path, and the second position is an un-passed position of the autonomous mobile equipment.
12. An autonomous mobile device, comprising: a memory and a processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to cause the autonomous mobile apparatus to perform the method of controlling an autonomous mobile apparatus according to any of claims 1 to 10.
13. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein computer executable instructions which, when executed by a processor, are adapted to carry out the control method of an autonomous mobile device according to any of claims 1 to 10.
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| PCT/CN2023/116606 WO2024055855A1 (en) | 2022-09-16 | 2023-09-01 | Autonomous mobile device and method for controlling the same, and computer readable storage medium |
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| EP3069203B1 (en) * | 2013-11-12 | 2020-07-01 | Husqvarna AB | Improved navigation for a robotic working tool |
| CN105353758A (en) * | 2015-11-10 | 2016-02-24 | 闫夙 | Precise automatic lawnmower distributed beacon laser positioning and trajectory control system |
| CN106814732A (en) * | 2015-11-27 | 2017-06-09 | 科沃斯机器人股份有限公司 | Self-movement robot and its walking mode conversion method and traveling method |
| WO2017177929A1 (en) * | 2016-04-12 | 2017-10-19 | 苏州宝时得电动工具有限公司 | Automatic movement device for automatic working system, and control method therefor |
| EP3591421A4 (en) * | 2017-05-26 | 2020-12-02 | Positec Power Tools (Suzhou) Co., Ltd | Moving object and positioning method therefor, automated working system, and storage medium |
| WO2019180765A1 (en) * | 2018-03-19 | 2019-09-26 | 本田技研工業株式会社 | Autonomous traveling work machine |
| CN112799389B (en) * | 2019-11-12 | 2022-05-13 | 苏州宝时得电动工具有限公司 | Automatic walking area path planning method and automatic walking equipment |
| CN112857368B (en) * | 2019-11-12 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Mower navigation method and device and mower |
| CN114322980A (en) * | 2020-09-30 | 2022-04-12 | 上海山科机器人有限公司 | Method for obtaining position coordinates and drawing electronic map, computer-readable storage medium, and autonomous operating apparatus |
| CN115309167B (en) * | 2022-09-16 | 2023-08-01 | 未岚大陆(北京)科技有限公司 | Autonomous mobile apparatus, control method thereof, and computer-readable storage medium |
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