CN116400694A

CN116400694A - Self-moving equipment

Info

Publication number: CN116400694A
Application number: CN202310358993.9A
Authority: CN
Inventors: 何明明; 吴双龙; 章心忆
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2023-07-07
Also published as: WO2022001930A1; CN113848873A

Abstract

The invention provides self-moving equipment, which comprises a shell; the moving mechanism is arranged on the shell and is configured to drive the self-moving equipment to move; a work module mounted to the housing and configured to perform a predetermined work; the information acquisition device is arranged on the shell and is configured to acquire current position information of the mobile equipment; a control module, coupled to the movement mechanism, the working module and the information acquisition device, respectively, configured to control the movement and/or the working of the self-mobile device at least according to the current position information of the self-mobile device; wherein the control device is further configured to: in response to a charging instruction from the mobile device, controlling the mobile device to dock with the charging station for charging, and executing at least part of the self-checking procedure before the mobile device is driven away from the charging station.

Description

Self-moving equipment

Technical Field

The invention relates to the field of automatic work, in particular to self-moving equipment and a working method thereof.

Background

With the continuous progress of computer and artificial intelligence technology, more and more people choose to use automatic working systems in daily life. A self-moving device operating in an automatic operating system, such as: the intelligent products such as intelligent mower, robot of sweeping floor can automatically work after initial setting to liberate the user from the tedious and time-consuming housework of cleaning the room, maintaining the lawn etc..

In general, a self-mobile device may operate in a scenario where no human operation is monitored or no human is present. Taking an automatic working system where an automatic mower is located as an example for realizing lawn cleaning: the robotic lawnmower defines a working range by mapping the lawn and automatically works in the working range. In the working process, the mower may cause unsafe phenomena such as out-of-bounds, accidental injury of pedestrians and the like due to defects of software or hardware of the mower, and the safety of the mower in the working process can be ensured by writing software safety functions into the mower.

The existing mowing system generally judges whether the mowing system is out of bounds or not through an induction magnetic field, and corresponding functional modules are shown in fig. 1 and can comprise: the cutting machine comprises a control module, a moving mechanism, a cutting mechanism, a power supply assembly, an induction module and the like, wherein the moving mechanism drives the mower to move in a working area under the control of the control module, the cutting mechanism executes cutting work in the working area, the induction module senses magnetic field signals generated by boundaries, and the power supply assembly is used for supplying power to the machine in the moving and/or working process.

The mower in the prior art mowing system is designed to meet the following principles so as to achieve the purposes of responding various safety conditions (such as judging whether the mower is out of bounds, judging whether the mower meets obstacles, etc.) in real time and controlling the cost, and the mower comprises: 1) In the case of meeting the performance requirement, the specification of the processor in the control module is often lower, for example, the processor can use a processor with similar performance such as M3 or M4 in the ARM; 2) Often, an operating system with relatively simple functions, such as a real-time operating system (RTOS), is adopted in the control module, and allows the operation of underlying hardware, such as a memory, directly, or the operating system may not be used; 3) The capacity of the memory is small, such as: 8MB.

Because the automatic mower has no user in the walking working process, certain requirements are imposed on the safety of the automatic mower. For example: the mower can only work in the working area and cannot move to the non-working area without crossing the boundary of the working area; the mower can reliably detect the obstacle and timely take actions such as avoiding or returning to the detected obstacle, and the safety processes are controlled by control software of the mower. Therefore, the safety function of the control software, and the safety reliability of the hardware running the control software are important for the robotic lawnmower.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide self-mobile equipment with higher safety performance and a working method thereof.

The above object of the present invention can be achieved by the following technical solutions:

a self-mobile device, comprising: an information acquisition device, a control device and a control device,

the information acquisition device includes: the system comprises an acquisition module, a control module and a storage module, wherein the acquisition module is configured to acquire current position information of a target object including the self-mobile device under the control of the control module, store the current position information into the storage module and output the current position information to the control device;

And the self-mobile equipment determines whether the information acquisition device fails according to whether the current position information is suddenly changed.

In one embodiment, the self-mobile device further includes: the abnormality detection unit is used for detecting whether the self-moving equipment is subjected to passive displacement and/or the signal quality of the current position of the self-moving equipment, judging whether the current position information is suddenly changed under the condition that the self-moving equipment is not moved and the signal quality of the current position of the self-moving equipment is larger than a preset threshold value, and determining that the information acquisition device fails if the current position information is suddenly changed; and if the current position information is not mutated, determining that the information acquisition device is not in fault.

In one embodiment, the abnormality detection unit includes: lifting the detection sensor.

In one embodiment, when the self-mobile device is not moved and the signal quality of the current position of the self-mobile device is less than or equal to a preset threshold value, judging whether the current position information is mutated, and if the current position information is not mutated, determining that the information acquisition device fails; and if the current position information is suddenly changed, determining that the information acquisition device does not have a fault.

In one embodiment, the self-mobile device further comprises: a position sensor for detecting current position information of the self-mobile device,

and under the condition that the current position information detected by the position sensor is not suddenly changed, comparing whether the difference between the adjacent position information acquired by the information acquisition device is consistent with the difference between the adjacent position information acquired by the position sensor, and if so, determining that the self-mobile equipment is not in fault.

In one embodiment, the position sensor comprises at least one of: inertial navigation device, ultrasonic sensor, radar sensor, UWB sensor.

In one embodiment, the information acquisition device includes: satellite positioning modules and/or vision modules.

In one embodiment, after determining that the information acquisition device fails, the control device controls the self-mobile device to perform operations comprising: shutdown, alarm or restart.

In one embodiment, the control device determines whether the information acquisition device fails according to whether the current position information is suddenly changed.

The embodiment of the invention also provides a working method of the self-mobile device, which comprises the following steps: collecting current position information of a target object comprising the self-mobile equipment; and the self-mobile device determines whether the self-mobile device fails according to whether the current position information is suddenly changed.

The beneficial effect from mobile device that this application provided is: the self-mobile device can determine whether the information acquisition device fails according to whether the current position information acquired by the acquisition module is suddenly changed. Specifically, the control device or other devices in the mobile device such as the information acquisition device may determine whether the information acquisition device fails according to whether the current position information is suddenly changed. That is, the current position information output by the information acquisition device is used for judging whether the information acquisition device is normal or not, so that the safety of the information acquisition device in the working process of the machine is ensured.

Drawings

The above-mentioned objects, technical solutions and advantages of the present invention can be achieved by the following drawings:

FIG. 1 is a schematic view of a prior art mowing system according to the present invention;

FIG. 2 is a schematic diagram of a self-mobile device according to the present invention;

FIG. 3 is a schematic diagram of an automated working system scenario provided by one embodiment of the present invention;

FIG. 4 is a schematic diagram of a self-mobile device according to one embodiment of the present invention;

FIG. 5 is a schematic view of a satellite positioning module according to an embodiment of the present invention;

FIG. 6 is a schematic view of a mower according to an embodiment of the present invention;

FIG. 7 is a schematic view of a robotic lawnmower according to one embodiment of the present invention;

FIG. 8 is a schematic diagram of a workflow of a robotic lawnmower according to one embodiment of the present invention when performing path planning in a first control module;

FIG. 9 is a schematic diagram of a workflow of a robotic lawnmower according to an embodiment of the present invention when mapping in a first control module;

FIG. 10 is a schematic diagram of a workflow of path planning by a first control module according to an embodiment of the present invention;

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

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

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

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

fig. 15 is a flowchart of a security detection method of an information acquisition device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Before describing in detail embodiments of the present invention, it should be noted that in the description of the present invention, relational terms such as left and right, up and down, front and back, first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

When the self-mobile device works without the presence of a user, the reliability of software and hardware in the system needs to be continuously checked to ensure the security of the software and the hardware. For example, the reliability of software needs to be checked from aspects of software development environment, development flow, software architecture design, software logic and the like; for running hardware with safety-related functions, measures such as power-on self-test and periodic self-test are required. That is, the self-mobile device needs to self-check during operation to ensure its safety. For the mower system shown in fig. 1, the self-checking procedure of the mower system is simple, and a manufacturer producing the control module in the mower system shown in fig. 1 may provide a self-checking code to a customer.

With the development of technologies such as artificial intelligence and sensors, when the computing power requirements of users on machines are greatly improved, more advanced processors (CPUs), more complex or larger-scale control software, and larger-capacity (GB-level) memories are often required. In particular, when the self-mobile device has the functions of the RTK without boundary, the related positioning functions such as visual navigation and other complex algorithms, the requirement on the computing power of the machine is higher due to the increase of the functions of the machine and the increase of the complexity of the algorithm, so that the self-mobile device with higher performance than that shown in fig. 1 is needed. Taking the positioning function in the self-mobile device as an example, as shown in fig. 2, in the self-mobile device, the information acquisition device sends the acquired current position information to the first control module, and the movement and/or the work of the self-mobile device are controlled by the information acquisition device, the first control module and the self-mobile device together.

For the self-mobile device with the positioning function shown in fig. 2, since the computing power of the self-mobile device is higher, the adopted processor and memory specifications are also more complex, so the security check difficulty of the control software in the self-mobile device is significantly improved. Mainly in two aspects: 1) Security of control software, for example: self-checking of an operating system, interaction data and the like; 2) Hardware security reliability of running control software, for example: self-checking of clocks and timers, self-checking of RAM and Flash memory, etc.

In particular, in a self-mobile device having a relatively high data processing capability, a relatively advanced processor, and employing a relatively complex operating system (such as Linux operating system), as shown in fig. 2, there are problems that the original software security specification is difficult to implement or that the security specification is costly to implement. For example, in order to solve the problem of Boot self-checking of hardware (such as a memory) running a Linux operating system, a corresponding self-checking program segment needs to be inserted into a Boot Loader Boot program of the Linux operating system, and this operation needs to take a relatively long time for a person skilled in the art who is quite familiar with the bottom layer of the Linux operating system to complete. For example, in order to detect the security of the hardware (cycle self-checking) during the running process of the control software, the process needs to be interrupted during the running process of the software, and clock checking, memory scanning self-checking and the like are performed. Generally, the time required to scan 1MB of memory is on the order of milliseconds, and the time required for 1GB of memory is on the order of seconds. Therefore, when the system capacity is high (GB level), if the continuous control software scans hardware within a certain period (for example, within 5 s), it takes a lot of time, so that the machine running speed is slow, the normal operation of the machine is affected, and the machine may not respond in real time.

In view of the defect that when the performance of the self-mobile device is improved, the safety of the self-mobile device cannot be ensured in the use process due to the increase of the complexity of the self-checking program written in the self-mobile device and the longer time spent in the self-checking process. In the self-mobile device, firstly, the operation required to be executed when the self-mobile device works is completed through the two control modules, so that the problems of larger data processing capacity and slower data processing speed of the self-mobile device with higher performance are solved; furthermore, when two control modules exist in the self-mobile device, one control module can be controlled to execute the security operation, so that the security of control software in the self-mobile device can be ensured only by self-checking (periodic self-checking) the control module executing the security operation, and the self-checking process of the self-mobile device, especially the high-performance self-mobile device, is simplified. By adopting the self-mobile equipment framework provided by the application, the sensitivity and the running speed of the self-mobile equipment can be greatly improved on the premise of ensuring the safety in the working process. The present application is described in detail by way of specific examples.

In an embodiment of the present application, a self-mobile device may include: a housing; the moving mechanism is configured to support the shell and drive the moving equipment to move; and a work module configured to be mounted on the housing to perform a predetermined work. When the self-mobile device involves complex operations, the self-mobile device may further include: the first control module and the second control module are configured to communicate with each other and work cooperatively to control the moving mechanism and the working module; the second control module is configured to control the self-mobile equipment to execute the security guarantee operation and perform self-checking on hardware and control programs related to the control operation security guarantee operation; and in the first control module and the second control module, only the second control module executes self-checking according to a preset plan in the working process of the self-moving equipment.

In one embodiment of the present application, the first control module may include: and when the data processing amount in the machine is larger, the memory management unit can manage the limited memory in the machine to realize the process of executing the larger data processing amount through the first control module. The memory management unit can be used for distributing a storage space corresponding to the virtual address to the data in the self-mobile device, and in the running process of the self-mobile device, the machine distributes the storage space to the data through the memory management unit because the memory management unit is arranged in the first control module, and in the running process of the program, the physical address where the safety related data is stored cannot be determined. However, the machine needs to read the safety-related data during self-checking, and since the machine does not determine which physical address the safety-related data is located at, if the self-mobile device is controlled to execute the safety guarantee operation through the first control module, the self-mobile device can hardly realize self-checking. Therefore, in the embodiment of the application, the working process which is irrelevant to the safety logic and has larger data processing capacity can be executed through the first control module, and the working process related to the safety logic is controlled to be executed by utilizing the simple control module for controlling the movement and the working of the self-mobile equipment, so that in the working process of the self-mobile equipment, the self-checking process of the working system with higher performance can be simplified by only starting the self-checking or periodic self-checking of the simple control module related to the safety logic, and the safety of the self-checking process in the working process is ensured.

The second control module controls the self-mobile device to execute the security guarantee operation, and may include: controlling the self-mobile device is limited to moving and/or operating within a defined operating area of the boundary and/or detecting if there is an abnormal situation that results in the self-mobile device not allowing movement and/or operation. Specifically, the self-mobile device moves and works in the working area under the control of the second control module, and when a safety problem such as machine departure is detected, the second control module controls the self-mobile device to execute the following operations, including but not limited to: shutdown, and/or alarm, and/or restart, and/or send a notification message to the user that the machine is abnormal. When the self-mobile device detects that the safety problems such as falling, lifting and the like possibly injure a user exist in the working and moving processes, the second control module controls the self-mobile device to stop, alarm and/or restart and/or send a notification message of abnormality of the machine to the user.

In one embodiment of the present application, self-test may include: self-test is initiated and performed according to a predetermined schedule. Wherein, the self-checking performed according to the predetermined plan may preferably include: the periodic self-checking can also be the self-checking with different time intervals according to the user requirement or the preset time interval of the system. The first control module and the second control module may perform a start-up self-test before the second control module performs the self-test according to a predetermined schedule.

In one embodiment of the present application, the self-checking of hardware controlling the running safety guarantee operation by the second control module may include: detecting whether hardware in the self-mobile device fails during start-up or operation, wherein the hardware may include: and a storage module. Specifically, the second control module detects whether the hardware has a fault in the working process of the self-mobile device, that is, performs self-checking according to a predetermined plan, and may include: and reading data from the physical address of the storage module, which stores the safety related data, detecting whether the read data is consistent with the stored data, if so, judging that the self-mobile equipment has no fault, and if not, judging that the self-mobile equipment has fault. Or, whether the hardware fails or not can be detected by sequentially inputting data in a plurality of physical addresses of the memory into a self-checking program of the machine, and whether the machine fails or not can be detected according to the self-checking program of the machine.

In the embodiment of the application, the self-mobile equipment framework provided by the application is adopted, and the sensitivity and the running speed of the self-mobile equipment can be greatly improved on the premise of ensuring the safety in the working process.

In the following specific embodiments of the present application, a solution of the present application will be described in detail by taking an example that a self-mobile device has a positioning function with a large data processing amount. Of course, the system architecture and data processing methods described in the following embodiments are equally applicable when there are other types of complex processes in the self-mobile device, which is not limited in this application.

As shown in the schematic view of the scenario of the automatic working system shown in fig. 3 and the schematic view of the structure of the self-mobile device shown in fig. 4, the automatic working system may include: the self-mobile device 20, the boundary 14, the charging station 16, the information acquisition device 11 and the first control module. The self-moving device 20 is defined to walk and operate within the work area 12 defined by the boundary 14. Boundary 14 may be the outer periphery of the entire working area, generally end-to-end, closing the working area, and boundary 14 may be solid. Wherein the physical boundary 14 may be a wall, fence, railing, pool, boundary between the working area 12 and the non-working area 18, or the like. Charging station 16 may be used to return to a docking charge to replenish energy from the mobile device when the energy source is insufficient. The information acquisition means 11 may be used for acquiring current position information of a target object including the self-moving device, and controlling walking and/or operation of the self-moving device by acquiring position information of the self-moving device or a boundary, an obstacle, etc. Specifically, the information acquisition device 11 may include: satellite positioning modules and/or vision modules.

When the information acquisition device 11 is mounted on the self-mobile device 20, the information acquisition device 11 may be used to obtain current location information of the self-mobile device 20; when the information collecting device 11 is independently present, the information collecting device may be used to obtain its own current position information. As shown in fig. 4, the first control module may interact with the self-mobile device 20, and the information collecting apparatus 14 may interact with the self-mobile device 20. Furthermore, the first control module can be independent of the information acquisition device and can be detachably or fixedly arranged on the information acquisition device; the first control module may be independent of the robotic lawnmower, or may be removably or fixedly mounted to the robotic lawnmower. The first control module can receive the current position information from the information acquisition device or the second control module in a wired or wireless connection mode.

In the present embodiment, the information acquisition apparatus 11 may include: a satellite positioning module (GNSS, e.g., GPS, beidou, GPS-RTK, etc.) or vision module, which is removably or fixedly mounted on the housing of the self-mobile device 20. The satellite positioning module as shown in fig. 5 may include: a housing; the antenna is arranged at the top of the shell and is used for receiving satellite signals; the RF front end is arranged in the shell and is used for carrying out filtering amplification and other treatments on the received satellite signals; the positioning processor and the memory are used for carrying out baseband or resolving and other processing on satellite signals so as to output the coordinates of the positioning module; the interface is used for being electrically connected with other electronic devices, and when the positioning module is in butt joint with the self-moving equipment 20, the interface is electrically connected with the self-moving equipment 20, the interface can be in the form of a reed or a connector, and the like, so that the positioning module can output position information to the self-moving equipment 20. The satellite positioning module may further include: and the data receiving and transmitting module is used for performing data interaction with other electronic devices in a wireless mode. In generating the map of the work area, coordinates of the boundary, obstacle, etc. of the work area may be recorded by holding the satellite positioning module or controlling the self-mobile device 20, to which the satellite positioning module is mounted, to travel along the boundary, obstacle, etc. of the work area. During the operation of the self-mobile device 20, the information acquisition device 11 may be installed on the self-mobile device 20, so that the self-mobile device 20 may acquire the current position information of the self-mobile device 20 connected to the information acquisition device in real time.

In the embodiment of the present application, the self-moving device 20 may include a robot with a walking function, such as a sweeping robot, a robotic mower, an automatic snowplow, a meal delivery robot, etc., which automatically walks on the surface of the working area to perform dust collection, mowing or snow sweeping, etc., or may be other devices suitable for unattended operation, which is not limited in this application. In the following embodiments of the present application, a self-moving device is illustrated as a robotic lawnmower 20.

The robotic lawnmower of one embodiment of the present application may include: information acquisition device and first control module. As shown in fig. 6 and fig. 7, the robotic lawnmower in fig. 7 may include a second control module, and the robotic lawnmower may further include: the housing 35, the moving mechanism 37, the cutting mechanism 221, and the second control module are mounted to the housing. The movement mechanism 37 may be a wheel rotatably disposed on the housing 35 and the cutting mechanism may include a cutterhead. The robotic lawnmower may be moved and/or operated within the bounded work area 12 under the control of the second control module. The automatic mower can further comprise a storage module for storing data or running programs, a power module for driving the moving mechanism and the cutting mechanism, and a data receiving and transmitting module for receiving and transmitting data.

In this embodiment, the robotic lawnmower 20 may further include: a position sensor, which may also include, but is not limited to, at least one of: inertial navigation devices (IMUs), ultrasonic sensors, radar sensors, infrared sensors, UWB sensors, etc., which may include gyroscopes, accelerometers, etc. The position sensor can be matched with a satellite navigation system, and auxiliary navigation is performed on the satellite positioning module under the condition of poor satellite signals.

In an embodiment of the present application, robotic lawnmower 20 may further include: the abnormality detection unit can also be used for detecting abnormal conditions of the mower in the walking and working processes. The anomaly may include: abnormal conditions due to external geographical factors or external artifacts. Specifically, the abnormal condition may include, but is not limited to, at least one of: meet obstacles, lift, catch, fall, etc.

In embodiments of the present application, robotic lawnmower 20 may include a second control module that may receive current location information from the information gathering device. In the working process of the mower, the second control module receives the current position information sent by the information acquisition device in real time and controls the movement and the work of the mower in the working area based on the current position information.

In this embodiment, as shown in fig. 7, the first control module may further include: a data transceiver module for receiving and transmitting data from the mower, and a storage module for storing related data. Preferably, the operation speed of the first control module may be greater than or equal to the operation speed of the second control module, so that the first control module may quickly establish a map of the working area according to the received position information of the boundary, so as to accelerate the working efficiency of the mower. The first control module may be an upper computer, and the second control module may be a lower computer. The operating systems in the first control module or the second control module may be the same or different, and the first control module or the second control module may be an operating system such as Linux or RTOS. In other embodiments of the present application, the operation speed of the first control module may also be smaller than that of the second control module, which is not limited in this application.

In an embodiment of the present application, the robotic lawnmower may include: and (5) a mapping mode and a working mode. In the mapping mode, the first control module establishes a map of the working area according to the received position information of the boundary. In the working mode, the second control module controls the mower to move and/or work in the working area according to the map stored in the second control module and the received current position information from the information acquisition device. In this embodiment, a map of a working area is built through a first control module, a second control module is used to control a machine to execute a working process involving safety logic, such as movement and work in the working area, that is, a process which is irrelevant to the safety logic and has a large data processing amount is executed in the first control module with a complex system, and a process involving the safety logic is executed in the second control module with a simple control system, so that the safety of control software in the automatic mower can be ensured only by self-checking the second control module involving the safety logic, and the self-checking of the complex system (the first control module) which has a large data processing amount and needs to execute a complex algorithm is not needed, the self-checking complexity is reduced, and the self-checking process of the high-performance working system with a positioning function is simplified. Under the premise of ensuring the safety of the automatic mower in the working process, the sensitivity and the running speed of the mower are improved.

In one embodiment of the present application, path planning may be performed directly in the second control module. Specifically, after receiving the map from the first control module, the second control module can directly plan the walking path of the mower in the second control module when receiving the path planning request, and then the mower controls the moving mechanism to drive the mower to move and/or work in the working area according to the map from the first control module, the walking path stored by the mower and the current position information of the mower.

In another embodiment of the present application, path planning may be performed in the first control module. Specifically, the second control module may send a path planning request to the first control module after receiving the map from the first control module; the first control module responds to the path planning request, plans a walking path according to the map of the working area or the initial position information and the target position information of the mower, and sends the walking path to the second control module; and then the second control module can control the moving mechanism to drive the mower to move and/or work in the working area according to the map, the walking path and the current position information.

As shown in fig. 8, a flowchart of the automatic mower performing path planning in the first control module may specifically include the following steps:

s801: the positioning module sends the position information of the boundary to the second control module;

s802: the second control module receives the position information of the boundary;

s803: the second control module sends the position information of the boundary to the first control module;

s804: the first control module establishes a map according to the position information of the boundary;

s805: the first control module sends the map to the second control module;

s806: the second control module receives the map;

s807: the second control module sends a path planning request to the first control module;

s808: the first control module plans a walking path according to the map;

s809: the first control module sends the planned walking path to the second control module;

s810: the second control module receives the planned walking path;

s811: the second control module controls the mower to move and/or work in the work area limited by the boundary according to the map, the walking path and the current position information.

In this embodiment, the first control module is used to execute the process of creating a map of the working area and planning a travel path, and the second control module is used to control the machine to execute the working process involving safety logic, such as movement and work, in the working area. That is, the process which is irrelevant to the safety logic and has larger data processing amount is executed in the first control module with the complex system, and the process which relates to the safety logic is executed in the second control module with the simple system, so that the safety of control software in the automatic mower can be ensured only by self-checking the second control module which relates to the safety logic, the self-checking of the complex system which has larger data processing amount and needs to execute complex algorithm is not needed, the self-checking complexity is reduced, the self-checking process of the high-performance working system with the positioning function is simplified, and the technical effects of improving the sensitivity and the running speed of the mower under the premise of ensuring the safety in the working process of the automatic mower are achieved.

In the embodiment of the present application, after the first control module or the second control module completes the map building, the map repairing and the path planning, the map and the walking path may be respectively stored in the first control module and the second control module, which is not limited in this application.

In the embodiment of the application, in the mapping mode, a user can hold the information acquisition device or control a machine (such as a mower) carrying the information acquisition device to move along the boundary, the information acquisition device acquires the position information of the boundary in the moving process, namely, the information acquisition device is moved to acquire the position information of the boundary, so that the first control module can build a map of the working area according to the received boundary position information.

In one embodiment of the present application, in a process that the information collecting device is moved to obtain the position information of the boundary, the mower and the first control module are in a power-on state, the information collecting device can send the position information of the boundary to the second control module in the moving process, and the second control module receives the position information of the boundary from the information collecting device and sends the position information to the first control module.

In another embodiment of the present application, in a process that the information collecting device is moved to obtain the position information of the boundary, the first control module is in a power-on state, the information collecting device may send the position information of the boundary to the first control module in the moving process, and the first control module may directly receive the position information from the information collecting device.

In another embodiment of the present application, the information collecting device may further include: the control unit (for example, MCU micro control unit) can store the position information of the boundary in the moving process of the information acquisition device. Specifically, in the process that the information acquisition device is moved to acquire the position information of the boundary, the information acquisition device is in a starting state, the information acquisition device can store the position information of the boundary in the moving process, and after the position information of the boundary is acquired, the information acquisition device is in signal connection with the first control module, so that the information acquisition device can send the position information to the first control module in a wired or wireless mode. In the embodiment of the application, the wireless transmission unit or the docking interface can be installed in the information acquisition device, the first control module or the second control module, so that the data such as the map or the boundary position information can be sent and received. Of course, other data transmission modes may also be adopted, which will not be described in detail in this application.

In this embodiment, after receiving the location information of the boundary, the first control module may establish a map of the working area according to the received location information of the boundary. After the map is established, the map may be backed up in the first control module. Further, the map may be backed up in the first control module and the second control module, respectively, so as to update and compare the map in a later working process.

In a specific embodiment, the workflow diagram when the first control module builds a map according to the location information of the boundary in step S804 is shown in fig. 9. May include:

s8041: establishing a map according to the received position information of the boundary;

s8042: determining a map according to the received user information;

s8043: and storing the map confirmed by the user.

Specifically, as described in the above method, the self-mobile device may further include: and the first control module can control the machine to enter the map repairing mode after establishing a map of the working area according to the received position information of the boundary. In the map repair mode, the first control module may receive information from the user about whether the map matches the working area, and correct or confirm the established map according to the received information about whether the map matches the working area, so as to obtain the map of the working area. Specifically, the machine walks in the work area according to the map established in the map establishment process, and during the machine walking process, the user observes whether the machine walking path coincides with the actual boundary 14. If the map is inconsistent, sending inconsistent information to the first control module, simultaneously sending a correct path to the machine by the user to control the machine to walk along the actual boundary 14, changing the map by the machine according to new position information received in the walking process, and obtaining an updated map consistent with the actual boundary 14 by the machine after finishing map repair. When the machine is then operated in the working mode, the machine can walk according to the exact boundary 14 without unsafe phenomena such as out of bounds. In this embodiment, user confirmation of the map save map is completed in the first control module and the map is sent and saved to the second control module. Then, in the working process of the machine, the map stored in the second control module can be compared with the map in the first control module, and when the comparison result is consistent, the machine is controlled to work; when the comparison results are inconsistent, the machine is controlled to stop working and/or alarm, so that the accuracy of the map in the working process of the machine can be ensured, the machine can walk and/or work according to the accurate map, the machine can not go out of bounds, and the safety of the machine is ensured.

In another specific embodiment, the step of validating the map may also be performed directly in the second control module. The first control module only needs to build a map according to the received position information of the boundary in step S804, and then in step S806, the second control module receives the map from the first control module and performs the operation of confirming the map by using the second control module. Specifically, it may include:

s8061: the second control module determines a map according to the received user information;

s8063: the second control module stores the map confirmed by the user.

By directly confirming the map in the second control module, the map related to safety in the machine walking process is directly stored in the second control module, so that the aim of ensuring safety in the machine working process can be fulfilled by only carrying out self-checking on the second control module.

In the embodiment of the application, in the working mode, the information acquisition device is arranged on the mower to acquire the current position information, and the second control module controls the moving mechanism to drive the machine to move and/or work in the working area limited by the boundary according to the map and the current position information. Meanwhile, in the moving process of the mower, the second control module marks the map according to the abnormality detected by the abnormality detection unit, so that the map can be updated at a later stage. Specifically, the abnormality detection unit may be used to detect, but is not limited to, a case of at least one of the following, and may include: whether the mower is passively displaced, detecting satellite signal quality of the current position of the mower, detecting whether the mower encounters an obstacle, detecting whether the mower is trapped and the like.

Specifically, in this embodiment, in the working mode, the mower may find a location point closest to the current location information in the planned travel path according to the travel path in the second control module, and move to the location point. After reaching the location point, the second control module may walk and work along the planned path according to the map and the current location information. Alternatively, when the mower is returned to charge, the mower may walk to a charging station for charging according to the received path.

In the working mode, the second control module can mark the abnormality detected by the abnormality detection unit in the map, update the map and store the updated map in the moving process of the mower. And then, path planning can be carried out again according to the updated map. In the embodiment, the mower detects whether the map changes due to external factors in the working process, and re-plans the walking path according to the updated map, so that the accuracy of the walking path of the mower and the working efficiency of the mower can be ensured.

In one embodiment of the present application, the anomaly detection unit is in signal communication with the second control module. When the abnormality detection unit detects that the mower encounters an obstacle, lifts and other abnormal conditions in the running process, the second control module can mark the position where the abnormality occurs on the map. When the position marked on the map meets the preset condition, or the number or probability of abnormal conditions such as lifting, obstacle meeting and the like of the mower at the same position meets the preset requirement, the abnormal position can be updated by the map in the second control module. The preset condition can be that the mark in the map can form an obstacle outline, the mower is lifted up for multiple times or meets the obstacle for multiple times at the same position, and the like.

In this embodiment, the second control module may send the path planning request in the scene of the mower starting up, before starting the work, returning to charge, working for a period of time, detecting a map update, or receiving an instruction about path planning from the user.

When the second control module sends a path planning request to the first control module, wherein the path planning request comprises an updated map stored in the second control module, and the first control module responds to the path planning request and plans a walking path according to the map of the working area. In a specific embodiment, the workflow diagram of the first control module in step S808 for path planning according to the map is shown in fig. 10, and may include the following steps:

s8081: comparing the received map with the stored map, if the received map is the same, executing the step S8083, and if the received map is not the same, executing the step S8082;

s8082: updating the map stored in the storage module into a received map;

s8083: and planning a path according to the stored map.

Specifically, the first control module compares the received map with a map stored in the first control module. When the map received by the first control module is the same as the map stored by the first control module, the first control module sends the walking path stored by the first control module to the second control module. Or, the first control module may perform path planning according to the map stored by the first control module, and send the planned walking path to the second control module. When the map received by the first control module is different from the map stored by the first control module, the first control module updates the map stored in the storage module into the received map, performs path planning according to the updated map, and sends the re-planned walking path to the second control module.

In another embodiment of the present application, the path planning manner is substantially the same as that of the foregoing embodiment, except that when the second control module sends the path planning request to the first control module, the path planning request does not carry an updated map. Specifically, when the second control module sends a path planning request to the first control module, the first control module responds to the path planning request and sends a map acquisition request to the second control module, so that the second control module sends an updated map to the first control module. And then, the first control module plans a walking path according to the map of the working area.

In the embodiment of the application, when the second control module sends the path planning request, whether the walking path is stored in the memory of the mower or the first control module can be detected first, and if the walking path is detected to be not stored, the walking path can be obtained by directly planning the walking path according to the map.

In another embodiment of the present application, when the second control module sends the path planning request, if it detects that the walking path is stored in the memory of the mower or the first control module, the path planning may be performed again to obtain the walking path in the manner shown in fig. 10.

In another embodiment of the present application, the path planning method is substantially the same as that of the above embodiment, except that the abnormality detection unit is connected to the first control module. Specifically, the abnormality detection unit is in signal connection with the first control module. When the mower detects an abnormal condition, the first control module marks the map and updates the map. When the mower needs to perform path planning, the path planning can be directly performed according to the updated map, and the map comparison and the peer-to-peer process shown in fig. 10 is not needed.

Of course, after the map update and the travel path update are performed, the mower may continue to detect the abnormal situation during the travel, and update the map and the travel path in the manner of the embodiment, which is not limited in this application.

In this embodiment, the self-mobile device cooperatively works through two control modules that communicate with each other to control the self-mobile device to walk and work, where only one control module controls the self-mobile device to perform a security operation, and performs self-checking on hardware and a control program related to controlling the execution of the security operation, and only the control module performs self-checking according to a predetermined plan during the working process of the self-mobile device. In the application, when two control modules exist in the self-mobile device, one control module is controlled to execute safety guarantee operation, so that the safety of control software in the self-mobile device can be ensured only by self-checking (periodic self-checking) of one control module, and the self-checking process of the self-mobile device, especially the high-performance self-mobile device, is simplified. By adopting the method provided by the application, the sensitivity and the running speed can be greatly improved on the premise of ensuring the safety of the self-mobile equipment in the working process.

Corresponding to the self-mobile device, another aspect of the present application further provides a working method of the self-mobile device, where the self-mobile device includes: the first control module and the second control module, the method may include:

the second control module controls the self-mobile device to execute the security operation, and performs self-checking on hardware and control programs related to the security operation, wherein only the second control module executes self-checking according to a preset plan in the working process of the self-mobile device in the first control module and the second control module.

In this embodiment, the self-mobile device cooperatively works through two control modules that communicate with each other to control the self-mobile device to walk and work, where only one control module controls the self-mobile device to perform a security operation, and performs self-checking on hardware and a control program related to controlling the execution of the security operation, and only the control module performs self-checking according to a predetermined plan in the working process of the self-mobile device. In the application, when two control modules exist in the self-mobile device, one control module is controlled to execute safety guarantee operation, so that the safety of control software in the self-mobile device can be ensured only by self-checking (periodic self-checking) of one control module, and the self-checking process of the self-mobile device, especially the high-performance self-mobile device, is simplified. By adopting the method provided by the application, the sensitivity and the running speed can be greatly improved on the premise of ensuring the safety of the self-mobile equipment in the working process.

For devices with higher data processing capabilities, relatively advanced processors, employing more complex operating systems, and having larger capacity memories, it is not easy to implement a power-on (boot) self-test or cycle self-test in a conventional manner in which the underlying code is read, and thus for devices with the above characteristics, the security of the device during operation cannot be guaranteed. For example, in the working system shown in fig. 11, since the Linux operating system is adopted in the first control module of the system and the capacity of the storage module is GB level, the safety of the first control module cannot be ensured in the conventional manner. As another example, the information acquisition device shown in fig. 5 and using a satellite positioning module as an illustration, because of the positioning processor and the mass memory, the security of the information acquisition device cannot be ensured in the conventional manner.

Based on this, there is provided herein a self-mobile device, which may include: information acquisition device, wherein, information acquisition device can include: satellite positioning modules and/or vision modules. The mower system or the robotic mower may further comprise: and the control device can control the mower to move and work in the work area limited by the boundary. The mower or mower system may further comprise: and the storage module is configured to store the same operation parameters and/or the same operation program related to the mower in a plurality of physical addresses. The operation parameters can be obtained through an information acquisition device or can be detected through an abnormality detection unit in the automatic mower. In particular, the operating parameters may be current location information and/or map, path planning data, or data detected by various sensors mounted on the mower, such as: temperature data, inclination angle data, acceleration data, or the like. The running program may be any program loaded into the memory module during the running of the machine or may be a program written in the machine by a programmer. The storage module can also be used for storing a data comparison program, when the control device executes the data comparison program, the data stored in the storage module can be read from a plurality of physical addresses of the storage module, and if the read data are consistent or the read data are consistent after being processed, the storage module is determined to have no fault; if the read data is inconsistent or the read data is inconsistent after processing, determining that the storage module fails. In the working process of the mower, whether the mower breaks down or not is determined through the operation parameters and/or the operation programs stored in the storage module, so that the self-checking of the mower is indirectly realized, compared with the traditional mode, the self-checking method is simple in process and easy to realize, and the technical effects of improving the sensitivity and the operation speed of the mower on the premise of ensuring the safety in the working process of the mower system are achieved.

In one embodiment of the present application, the control device may include a control module installed in the mower. In another embodiment of the present application, the control device may include the first control module and the second control module of the foregoing embodiments, which may each be installed in a mower; one may be installed in the mower and the other may be installed in the information acquisition device. Of course, two or more control modules may be used, and this is not a limitation of the present application.

In one embodiment of the present application, a robotic mower as shown in fig. 11 is taken as an example to describe the technical solution of the present application. The control device may comprise a first control module and a second control module substantially the same as the robotic lawnmower in the embodiment shown in fig. 7, except that the robotic lawnmower shown in fig. 11 uses the first control module to control movement and operation of the lawnmower alone, or the first control module and the second control module together control movement and operation of the lawnmower in a map-defined work area, i.e., in this embodiment, the first control module with a complex system involves work related to the safety of the lawnmower. Because the first control module of the system adopts a Linux operating system and the capacity of the storage module is GB level, the safety of the system cannot be ensured by adopting the traditional mode. The manner in the following embodiments may be adopted. It should be noted that the technical solutions described below may also be used in mowing systems such as those shown in fig. 1 or fig. 7, which are not limited in this application.

In this embodiment, when the data comparison program is executed by the control device, it may be implemented to read data stored in the data comparison program from a plurality of physical addresses, and if the read data is consistent or the read data is processed, it is determined that the storage module has no fault; if the read data is inconsistent or the read data is inconsistent after processing, determining that the storage module fails. That is, by backing up the operation parameters and/or the operation program related to the mower in the storage module for a plurality of times, the obtained parameters are compared, and whether hardware such as Flash, RAM and the like in the mower is normal or not is detected according to the comparison result.

The following description will be made separately from the manner of determining the system failure by the operation parameter alone and the manner of determining the system failure by the combination of the operation parameter and the operation program.

In one embodiment of the application, the same operation parameter can be stored in a plurality of physical addresses (at least two physical addresses) of the mower, so that in the working process, the mower reads any plurality of operation parameters from the plurality of physical addresses, compares the read data, and can determine whether the automatic mower has faults according to the comparison result. That is, by reading the same data located in different physical addresses, it is determined whether the memory fails according to the data comparison result. Specifically, as shown in fig. 12, the steps may be included, in which the operation parameters are exemplified by map data, and the plurality of physical addresses are exemplified by two physical addresses.

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

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

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

s1204: the machine is controlled to continue to work;

s1205: and controlling the machine to stop.

Specifically, after the machine builds a map, the same map data are respectively written into the first/second physical addresses, and the data stored in the first physical addresses and the second physical addresses are read in real time in the working process after the machine, or the stored data can be respectively read from the two physical addresses when the machine needs to use the map, whether the read data are consistent or not is compared, if so, the memory has no fault, and if not, the memory has fault. Upon detecting a failure of the memory, security protection measures may be initiated, such as: and controlling the machine to alarm and stop, and sending a notification message of the machine failure to a user. When no failure of the memory is detected, the machine can be controlled to continue to operate.

In another embodiment of the present application, the same operation parameters may be stored in at least two physical addresses of the storage module, so that in a working process, the mower may read the operation parameters stored in any two times from the at least two physical addresses, input the two read data into the same operation program, compare operation results output by the operation program for multiple times, and determine whether a fault occurs in the automatic mower according to the comparison result. Specifically, as shown in fig. 13, the following steps may be included, in which the following operation parameters are exemplified by map data, and the operation program is exemplified by an out-of-bounds judgment program.

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

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

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

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

s1305: the machine is controlled to continue to work;

s1306: and controlling the machine to stop.

Specifically, after the machine establishes the map, the same current position information in the two physical addresses is read and input into the same out-of-bounds judging program, and whether the memory fails is determined according to the read same current position information and the output result when the map is input into the out-of-bounds judging program. Upon detecting a failure of the memory, security protection measures may be initiated, such as: and controlling the machine to alarm, stop and restart, and sending a notification message of the machine failure to a user. When no failure of the memory is detected, the machine can be controlled to continue to operate.

In another embodiment of the present application, the same operation program may be stored in a plurality of physical addresses of the storage module, so that in a working process, the mower may read operation programs stored in any two times from the plurality of physical addresses, and input the read operation parameters to any two physical addresses stored with the same operation program, compare operation results output by the operation programs for a plurality of times, and determine whether a fault occurs in the automatic mower according to the comparison results. Specifically, as shown in fig. 14, the following steps may be included, in which the following operation parameters are exemplified by map data, and the operation program is exemplified by an out-of-bounds judgment program.

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

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

s1403: map data and current position information are respectively input into a first physical address and a second physical address and operated;

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

s1405: the machine is controlled to continue to work;

s1406: and controlling the machine to stop.

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

In one embodiment of the present application, periodic self-tests may be implemented by controlling the mower to periodically shut down for a predetermined period of time and to periodically initiate self-tests upon periodic restart. In one embodiment, the machine may be restarted when the mower returns to the charging station, and periodic self-checking is achieved by performing a start-up self-check on the machine after the restart. In one embodiment, the automatic mower may be set to be shut down and restarted within a safe time range of 2 hours and the like to realize cycle self-checking, which is not limited in the application.

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

In another embodiment of the present application, an information acquisition device may include: the system comprises a collection module, a control module and a storage module, wherein the collection module is configured to collect current position information of a target object including self-moving equipment under the control of the control module, store the current position information into the storage module and output the current position information to a control device. That is, there is a separate control module and mass storage module in the information acquisition device. For example, in connection with the satellite positioning module shown in fig. 5, since the information acquisition device has a control module (e.g., a positioning processor) and a storage module (e.g., a mass memory), the security of the information acquisition device cannot be ensured in the conventional manner. Because the insertion of the self-checking code is not easy to use, the power-on (start-up) self-checking or the cycle self-checking is realized in a traditional mode of reading the bottom code, and the module is generally obtained directly through purchasing of suppliers, the safety of the equipment with the characteristics in the working process cannot be ensured. Specifically, the safety can be ensured in the following manner.

In this embodiment, the self-mobile device may determine whether the information acquisition device fails according to whether the current position information acquired by the acquisition module has a mutation. Specifically, the control device or other devices in the mobile device such as the information acquisition device may determine whether the information acquisition device fails according to whether the current position information is suddenly changed. That is, the current position information output by the information acquisition device is used for judging whether the information acquisition device is normal or not, so that the safety of the information acquisition device in the working process of the machine is ensured. The following may be illustrated by specific examples.

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

Specifically, the determining whether the information collecting device has a fault may be illustrated by a flowchart shown in fig. 15, and may include the following steps:

s1501: reading positioning data in the information acquisition device;

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

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

s1504: judging whether the positioning data have mutation or not; if mutation occurs, S1507 is performed; if no mutation occurs, then S1506 is performed;

s1505: judging whether the positioning data have no mutation; if no mutation occurs, S1507 is performed; if mutation occurs, S1506 is performed;

s1506: the machine is controlled to continue to work;

s1507: and controlling the machine to stop.

Specifically, in the working process of the machine, whether the machine is lifted or not is detected, and if not, the current positioning quality of the machine is judged. When the positioning quality is poor, detecting whether the positioning data is jumped or not, and if the positioning data is not jumped, controlling the machine to stop; when the positioning quality is high, if the positioning data is detected to jump, the machine is controlled to stop (alarm or send a notification message of the machine failure to a user), and if the positioning data is detected to not jump, the machine is controlled to continue working.

Specifically, in the above embodiment, when the machine is determined to be moved, such as lifting, the inertial navigation unit (IMU) may detect whether the motion parameter detected by the machine during the running process is continuously changed, if the motion parameter is continuously changed, it indicates that the machine is not moved, and if the motion parameter is continuously changed within the range of the sampling frequency, the running speed of the mower with the information collecting device, or the error tolerance, it indicates that the machine is moved.

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

In the embodiments of the present disclosure, according to the principle of satellite positioning: the position generation method of the measurement point includes multiplying the signal propagation time difference by the signal propagation speed, in one example, the strength of the satellite signal may be determined according to the number of satellites within a preset range, for example, if the number of satellites is detected to be greater than 3, the quality of the satellite positioning signal is correspondingly within a preset threshold range, and the three-dimensional position data and the time information of the measurement point are obtained through an equation. In another example, the satellite positioning signals may also include RTK signals, combining satellite positioning techniques with RTK techniques, including: the other satellite navigation positioning receiver is arranged on the reference station, continuously receives satellite positioning signals, transmits the satellite positioning signals received by the reference station to the wireless receiving equipment at the measuring point in real time through the radio transmission equipment, and settles the three-dimensional coordinates of the position of the measuring point in real time according to the principle of relative positioning by utilizing the satellite positioning signals received by the measuring point and satellite positioning signal data representing the position information of the reference station received by the wireless receiving equipment. It can be seen that the satellite positioning signal received by the receiver and the reference station satellite positioning signal data received by the wireless receiving device at the measuring point have a relatively large influence on the positioning result, so that the strength of the satellite positioning signal can be judged according to whether the signal-to-noise ratio of the RTK signal is within the preset threshold range. Here, the RTK signal includes a satellite positioning signal received by a receiver and a reference station satellite positioning signal received by a wireless receiving device. It should be noted that, the setting manner for determining that the quality of the satellite positioning signal is within the preset threshold is not limited to the above examples, and those skilled in the art may make other changes in the light of the technical spirit of the present application, but all that is achieved is within the scope of protection of the present application as long as the functions and effects of the implementation are the same as or similar to those of the present application.

In the embodiment of the present application, it may be determined whether or not the localization data is mutated in the following manner.

Specifically, in one embodiment of the present application, when determining whether the positioning data is not mutated, a preset distance threshold may be determined according to positioning accuracy of an information acquisition device (such as RTK), a sampling frequency of the positioning data, and a walking speed of a mower in which the information acquisition device is installed, and when a difference between adjacent acquired positioning data is read to exceed the preset distance threshold, the mutation of the positioning data may be determined; otherwise, the positioning data are not mutated. In other embodiments, the preset distance threshold may be preset by a manufacturer in a program or written in a product instruction manual according to the selected information acquisition device, which is not limited in this application.

In another embodiment of the present application, a position sensor may also be incorporated to determine if the positioning data is not mutated. For example: the position sensor may include an inertial navigation device IMU and an odometer odo. First, it can be determined whether the position sensor has failed. The IMU and odo data of each position point can be fused, whether the fusion data of the current position point and the fusion data of the previous position point are within a preset distance threshold range or not is judged, and the preset distance threshold range is determined by the positioning precision of position sensors (such as IMU and odo) and the like, the precision of a fusion algorithm, the sampling frequency of each position point and the walking speed of the mower. In the case where a plurality of position sensors are fault-free, it is possible to determine whether the information acquisition device is faulty in combination with the information acquisition device and the position sensors. Specifically, it is possible to compare whether the difference between the RTK positioning data of the adjacent positions and the difference between the position sensor data of the adjacent positions are substantially the same within the error allowance range. The error range may be determined based on the positioning accuracy of the RTK, the positioning accuracy of the position sensor, and the accuracy of the fusion algorithm.

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

In the working process of the mower, whether the automatic mower fails or not is determined through the operation parameters and/or the operation program stored in the storage module, so that the self-checking of the mower is indirectly realized, compared with the traditional mode, the self-checking method is simple and easy to realize, and the technical effects of improving the sensitivity and the operation speed of the mower on the premise of ensuring the safety of the mower in the working process of the mower are achieved.

In this embodiment, the self-mobile device may determine whether the information acquisition device fails according to whether the current position information acquired by the acquisition module has a mutation. Specifically, the control device or other devices in the mobile device such as the information acquisition device may determine whether the information acquisition device fails according to whether the current position information is suddenly changed. That is, the current position information output by the information acquisition device is used for judging whether the information acquisition device is normal or not, so that the safety of the information acquisition device in the working process of the machine is ensured.

It should be noted that, in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and to distinguish between similar objects, and there is no order of preference between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. A self-moving device, comprising:

a housing;

the moving mechanism is arranged on the shell and is configured to drive the self-moving equipment to move;

a work module mounted to the housing and configured to perform a predetermined work;

the information acquisition device is arranged on the shell and is configured to acquire the current position information of the self-mobile equipment;

a control module coupled to the movement mechanism, the working module, and the information acquisition device, respectively, and configured to control movement and/or working of the self-mobile device at least according to current position information of the self-mobile device;

wherein the control device is further configured to:

and responding to the charging instruction of the self-mobile device, controlling the self-mobile device to dock with a charging station for charging, and executing at least part of self-checking program before the self-mobile device is driven away from the charging station.

2. The self-mobile device of claim 1, wherein the self-mobile device comprises a base,

the control module is further configured to: the at least partial self-test procedure is performed after the self-mobile device begins to charge.

3. The self-mobile device of claim 1, wherein the self-mobile device comprises a base,

the control module is further configured to: the at least partial self-test procedure is performed periodically at a predetermined time.

4. The self-mobile device of claim 1, wherein the self-mobile device comprises a base,

the control module is further configured to: the at least partial self-test procedure is periodically performed during a secure time period.

5. The self-mobile device according to any one of the claims 1-4, wherein,

the control module is further configured to: controlling the self-mobile device to restart before executing the at least part of the self-test procedure.

6. The self-mobile device of any of claims 1-4, wherein the at least partial self-test procedure is inserted in a boot-up procedure of the self-mobile device.

7. The self-mobile device according to any one of the claims 1-4, wherein,

the control module is further configured to: and controlling the self-mobile device to stop when a fault is detected in the process of executing the at least part of self-checking program.

8. The self-mobile device of claim 7, wherein the self-mobile device comprises a base,

the control module comprises a first control module and a second control module which are communicated with each other so as to cooperatively control the moving mechanism and the working module;

wherein, the liquid crystal display device comprises a liquid crystal display device,

the first control module is configured not to execute the at least partial self-test procedure;

the second control module is configured to execute at least the at least partial self-test procedure and to control the self-mobile device to shut down when a fault is detected during execution of the at least partial self-test procedure.

9. The self-mobile device of claim 8, wherein the first control module and the second control module satisfy at least one of the following settings:

the running speed of the first control module is greater than or equal to the running speed of the second control module;

the first control module is an upper computer, and the second control module is a lower computer;

at least one of the first control module or the second control module adopts a Linux or RTOS operating system.

10. The self-mobile device according to any of claims 1-4, wherein the information acquisition means comprises a satellite positioning module and/or a vision module.