CN116300841A

CN116300841A - Automatic working system, automatic working method and computer readable storage medium

Info

Publication number: CN116300841A
Application number: CN202111487030.6A
Authority: CN
Inventors: 伊曼纽尔·康蒂; 兰彬财; 李想; 钟源
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2023-06-23
Also published as: WO2023104087A1

Abstract

The present disclosure relates to an automatic working system, an automatic working method, and a computer-readable storage medium. The automatic working system includes: self-mobile device and charging station, the self-mobile device includes: the positioning module is configured to acquire satellite positioning information of the self-mobile device, and has a positioning error; a storage module configured to store a map of the work area and the charging station location; the automatic working system further comprises: and the control module is configured to control the self-mobile device to move towards a reference position in the process of returning to a charging station, detect the boundary in the process of moving, and control the self-mobile device to return to the charging station along the boundary when reaching the vicinity of the reference position or reaching the boundary. By the method, the regression efficiency of the self-mobile device can be greatly improved.

Description

Automatic working system, automatic working method and computer readable storage medium

Technical Field

The present disclosure relates to the field of data processing technology of self-mobile devices, and in particular, to an automatic working system, an automatic working method, and a computer readable storage medium.

Background

With the development of science and technology, more and more self-mobile devices are moving into people's lives. Such as robotic lawnmowers, robotic sweepers, automated delivery trucks, and the like. These self-moving devices offer great convenience to the production and life of people.

After a period of operation, the self-mobile device needs to automatically return to the charging station for charging. The common control method for recharging comprises the steps of arranging a magnetic strip on a boundary line of a working area, installing a magnetic induction sensor on the self-mobile device, and guiding the self-mobile device to return to a charging station through the magnetic strip. However, recharging along the boundary line may result in a longer recharging process, especially when the self-mobile device is far from the charging station, which consumes power from the self-mobile device, affecting the operating efficiency of the self-mobile device.

Thus, there is a need for a solution that can make the self-mobile device more efficient and fast for back-charging.

Disclosure of Invention

In view of the foregoing, it is desirable to provide an automated working system, an automated working method, and a computer-readable storage medium that control regression from a mobile device.

According to a first aspect of embodiments of the present disclosure, an automated working system, the automated working system comprises: a self-moving device moving and/or operating within a work area defined by a boundary, and a charging station for charging the self-moving device, the charging station being located on the boundary, the charging station having a forward direction and a backward direction, dividing the boundary into a side located in the forward direction and a side located in the backward direction,

The self-mobile device includes:

the positioning module is configured to acquire satellite positioning information of the self-mobile device, and has a positioning error;

a storage module configured to store a map of the work area and the charging station location;

the automatic working system further comprises: the control module is in signal connection with the positioning module and the storage module;

the control module is configured to control the self-moving device to move towards a reference position in the process of returning to a charging station, and detect the boundary in the process of moving, and control the self-moving device to return to the charging station along the boundary when reaching the vicinity of the reference position or reaching the boundary, wherein the reference position is located in the front direction of the charging station, and the distance between the reference position and the charging station is greater than or equal to twice the positioning error.

In one possible implementation, the reference position is a reference point located on a boundary, and the control module controls the self-mobile device to move toward the reference position, including:

The control module determines a reference circle on the map by taking the position of the charging station as a circle center and taking the distance between the position of the reference point and the position of the charging station as a radius;

and controlling the self-moving device to move along the tangential line of the reference circle along the radial direction of the reference circle until the self-moving device walks to the reference point or reaches the boundary.

In one possible implementation, controlling the self-moving device to move along a tangent line of the reference circle along the reference circle until walking to the reference point or reaching the boundary includes:

and controlling the self-moving equipment to move along the tangential line of the reference circle along the radial direction of the reference circle, and controlling the self-moving equipment to move to the reference point or reach the boundary along the circumference of the reference circle after the self-moving equipment moves to the circumference position of the reference circle.

In one possible implementation, the controlling the self-moving device to move along a tangential line of the reference circle along the radial direction of the reference circle includes:

the control module plans a tangential path from the current position to the reference circle;

acquiring the intersection point of the two tangential paths and the reference circle under the condition that the tangential paths comprise two tangential paths;

Taking a tangent line where an intersection point meeting a preset requirement is located as a tangent line path from the current position to the reference circle, wherein the preset requirement is that the intersection point is located at one side close to the charging station;

and controlling the self-moving device to move along the cutting line along the radial direction of the reference circle.

acquiring an included angle between the traveling direction of the self-mobile device and the tangential path;

adjusting the walking direction of the self-moving equipment according to the included angle;

and walking according to the walking direction so as to move towards the reference circle.

In one possible implementation manner, the obtaining the included angle between the walking direction of the self-mobile device and the tangential path includes:

satellite positioning data and inertial navigation sensor data obtained from the mobile device;

and determining an included angle between the current advancing direction of the self-mobile equipment and the tangential path according to the satellite positioning data and the inertial navigation sensor data.

In one possible implementation, when reaching the vicinity of the reference location, controlling the self-mobile device to return to the charging station along the boundary includes:

When walking to the vicinity of an intersection point, if the intersection point is in the working area, controlling the self-moving equipment to walk to the reference point along the reference circle according to the direction consistent with the regression charging direction, wherein the intersection point is the intersection point of the tangential path and the reference circle;

and controlling the self-mobile device to return to the charging station along the boundary for charging.

In one possible implementation, when the boundary is reached, controlling the self-mobile device to return to the charging station along the boundary includes:

when the vehicle walks to the vicinity of the intersection point, if the intersection point is outside the working area, the self-moving equipment is controlled to detect the boundary, the self-moving equipment is controlled to return to the charging station along the boundary to charge, and the intersection point is the intersection point of the tangential path and the reference circle.

In one possible implementation, the boundary comprises a regular polygon.

In one possible implementation, the positioning module positioning error is greater than or equal to 5-10m.

In one possible implementation, the self-mobile device further includes:

the image acquisition module is used for acquiring image data of grass and non-grass boundaries;

Detecting the boundary during walking to the reference point, comprising:

the boundary is detected from the image data during walking to the reference point.

In one possible implementation, the system further includes:

the signal generation device is used for sending out boundary signals;

the self-mobile device further comprises:

the magnetic induction module is used for inducing the boundary signal;

detecting the boundary during walking to the reference point, comprising:

and detecting the boundary according to the sensed boundary signal in the process of walking to the reference point.

In one possible implementation, the boundary includes a magnetic stripe, and the self-mobile device further includes: the magnetic field detection module is used for detecting magnetic signals in the magnetic stripe;

detecting the boundary during walking to the reference point, comprising:

the boundary is detected from the magnetic signal during walking to the reference point.

In one possible implementation, the detecting the boundary includes:

determining the running action of the self-mobile device according to the course angle of the self-mobile device and the included angle between the return direction and the true north direction, wherein the course angle comprises the included angle between the running direction of the self-mobile device and the true north direction;

And controlling the self-moving equipment to run according to the running action until the boundary of the working area is detected.

In one possible implementation, the detecting the boundary includes:

the detecting the boundary includes:

In one possible implementation, if the angle θ between the regression direction and the true north direction satisfies: and the travel action of the self-mobile equipment is determined according to the course angle of the self-mobile equipment and the included angle between the return direction and the true north direction, wherein θ is more than or equal to 0 degrees and less than or equal to 90 degrees, and the travel action of the self-mobile equipment comprises:

if the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta+90 DEG or theta+270 DEG is less than alpha and less than 360 DEG, the self-moving equipment is controlled to turn left by a preset angle and move forward by a preset distance;

if the deflection angle alpha of the self-mobile device meets the following conditions: and if theta+90 degrees is more than or equal to alpha and less than theta+270 degrees, controlling the self-moving equipment to turn right by a preset angle and move forward by a preset distance.

In one possible implementation, if the angle θ between the regression direction and the true north direction satisfies: the angle theta is more than 90 degrees and less than or equal to 180 degrees, and the running action of the self-mobile device is determined according to the course angle of the self-mobile device and the included angle between the return direction and the true north direction, and the method comprises the following steps:

if the course angle alpha of the self-mobile device meets the following conditions: theta-90 degrees is more than alpha and less than or equal to theta+90 degrees, and controlling the self-moving equipment to turn left by a preset angle and move forward by a preset distance;

if the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta-90 DEG or theta+90 DEG is less than alpha and less than 360 DEG, the self-moving equipment is controlled to turn right by a preset angle and advance by a preset distance.

In one possible implementation, if the angle θ between the regression direction and the true north direction satisfies: 180 degrees is less than or equal to 270 degrees, and the running action of the self-mobile device is determined according to the course angle of the self-mobile device and the included angle between the return direction and the true north direction, and the running action comprises the following steps:

In one possible implementation, if the angle θ between the regression direction and the true north direction satisfies: 270 ° < θ < 360 °, and determining a driving action of the self-mobile device according to a heading angle of the self-mobile device and an included angle between the return direction and the true north direction, including:

if the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta-270 DEG or theta-90 DEG is less than alpha and less than 360 DEG, the self-moving equipment is controlled to turn left by a preset angle and move forward by a preset distance;

if the course angle alpha of the self-mobile device meets the following conditions: and controlling the self-moving equipment to turn right by a preset angle and move forward by a preset distance when theta-270 degrees is less than alpha and less than or equal to theta-90 degrees.

In one possible implementation, the detecting the boundary includes:

If the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta or theta+270 DEG is less than alpha and less than 360 DEG, and the self-moving equipment is controlled to turn around in situ and then move forwards and straightly;

if the deflection angle alpha of the self-mobile device meets the following conditions: and if theta+90 degrees is more than or equal to alpha and less than theta+270 degrees, controlling the self-moving equipment to move forwards.

if the course angle alpha of the self-mobile device meets the following conditions: theta-90 degrees is more than alpha and less than or equal to theta+90 degrees, and the self-moving equipment is controlled to turn around in situ and then drive forwards;

if the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta-90 DEG or theta+90 DEG is less than alpha and less than 360 DEG, and the self-moving equipment is controlled to move forwards and straightly.

If the course angle alpha of the self-mobile device meets the following conditions: theta-90 degrees is more than alpha and less than or equal to theta+90 degrees, and the self-moving equipment is controlled to turn around in situ and then move forwards and straightly;

if the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta-270 DEG or theta-90 DEG is less than alpha and less than 360 DEG, and the self-moving equipment is controlled to turn around in situ and then drive forwards;

if the course angle alpha of the self-mobile device meets the following conditions: and if theta-270 degrees is less than alpha and less than or equal to theta-90 degrees, controlling the self-moving equipment to run forwards.

According to a second aspect of the embodiments of the present disclosure, there is provided an automatic control method, including:

acquiring satellite positioning information from a mobile device, a map of a work area, and a location of a charging station;

controlling the self-moving device to move to a reference position, detecting a boundary in the moving process, and controlling the self-moving device to return to the charging station along the boundary when reaching the vicinity of the reference position or reaching the boundary, wherein the reference position is positioned in the front direction of the charging station, the distance between the reference position and the charging station is greater than or equal to twice the positioning error, the charging station is positioned on the boundary, the charging station has a front direction and a rear direction, the boundary is divided into one side positioned in the front direction and one side positioned in the rear direction, the charging station is used for charging the self-moving device, and the boundary is used for limiting a working area.

According to a third aspect of embodiments of the present disclosure, there is provided a self-mobile device comprising:

a main body;

the satellite positioning sensor is used for acquiring satellite positioning data;

a memory for storing a computer program;

and the processor is arranged in the main body, is electrically connected with the satellite positioning sensor and the memory, and is used for realizing the steps of the method in any embodiment of the disclosure when executing the computer program.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform the method of any of the embodiments of the present disclosure.

By the method, the self-mobile device can be driven to the position near the reference point first and then guided to the charging station. Compared with the traditional border regression charging method, the regression efficiency is greatly improved. In addition, in the process of guiding the mobile equipment from the reference point to the charging station, the mobile equipment can be guided to the charging station by using the existing boundary regression guiding method, and the scheme has strong feasibility.

Drawings

FIG. 1 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 2 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 3 is an application scenario diagram of an automated work system, according to an example embodiment.

Fig. 4 (a) is an application scenario diagram of an automatic working system, according to an exemplary embodiment.

Fig. 4 (b) is an application scenario diagram of an automatic working system, according to an exemplary embodiment.

FIG. 5 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 6 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 7 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 8 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 9 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 10 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 11 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 12 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 13 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 14 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 15 is an application scenario diagram of an automated work system, according to an example embodiment.

FIG. 16 is an application scenario diagram of an automated work system, according to an example embodiment.

Fig. 17 is a flowchart illustrating an automatic control method according to an exemplary embodiment.

Fig. 18 is a schematic diagram of a self-mobile device according to an example embodiment.

FIG. 19 is an application scenario diagram illustrating an automated work system according to an exemplary embodiment.

Fig. 20 is a partial enlarged view of fig. 19 from the position of travel of the mobile device.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

Fig. 1 is an application scenario diagram of an automatic operation system according to an exemplary embodiment, and referring to fig. 1, the self-mobile device 100 operates in an operation area, and when it detects that its own power is insufficient, a quick return charging procedure is started. In the embodiment of the present disclosure, the boundary 101 of the working area may be a virtual boundary or a boundary where a magnetic stripe is laid in advance, and a reference position is set on the boundary 101, where the reference position may exist on a map of the working area, and may not exist in an actual working environment, and represents a location point. In the embodiment of the present disclosure, when the self-mobile device 100 detects that the self-power is insufficient, the satellite positioning sensor may be used to determine its own position, and plan a travel path from the current position to the reference position, and the reference point 103 is reached according to the travel path, as indicated by a dashed arrow in fig. 1. And travels along the boundary of the work area to the charging station for docking charging. In the case that the positioning signal of the self-mobile device is not good, the self-mobile device 100 may reach the preset range of the reference point 103, at this time, the execution action of the self-mobile device 100 may be determined according to the regression direction and the course angle of the self-mobile device, and the self-mobile device 100 may travel to the boundary of the working area according to the execution action and travel to the charging station according to the regression direction for docking charging. Compared to the conventional guiding method of the regression charging, the robot 100 travels to the nearest boundary, such as from the rear of the mobile device 100, and then travels to the charging station along the boundary of the working area.

The automatic working system described in the present disclosure is described in detail below. The present disclosure provides an automatic working system, comprising: a self-moving device that walks and/or works within a work area defined by a boundary, and a charging station for supplying power to the self-moving device, the charging station for charging the self-moving device, the charging station being located on the boundary, the charging station having a forward direction and a backward direction, dividing the boundary into a side located in the forward direction and a side located in the backward direction, the self-moving device comprising:

the positioning module is configured to acquire satellite positioning information in the walking process of the self-mobile equipment, and positioning errors exist in the positioning module;

the automatic working system further comprises: the control module is in signal connection with the positioning module and the storage module, and is configured to control the self-moving device to move towards a reference position in the process of returning to a charging station, detect the boundary in the process of moving, and control the self-moving device to return to the charging station along the boundary when reaching the vicinity of the reference position or reaching the boundary, wherein the reference position is located in the front direction of the charging station, and the distance between the reference position and the charging station is greater than or equal to twice the positioning error.

In an embodiment of the disclosure, the charging station has a forward direction and a backward direction, dividing the boundary into a side located in the forward direction and a side located in the backward direction. Referring to fig. 1, the self-moving device has a preset return direction, for example, the return direction in fig. 1 is an instantaneous needle direction. The forward direction of the charging station is in the reverse direction of the return direction, and when the mobile device travels to a position forward of the charging station, for example, the reference point 103, the mobile device returns to the charging station quickly according to the return direction. The backward direction of the charging station is in the returning direction, and the mobile device is driven to a certain backward position of the charging station, so that the mobile device does not immediately drive towards the charging station, and the mobile device still runs along the boundary for one circle according to the returning direction and returns to the charging station. Thus, the self-moving device can return to the charging station faster when the self-moving device is in the forward direction of the charging station than when the self-moving device is in the backward direction of the charging station.

In embodiments of the present disclosure, the positioning module may include a positioning sensor, such as a satellite positioning sensor. The positioning module is affected by shielding of cloud layers, trees and buildings, and positioning errors exist. The memory module may include memory such as ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. The control module may include a controller, a processor, and the like.

In the embodiment of the disclosure, the boundary is used for distinguishing the working area from the non-working area, so that the self-mobile device is located in the working area to drive to work when working. For example, for a lawn mower, the work area boundary includes the boundary of a mowing area and a non-mowing area, and for example, a sweeping robot, the boundary of a work area includes the boundary of a cleaning area and a non-cleaning area. The vicinity of the reference position includes a preset rectangle or circle center range centered on the reference position. The charging station provides power for the self-mobile device, and when the self-mobile device detects that the self-electric quantity does not meet a preset value after working for a period of time, the self-mobile device needs to travel to the charging station to charge. In one example, a magnetic stripe may be disposed at all or part of the boundary of the work area, and a magnetic induction sensor may be disposed on the self-moving device, with the magnetic induction sensor detecting the magnetic stripe, so that the self-moving device can travel along the boundary of the work area. In another example, the boundary of the stored working map is utilized and positioning data from the mobile device is acquired by other sensor devices such as satellite positioning sensors or inertial navigation sensors, and the mobile device is caused to travel along the boundary of the working area based on the positioning data and the boundary of the stored map. According to the two examples, the charging station is arranged on the boundary of the working area, so that the self-mobile device is guided to return to charge along the boundary of the working area.

In the embodiment of the disclosure, the regression charging direction includes a preset clockwise regression direction or a preset anticlockwise regression direction along a boundary. And after the regression direction is set, returning to the charging station according to the regression direction in the process of returning along the boundary by the mobile equipment. The reference position is a virtual point in an actual application scene, and represents a preset position, and the preset position can be marked on a map of the working area. The reference position is located in the forward direction of the charging station, the distance between the reference position and the charging station is greater than or equal to twice of the positioning error, and the self-mobile device can reach the charging station after passing through the reference position and the preset distance along the regression direction.

In the embodiment of the present disclosure, the preset range of the reference position may include a position of the reference position or a range of a circular area with a preset length as a radius around the reference position. Controlling the travel from the mobile device to the preset range of the reference position can comprise utilizing the positioning data provided by the satellite positioning sensor and/or the inertial navigation sensor or other odometer sensor for the mobile device to determine the position of the mobile device, further determining the travel path from the position to the reference position, and controlling the travel from the mobile device to the preset range of the reference position. In the embodiment of the disclosure, if the self-mobile device just runs to the reference position, directly controlling the self-mobile device to run to the charging station along the regression direction on the boundary of the working area; if the self-mobile device is driven to a position other than the reference position, the self-mobile device is controlled to detect the boundary of the working area according to the following embodiment.

In an embodiment of the present disclosure, a method for detecting a boundary of a working area may include: in one example, the self-mobile device is controlled to make a left turn, a right turn, a forward or a backward movement, etc., within the preset range until a sensor located on the self-mobile device detects the boundary of the work area. In another example, the determination of the specific actions to be performed by the self-mobile device is based on the heading angle, the return direction, and the adjustments are continued until the boundaries of the work area are detected. After the boundary is detected from the mobile device, the vehicle can travel in the return direction to the charging station position on the boundary of the working area in the manner described in the above embodiments.

By the method, the self-mobile device can be driven to the position nearby the reference position first and then guided to the charging station. Compared with the traditional border regression charging method, the regression efficiency is greatly improved. In addition, in the process of guiding the mobile equipment from the reference position to the charging station, the mobile equipment can be guided to the charging station by using the existing boundary regression guiding method, and the scheme has strong feasibility.

Fig. 1 to 3 are application scenario diagrams illustrating a method of controlling regression from a mobile device according to an exemplary embodiment. Referring to fig. 1 to 3, in one possible implementation, the preset distance is set as an error value from a satellite positioning sensor on the mobile device. In the embodiment shown in fig. 1, the boundary of the working area is not a recessed area, which may include the area where the building is located. The charging station is at a preset distance of the reference point 103 along the return direction. In the embodiment shown in fig. 2, the reference point 103 coincides with the inflection point of the working area boundary, and the charging station is at a preset distance of said reference point 103 in the regression direction. In the embodiment shown in fig. 3, the charging station is on a concave boundary of the work area and the charging station is at a preset distance from the reference point 103 in the return direction.

In the embodiment of the disclosure, the low-precision satellite positioning sensor may be used to guide the mobile device to travel to the preset range of the reference point, if the preset distance is smaller than the error value of the satellite positioning sensor, the mobile device may travel to the left side of the charging station as shown in fig. 1 to 3, so that the regression distance increases (at this time, the mobile device may travel round along the boundary of the working area and then return to the charging station), and if the preset distance is greater than the error value of the satellite positioning sensor, the mobile device may be guided to travel to the boundary for a distance from the charging station, so that the error value of the satellite positioning sensor is set to the preset distance, and in one example, the error value may include 5-10m. The method can ensure that the distance from the mobile equipment to the boundary of the working area and to the position of the charging station is shorter under the condition that the reference point is within the preset range, thereby further improving the regression efficiency.

Fig. 4 (a), 4 (b) are application scenario diagrams of an automatic working system according to an exemplary embodiment. Referring to fig. 4 (a), the reference position is a reference point located on a boundary, and the control module controls the self-mobile device to move toward the reference position, including:

The control module determines a reference circle 401 on the map with the position of the charging station 200 as a center and the distance between the position of the reference point 103 and the position of the charging station as a radius;

In the embodiment of the disclosure, the reference position may include a reference point located on the boundary, such as reference point 103 in fig. 4 (a); the reference position may also be located in a sector-shaped included angle area with the boundary 101 as one side in the forward working area of the charging station, for example, the included angle is 45 degrees. After the self-mobile device works in a working area for a period of time, the electric quantity is insufficient, and quick regression charging needs to be started. May return to the vicinity of the reference point 103 along a tangential path from the point of tangency of the current location with the reference circle. In the embodiment of the present disclosure, the obtaining of the reference circle may include determining the reference circle 401 with the position of the charging station 200 as a center and the distance between the position of the reference point 103 and the position of the charging station as a radius. In one example, for ease of calculation, a circular arc or semicircle may be substituted for the reference circle in the implementation of the present disclosure, so long as the function and effect achieved by the present reference circle are the same as or similar to those achieved by the present reference circle, and all are covered in the protection scope of the present application. Referring to fig. 4 (a), there are two tangential paths from the mobile device 100 and the reference circle 401, such as j1 and j3 in fig. 4, which become j2 and j4 when walking to the next position. When two tangential paths exist, one of the two tangential paths needs to be selected, for example, one j4 of j2 and j4 is selected, and the specific selection condition may be preset. The traveling direction of the mobile device 100 is continuously adjusted in the traveling process, and the tangential path is gradually approached by adjusting the tangential path toward the direction in which the included angle between the traveling direction and the tangential path becomes smaller (for example, the included angle between the traveling direction of the mobile device 100 and j4 is smaller than the included angle between the traveling direction and j 3). In the embodiments of the present disclosure. Referring to fig. 4, when the intersection point a of the tangential path j4 and the reference circle 401 is outside the working area, the mobile device walks to the point a, detects the boundary 101 of the working area, the upper boundary 101, and then returns to the charging station 200 for charging.

In another embodiment of the present application, referring to fig. 4 (b), when the reference point 103 is not present, the reference circle 401 may still be determined with the charging station 200 as a center and a distance greater than or equal to twice the positioning error as a radius. The self-moving device approaches the tangential path gradually to reach the vicinity of the forward boundary of the charging station according to the method of the corresponding embodiment of fig. 4 (a) described above. In one example, after the self-mobile device walks along the tangential path of the reference circle to the intersection point of the tangential path and the reference circle, the self-mobile device can continue to walk along the arc of the reference circle, detect the boundary 101 of the working area in the walking process, detect the upper boundary 101 after the boundary is detected, and then return to the charging station 200 for charging; in one example, the self-mobile device may travel outside of the boundary, such as near point a, at which point the self-mobile device may detect the boundary, upper boundary, of the work area and then return to charging station 200 for charging. In one example, the self-mobile device may travel to the inside of the boundary, such as near point B, and then may be controlled to travel along the reference circle to the boundary 101 in a direction consistent with the return charging direction, and then return to the charging station 200 for charging.

In the disclosed embodiments, since the coordinate position of the charging station is known, the radius of the circle is the distance of the charging station position from the reference point, which is greater than or equal to twice the positioning error. Thus, in the case of errors in the satellite positioning signals, the tangential path described above can be used to guide the mobile device quickly to the vicinity of the reference point, without being too close to the charging station,

in one example, the controlling the self-moving device to move along a tangent line of the reference circle to the reference circle includes:

In the disclosed embodiment, as described with reference to fig. 4a or 4b, in the case where the tangential paths include two, for example, the first tangential path j1 and the second tangential path j3. The coordinates of the intersection point of the two tangential paths with the reference circle can be calculated and compared with the coordinates of the corner point and the coordinates of the charging station. For example, the intersection point of the first tangential path j1 and the reference circle is (x ₁ ,y ₁ ) The intersection point of the second tangential path j3 and the reference circle is (x ₂ ,y ₂ ) The coordinates of the charging station are (X, Y), and X ₁ >X>x ₂ . In the embodiment shown in fig. 4a or fig. 4b, the reference point 103 is on the right side of the charging station 200, and the preset regression direction is a clockwise direction, so, to ensure that the mobile device arrives at the charging station 200 faster from the reference point 103 along the regression direction, the preset magnitude relation may include selecting a tangential path having an abscissa of the intersection coordinates smaller than an abscissa of the charging station, and thus, the embodiment of the present disclosure takes the second tangential path j3 as a tangential path from the current position to the circle. It should be noted that, in some cases, the preset size relationship may further include that an abscissa (ordinate) of the intersection point coordinate is larger than an abscissa (ordinate) of the charging station, where the setting condition depends on a relative position of the reference point and the charging station.

FIG. 19 is an application scenario diagram illustrating an automated work system according to an exemplary embodiment. Referring to fig. 19, the controlling the self-moving device to move along the tangential line of the reference circle along the radial direction of the reference circle includes:

acquiring an included angle between the historical moment advancing direction of the self-moving equipment and the tangential path;

According to the included angle, adjusting the advancing direction of the self-moving equipment;

walking according to the advancing direction to move toward the reference circle.

In this embodiment of the disclosure, the angle between the advancing direction 502 and the tangential path 503 may be denoted as d, and the angle between the advancing direction and the tangential path at the historical time, for example, the angle at the time t1 is d1, and the angle at the time t2 is d2. The adjusting the advancing direction of the self-moving device at the next moment of the self-moving device according to the included angle, for example, if the self-moving device is right-turned (or left-turned) in the process of reaching t2 from t1, and d2> d1 is detected, which indicates that the right-turning of the self-moving device deviates from the tangential path, thus adjusting the advancing direction of the self-moving device through the left-turning. For another example, if the autonomous device is right-turning (or left-turning) during the arrival at t2 from t1, and d2< d1 is detected, it is indicated that the right-turning from the mobile device is approaching the tangential path, and thus the direction of travel from the mobile device is adjusted by continuing the right-turning.

By the method, the angle and the advancing direction of the self-moving equipment are continuously adjusted in the walking process, so that the self-moving equipment can walk along a tangential path.

Fig. 20 is a partial enlarged view of fig. 19 from the position of travel of the mobile device. Referring to fig. 20, the obtaining the included angle between the current advancing direction of the self-mobile device and the tangential path includes:

In the embodiment of the disclosure, the angle b between the travel path 504 of the self-mobile device and the true north 501 and the angle a between the travel path 504 and the tangential path 503 may be determined by using satellite positioning data of the self-mobile device, and the angle c between the travel direction 502 of the self-mobile device and the true north 501 may be determined by using inertial navigation sensor data of the self-mobile device. The angle d of the advancing direction 502 with the tangential path 503 can be obtained by the formula d= (a-b) +c.

when walking to the vicinity of an intersection point, if the intersection point is within the boundary, controlling the self-mobile device to walk to the reference point along the reference circle according to the direction consistent with the direction of the regression charging, wherein the intersection point is the intersection point of the tangential path and the reference circle;

In this embodiment of the present disclosure, the direction consistent with the regression direction may include matching with a preset direction of the regression direction, for example: if the return direction is clockwise, the self-moving equipment walks to the reference point along the reference circle according to the clockwise direction; if the return direction is anticlockwise, the self-moving device walks along the reference circle to the reference point according to the anticlockwise direction. It should be noted that, since the boundary shape of the working area may be different from the shape of the reference circle, the real-time walking direction and the regression direction of the self-moving device on the arc may be different, but it is sufficient to ensure matching.

In the embodiment of the disclosure, if the intersection point of the tangential path and the reference circle is within the boundary, the self-mobile device is controlled to walk to the reference point along the reference circle according to the direction consistent with the direction of the regression charging, so that the reference point can be reached quickly.

When the vehicle walks to the vicinity of the intersection point, if the intersection point is beyond the boundary, the self-moving equipment is controlled to detect the boundary, the self-moving equipment is controlled to return to the charging station along the boundary to charge, and the intersection point is the intersection point of the tangential path and the reference circle.

In the embodiment of the disclosure, if the intersection point of the tangential path and the reference circle is beyond the boundary, the boundary may be detected according to any of the methods disclosed in the above embodiments without traveling along the reference circle. So as not to wrap around to the opposite side of the charging station from the reference point. Saving time of the upper boundary.

In an embodiment of the disclosure, the boundary comprises a regular polygon. In the embodiment of the disclosure, the working area is rectangular, and the points are collected at four vertexes. The satellite coordinate points are acquired by controlling the machine to move to four points respectively, stopping for a few minutes at each point, and then calculating the average value. The charging station stays the longest to collect the coordinate points, so the accuracy of the charging station coordinates should be the highest. Therefore, when the boundary of the operating region is positively deformed, the efficiency of the quick return charge is higher.

In one possible implementation, the self-mobile device further includes:

detecting the boundary during controlling the walking along the walking path comprises:

and detecting the boundary according to the image data in the process of controlling the robot to walk according to the walking path.

In one possible implementation, the system further includes:

the signal generation device is used for sending out boundary signals;

the self-mobile device further comprises:

the magnetic induction module is used for inducing the boundary signal;

and detecting the boundary according to the sensed boundary signal in the process of controlling the robot to walk according to the walking path.

And detecting the boundary according to the magnetic signal in the process of controlling the robot to walk according to the walking path.

In one possible implementation, the detecting the boundary includes:

In an embodiment of the disclosure, the course angle of the self-mobile device includes an included angle between a running direction of the self-mobile device and a true north direction, and the included angle may be obtained by a satellite positioning sensor. In the embodiment of the disclosure, the course angle of the self-mobile device and the included angle between the return direction and the true north direction can reflect the position relationship between the boundary of the working area and the self-mobile device, so that the running action of the self-mobile device is set to run towards the boundary side close to the working area. In one example, a corresponding driving action may be set according to a magnitude relation between a heading angle of the self-mobile device and the included angle, and the magnitude relation is continuously determined, and a preset driving action is performed until a boundary of the working area is detected. The method and the device can accurately determine the running action of the self-mobile device, and guide the self-mobile device to run to the boundary of the working area faster. Specific development examples are as follows.

FIG. 5 is a flowchart illustrating a method of controlling regression from a mobile device, according to an example embodiment. Referring to fig. 5, if the included angle θ between the regression direction and the true north direction satisfies: and the travel action of the self-mobile equipment is determined according to the course angle of the self-mobile equipment and the included angle between the return direction and the true north direction, wherein θ is more than or equal to 0 degrees and less than or equal to 90 degrees, and the travel action of the self-mobile equipment comprises:

In the embodiments of the present disclosure, θ is introduced for ease of understanding ₂ An angle between a normal direction (inside the working area) representing the regression direction and the true north direction; θ ₃ The angle between the normal direction (outside the working area) representing the regression direction and the true north direction. Referring to FIG. 5, there is θ ₂ ＝θ+90°，θ ₃ ＝θ ₂ +180+=θ+270°, when the heading angle α of the self-mobile device satisfies: alpha is more than or equal to 0 DEG and less than or equal to theta+90 DEG or theta+270 DEG is less than alpha is less than 360 DEG, namely, a right angle area between the true north direction and the return direction of the self-moving equipment is indicated, the boundary of the working area is positioned at the left front of the self-moving equipment, and therefore, the self-moving equipment is controlled to turn left by a preset angle and move forward by a preset distance. In one example, the preset angle may include a small acute angle degree and the preset distance is less than or equal to a positioning error value from a mobile device satellite sensor. In one example, when the yaw angle α from the mobile device satisfies: and theta+90 degrees is less than or equal to alpha and less than theta+270 degrees, the right angle area of the direction of the self-moving equipment between the opposite direction of the return direction and the true north direction is indicated, and the boundary of the working area is positioned at the right front of the self-moving equipment, so that the self-moving equipment is controlled to turn right by a preset angle and move forward by a preset distance. The setting of the preset angle and the preset distance may be the same as the above embodiment, and the preset angle may include a smaller acute angle degree, and the preset distance is smaller than or equal to a positioning error value of the satellite sensor of the self-mobile device.

According to the embodiment of the invention, the position of the boundary of the working area relative to the self-moving equipment can be accurately detected, so that the corresponding driving action is determined, and the self-moving equipment is guided to drive to the boundary of the working area faster.

Fig. 6 is a flowchart illustrating a method for controlling regression from a mobile device according to an exemplary embodiment, and referring to fig. 6, if the angle θ between the regression direction and the true north direction satisfies the following conditions: the angle theta is more than 90 degrees and less than or equal to 180 degrees, and the running action of the self-mobile device is determined according to the course angle of the self-mobile device and the included angle between the return direction and the true north direction, and the method comprises the following steps:

In the embodiment of the disclosure, the angle theta between the normal direction (inside the working area) of the regression direction and the true north direction ₂ Angle θ between normal direction of regression direction (outside working area) and true north direction =θ+90°, angle θ ₃ ＝θ ₂ -180 ° =θ -90 °. If the course angle alpha of the self-mobile device meets the following conditions: and theta-90 degrees is less than or equal to alpha and less than or equal to theta+90 degrees, wherein the angle is smaller than alpha and less than or equal to theta+90 degrees, the angle is expressed in a right angle area between the normal direction of the return direction (outside the working area) of the self-moving equipment, the boundary of the working area is expressed to be positioned at the left front of the self-moving equipment, the self-moving equipment is controlled to turn left by a preset angle and move forward by a preset distance, the preset angle and the preset distance can be set as in the embodiment, the preset angle can comprise small acute angle degrees, and the preset distance is smaller than or equal to the positioning error value of the satellite sensor of the self-moving equipment. In one example, if the heading angle α of the self-mobile device satisfies: alpha is more than or equal to 0 DEG and less than or equal to theta-90 DEG or theta+90 DEG is less than alpha < 360 DEG, the head of the self-moving device faces in a direct area between the normal direction of the returning direction (outside the working area) and the opposite direction of the returning direction, the boundary of the working area is positioned at the right front of the self-moving device, the self-moving device is controlled to turn right by a preset angle and advance by a preset distance, the preset angle and the preset distance can be set as in the above embodiment, the preset angle can comprise a small acute angle degree, and the preset distance is less than or equal to the satellite of the self-moving device A positioning error value of the sensor.

FIG. 7 is a flowchart illustrating a method of controlling regression from a mobile device, according to an example embodiment. Referring to fig. 7, if the included angle θ between the regression direction and the true north direction satisfies: 180 degrees is less than or equal to 270 degrees, and the running action of the self-mobile device is determined according to the course angle of the self-mobile device and the included angle between the return direction and the true north direction, and the running action comprises the following steps:

In the embodiment of the disclosure, the angle theta between the normal direction (inside the working area) of the regression direction and the true north direction ₂ Angle θ between normal direction of regression direction (outside working area) and true north direction =θ+90°, angle θ ₃ ＝θ ₂ -180 ° =θ -90 °. If the course angle alpha of the self-mobile device meets the following conditions: and theta-90 degrees is less than alpha and less than or equal to theta+90 degrees, the normal direction (outside the working area) of the head of the self-moving equipment towards the return direction and the right angle area between the return direction are shown, the boundary of the working area is shown to be positioned at the left front of the self-moving equipment, and the self-moving equipment is controlled to turn left by a preset angle and move forward by a preset distance. The setting of the preset angle and the preset distance may be the same as the above embodiment, and the preset angle may include a smaller acute angle degree, and the preset distance is smaller than or equal to a positioning error value of the satellite sensor of the self-mobile device. In one example, if the heading angle α of the self-mobile device satisfies: alpha is more than or equal to 0 DEG and less than or equal to theta-90 DEG or theta+90 DEG is less than alpha and less than 360 DEG, and represents the normal direction (outside the working area) from the head of the mobile equipment towards the return direction and the opposite direction of the return directionAnd in the right angle area between the directions, the boundary of the working area is located at the right front of the self-moving equipment, and the self-moving equipment is controlled to turn right by a preset angle and move forward by a preset distance, wherein the preset angle can comprise a small acute angle degree, and the preset distance is smaller than or equal to the positioning error value of the satellite sensor of the self-moving equipment.

FIG. 8 is a flowchart illustrating a method of controlling regression from a mobile device, according to an example embodiment. Referring to fig. 8, if the included angle θ between the regression direction and the true north direction satisfies: 270 ° < θ < 360 °, and determining a driving action of the self-mobile device according to a heading angle of the self-mobile device and an included angle between the return direction and the true north direction, including:

In the embodiment of the disclosure, the angle theta between the normal direction (inside the working area) of the regression direction and the true north direction ₂ Angle θ between normal direction of regression direction (outside working area) and true north direction =θ -270°, angle θ ₃ ＝θ ₂ +180+=θ -90 °. If the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta-270 DEG or theta-90 DEG is less than alpha and less than 360 DEG, the head of the self-moving equipment faces a right angle area between the normal direction (outside the working area) of the regression direction and the regression direction, the boundary of the working area is positioned at the left front of the self-moving equipment, and the self-moving equipment is controlled to turn left by a preset angle and move forward by a preset distance; in one example, if the heading angle α of the self-mobile device satisfies: theta+90 DEG is less than or equal to alpha and less than theta+270 DEG, and represents the vehicle of the self-moving equipmentThe head faces a right angle area between a normal direction (outside the working area) of the returning direction and a direction of the returning direction, and the boundary of the working area is located at the right front of the self-moving device, and the self-moving device is controlled to turn right by a preset angle and move forward by a preset distance. The setting of the preset angle and the preset distance may be the same as the above embodiment, and the preset angle may include a smaller acute angle degree, and the preset distance is smaller than or equal to a positioning error value of the satellite sensor of the self-mobile device.

In the above embodiment, the determined traveling action of the self-mobile device is not executed in isolation according to the relationship between the heading angle of the self-mobile device and the angle between the return direction and the true north direction, and when the traveling action of one embodiment is executed, the orientation state of the self-mobile device satisfies the execution condition described in the other embodiment at this time, and the traveling action corresponding to the other embodiment may be executed. The present disclosure is not limited until the boundary of the working area is detected.

In one possible implementation, the detecting the boundary includes:

In the embodiment of the disclosure, the heading angle of the self-mobile device and the included angle between the return direction and the true north direction may reflect the positional relationship between the boundary of the working area and the self-mobile device, so as to set the running action of the self-mobile device to run towards the boundary side close to the working area. In one example, the corresponding driving action may be set according to the magnitude relation between the heading angle of the self-mobile device and the included angle, the preset driving action is executed without repeatedly determining the magnitude relation, and the boundary of the working area may be detected only by driving according to the driving action. Specific development examples are as follows.

In one possible implementation, an automatic working method is provided, including:

In the embodiment of the disclosure, the boundary is used for distinguishing the working area from the non-working area, so that the self-mobile device is located in the working area to drive to work when working. For example, for a lawn mower, the work area boundary includes the boundary of a mowing area and a non-mowing area, and for example, a sweeping robot, the boundary of a work area includes the boundary of a cleaning area and a non-cleaning area. The vicinity of the reference position includes a preset rectangle or circle center range centered on the reference position. The charging station provides power for the self-mobile device, and when the self-mobile device detects that the self-electric quantity does not meet a preset value after working for a period of time, the self-mobile device needs to travel to the charging station to charge. In one example, a magnetic stripe may be disposed at all or part of the boundary of the work area, and a magnetic induction sensor may be disposed on the self-moving device, with the magnetic induction sensor detecting the magnetic stripe, so that the self-moving device can travel along the boundary of the work area. In another example, the boundary of the stored working map is utilized and positioning data from the mobile device is acquired by other sensor devices such as satellite positioning sensors or inertial navigation sensors, and the mobile device is caused to travel along the boundary of the working area based on the positioning data and the boundary of the stored map. According to the two examples, the charging station is arranged on the boundary of the working area, so that the self-mobile device is guided to return to charge along the boundary of the working area. The regression charging direction comprises a preset clockwise regression direction or a preset anticlockwise regression direction along the boundary. And after the regression direction is set, returning to the charging station according to the regression direction in the process of returning along the boundary by the mobile equipment. The reference position is a virtual point in an actual application scene, and represents a preset position, and the preset position can be marked on a map of the working area. The reference position is located in the forward direction of the charging station, the distance between the reference position and the charging station is greater than or equal to twice of the positioning error, and the self-mobile device can reach the charging station after passing through the reference position and the preset distance along the regression direction.

In another example, when the reference position is not present, the reference circle may still be determined with the charging station as a center of a circle and a distance greater than or equal to twice the positioning error as a radius. The self-mobile device gradually approaches the tangential path to the vicinity of the forward boundary of the charging station according to the method of the above embodiment, in one example, the self-mobile device may detect the boundary of the working area, the upper boundary, and then return to the charging station for charging; in one example, the self-mobile device may travel outside of the boundary, at which point the self-mobile device may detect the boundary of the work area, the upper boundary, and then return to charging station 200 for charging. In one example, the self-mobile device may travel to the inside of the boundary, and then may be controlled to travel along the reference circle to the boundary in a direction consistent with the return charging direction, and then return to the charging station 200 for charging.

Fig. 9 and 10 are flowcharts illustrating a method of controlling regression from mobile devices according to an example embodiment. As shown with reference to figures 5 and 9 and 10,

if the included angle theta between the regression direction and the true north direction meets the following conditions: and the travel action of the self-mobile equipment is determined according to the course angle of the self-mobile equipment and the included angle between the return direction and the true north direction, wherein θ is more than or equal to 0 degrees and less than or equal to 90 degrees, and the travel action of the self-mobile equipment comprises:

If the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta+90 DEG or theta+270 DEG is less than alpha and less than 360 DEG, and the self-moving equipment is controlled to turn around in situ and then move forwards and straightly;

Referring to FIG. 5, θ ₂ An angle between a normal direction (inside the working area) representing the regression direction and the true north direction; θ ₃ The angle between the normal direction (outside the working area) representing the regression direction and the true north direction. Then there is theta ₂ ＝θ+90°，θ ₃ ＝θ ₂ +180+=θ+270°, when the heading angle α of the self-mobile device satisfies: alpha is more than or equal to 0 DEG and less than or equal to theta+90 DEG or theta+270 DEG < alpha is less than 360 DEG, namely, a right angle area between the true north direction and the return direction of the self-moving device is indicated, and the boundary of the working area is positioned at the left front of the self-moving device. Referring to fig. 9, the self-moving device can be controlled to turn around in situ and then move straight forward, and the boundary of the working area can be reached. Referring to fig. 5, in one example, when the yaw angle α from the mobile device satisfies: θ+90+.α < θ+270°, then it means that the direction of the self-moving device is within the right angle area between the opposite direction of the return direction and the true north direction, indicating that the boundary of the working area is located in the right front of the self-moving device, as described with reference to fig. 10, when the self-moving device is controlled to go straight forward to reach the boundary of the working area.

Fig. 11 and 12 are flowcharts illustrating a method of controlling regression from mobile devices according to an example embodiment. Referring to fig. 11 and 12, if the included angle θ between the regression direction and the true north direction satisfies: the angle theta is more than 90 degrees and less than or equal to 180 degrees, and the running action of the self-mobile device is determined according to the course angle of the self-mobile device and the included angle between the return direction and the true north direction, and the method comprises the following steps:

Referring to FIG. 6, in the embodiment of the present disclosure, the angle θ between the normal direction (inside the working area) of the return direction and the true north direction ₂ Angle θ between normal direction of regression direction (outside working area) and true north direction =θ+90°, angle θ ₃ ＝θ ₂ -180 ° =θ -90 °. If the course angle alpha of the self-mobile device meets the following conditions: and theta-90 degrees is less than alpha and less than or equal to theta plus 90 degrees, wherein the angle is in a right angle area between the normal direction of the return direction (outside the working area) of the self-moving equipment, and the boundary of the working area is positioned at the left front of the self-moving equipment, and the self-moving equipment is controlled to turn around in situ and then drive forwards until the boundary of the working area is detected, as shown in figure 11. In one example, if the heading angle α of the self-mobile device satisfies: 0 DEG.ltoreq.alpha.ltoreq.theta-90 DEG or theta+90 DEG < alpha < 360 DEG, then the head of the self-moving device is directed toward the direct area between the normal direction of the returning direction (outside the working area) and the opposite direction of the returning direction, then the boundary of the working area is located in the right front of the self-moving device, as shown with reference to FIG. 12, at this time, the self-moving device is controlled to go straight forward until the boundary of the working area is detected.

Fig. 13 and 14 are flowcharts illustrating a method of controlling regression from mobile devices according to an example embodiment. Referring to fig. 13 and 14, if the included angle θ between the return direction and the true north direction satisfies: 180 degrees is less than or equal to 270 degrees, and the running action of the self-mobile device is determined according to the course angle of the self-mobile device and the included angle between the return direction and the true north direction, and the running action comprises the following steps:

Referring to FIG. 7, in the embodiment of the present disclosure, the angle θ between the normal direction (inside the working area) of the return direction and the true north direction ₂ Angle θ between normal direction of regression direction (outside working area) and true north direction =θ+90°, angle θ ₃ ＝θ ₂ -180 ° =θ -90 °. If the course angle alpha of the self-mobile device meets the following conditions: θ—90° < α+.θ+90°, then it means that the normal direction of the head of the self-mobile device toward the returning direction (outside the working area) and the right angle region between the returning directions, then it means that the boundary of the working area is located at the front left of the self-mobile device, and referring to fig. 13, at this time, the self-mobile device is controlled to turn around in place and then go straight forward until the boundary of the working area is detected. In one example, if the heading angle α of the self-mobile device satisfies: 0 DEG.ltoreq.alpha.ltoreq.theta-90 DEG or theta+90 DEG < alpha < 360 DEG, then the normal direction (outside the working area) of the head of the self-moving device toward the regression direction and the right angle area between the opposite directions of the regression direction, then the boundary of the working area is located in the right front of the self-moving device, and the self-moving device is controlled to go straight forward until the boundary of the working area is detected, as shown in FIG. 14.

Fig. 15 and 16 are flowcharts illustrating a method of controlling regression from mobile devices according to an example embodiment. Referring to fig. 15 and 16, if the included angle θ between the regression direction and the true north direction satisfies: 270 ° < θ < 360 °, and determining a driving action of the self-mobile device according to a heading angle of the self-mobile device and an included angle between the return direction and the true north direction, including:

Referring to FIG. 8, in the embodiment of the present disclosure, the angle θ between the normal direction (inside the working area) of the return direction and the true north direction ₂ Angle θ between normal direction of regression direction (outside working area) and true north direction =θ -270°, angle θ ₃ ＝θ ₂ +180+=θ -90 °. If the course angle alpha of the self-mobile device meets the following conditions: alpha is more than or equal to 0 DEG and less than or equal to theta-270 DEG or theta-90 DEG is less than alpha and less than 360 DEG, the direction of the head of the self-moving equipment faces to a right angle area between the normal direction (outside the working area) of the return direction and the return direction, the boundary of the working area is positioned at the left front of the self-moving equipment, and the self-moving equipment is controlled to turn around in place and then drive forwards as shown in reference to figure 15. In one example, if the heading angle α of the self-mobile device satisfies: θ -270 ° < α+.ltoreq.θ -90 °, indicates that the head of the self-moving device is oriented toward a right angle region between the normal direction of the returning direction (outside the working region) and the direction of the returning direction, indicates that the boundary of the working region is located in the right front of the self-moving device, and controls the self-moving device to travel forward at this time as shown in fig. 16.

Fig. 17 is a flowchart illustrating an automatic control method according to an exemplary embodiment. Referring to fig. 17, an automatic control method includes:

collecting satellite positioning information in the walking process of mobile equipment;

according to a map of a working area, planning a walking path from a current position to the reference point, and controlling the self-mobile device to detect the boundary of the working area in the walking process according to the walking path, wherein the map comprises a charging station position and a reference point position, and the distance between the two positions is greater than or equal to twice of a satellite positioning error;

and when walking to the preset range of the reference point, controlling the self-mobile equipment to return to a charging station along the boundary for charging.

In one possible implementation manner, the planning, according to a map of a working area, a walking path from a current location to the reference point includes:

The control module plans a tangential path from the current position to the reference circle and a walk path that walks to the reference point via the tangential path.

Fig. 18 is a schematic diagram of a self-mobile device according to an example embodiment. Referring to fig. 10, the self-mobile device 180 may include: a main body;

a memory for storing a computer program;

the processor 181 is disposed inside the main body, electrically connected to the satellite positioning sensor and the memory, and configured to implement the steps of the method according to any embodiment of the disclosure when executing the computer program.

The processor 181 is disposed inside the main body 180, electrically connected to the positioning sensor and the memory, and configured to implement the steps of the map generating method according to any one of the embodiments of the present disclosure when executing the computer program. The processor 181 may have data processing capabilities or may have both wired and wireless communication capabilities. For example, the processor 181 may be or include a micro-control unit (Microcontroller Unit, MCU). The processor 181 may compensate for positioning data of each sampling point in the shadow area on the boundary of the working area; determining the estimated error of the sampling point in the shadow area according to the positioning data; and determining the boundary map of the working area according to the compensated positioning data and the pre-estimated error. In this embodiment, the self-moving device may generally include a device capable of moving according to a predetermined travel route and control strategy, and may include an intelligent mower, a sweeping robot, an automatic cargo feeder, and the like. Self-moving devices may generally require no human intervention. The self-moving device in the embodiments of the present disclosure may contact the device with a person or may be externally connected to the device, for example, the self-moving device may have a handrail, and an operator may follow the self-moving device and hold the handrail of the self-moving device. In this case, however, the travel route and control strategy of the self-moving device still comes from the control logic of the self-moving device itself, and even if the operator holds the handrail or can actively change the travel direction or speed of the self-moving device through the handrail, etc., such a device still belongs to the self-moving device described in the embodiments of the present specification. Similarly, a manned self mobile device may also be included.

In self-moving devices, the body may typically include a drive device (e.g., a power source, etc.), a travelling device (e.g., a travelling roller or track, etc.), a steering device (e.g., a rack and pinion steering, a worm crank finger steering, etc.), and a corresponding work tool (e.g., a mowing device, a cleaning device, etc.), etc.

In an exemplary embodiment, a storage medium is also provided that includes instructions, such as a memory including instructions, that are executable by a processor of the device to perform the above-described method. The storage medium may be a non-transitory computer readable storage medium, which may be, for example, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. Readable storage media for other implementations, such as quantum storage, graphene storage, and the like.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.

It should be noted that the description of the method, the self-mobile device, the storage medium, and the like according to the method or the device embodiment may further include other embodiments, and specific implementations may refer to the description of the related method or device embodiment. Meanwhile, new embodiments composed of the mutual combination of features between the embodiments of the method, the device and the storage medium still fall within the implementation scope covered by the disclosure, and are not described in detail herein.

For convenience of description, the above description is separately described in terms of functional division into various modules when the mobile device is described. Of course, when one or more of the present description is implemented, the functions of each module may be implemented in the same piece or pieces of software and/or hardware, or a module that implements the same function may be implemented by a plurality of sub-modules or a combination of sub-units, or the like. The above described device embodiments are only illustrative, e.g. the division of the energy wave sensor, the camera is only one logical functional division, and there may be additional divisions in actual implementation, e.g. multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling, communication connection, etc. between the devices or units shown or described in the mobile device may be implemented by direct and/or indirect coupling/connection, and may be implemented by some standard or custom interfaces, protocols, etc. in electrical, mechanical, or other forms.

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 disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general 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.

Claims

1. An automated working system, the automated working system comprising: a self-moving device moving and/or operating within a work area defined by a boundary, and a charging station for charging the self-moving device, the charging station being located on the boundary, the charging station having a forward direction and a backward direction, dividing the boundary into a side located in the forward direction and a side located in the backward direction, characterized in that,

the self-mobile device includes:

2. The system of claim 1, wherein the reference location is a reference point located on a boundary, and the control module controls the movement of the self-moving device to the reference location, comprising:

3. The system of claim 2, wherein controlling the self-moving device to move radially of the reference circle along a tangent line of the reference circle until walking to the reference point or reaching the boundary comprises:

4. The system of claim 2, wherein the controlling the self-moving device to move along a tangent line of the reference circle radially to the reference circle comprises:

5. The system of claim 2, wherein the controlling the self-moving device to move along a tangent line of the reference circle radially to the reference circle comprises:

6. The system of claim 5, wherein the obtaining the angle between the direction of travel of the self-moving device and the tangential path comprises:

7. The system of claim 2, wherein controlling the self-mobile device to return to the charging station along the boundary when reaching the vicinity of the reference location comprises:

8. The system of claim 2, wherein when the boundary is reached, controlling the self-mobile device to return to the charging station along the boundary comprises:

9. The system of claim 1, wherein the boundary comprises a regular polygon.

10. The system of claim 1, wherein the positioning module positioning error is greater than or equal to 5-10m.

11. The system of claim 1, wherein the self-mobile device further comprises:

detecting the boundary during walking to the reference point, comprising:

12. The system of claim 1, wherein the system further comprises:

the signal generation device is used for sending out boundary signals;

the self-mobile device further comprises:

the magnetic induction module is used for inducing the boundary signal;

detecting the boundary during walking to the reference point, comprising:

13. The system of claim 1, wherein the boundary comprises a magnetic stripe, the self-mobile device further comprising: the magnetic field detection module is used for detecting magnetic signals in the magnetic stripe;

Detecting the boundary during walking to the reference point, comprising:

14. An automatic working method, comprising:

15. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the automatic working method of claim 14.