Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
  • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/20—Control system inputs
  • G05D1/24—Arrangements for determining position or orientation
  • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/60—Intended control result
  • G05D1/648—Performing a task within a working area or space, e.g. cleaning
  • G05D1/6482—Performing a task within a working area or space, e.g. cleaning by dividing the whole area or space in sectors to be processed separately
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D2105/00—Specific applications of the controlled vehicles
  • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D2107/00—Specific environments of the controlled vehicles
  • G05D2107/20—Land use
  • G05D2107/23—Gardens or lawns
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D2109/00—Types of controlled vehicles
  • G05D2109/10—Land vehicles
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
  • Y02T10/00—Road transport of goods or passengers
  • Y02T10/60—Other road transportation technologies with climate change mitigation effect
  • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

• the present disclosure relates to a technical field of autonomous mobile devices and, in particular, to an autonomous mobile device, a method for controlling the autonomous mobile device and a computer readable storage medium.
• the autonomous mobile device would return to a charging pile when power is insufficient or after a work task is finished.
• the charging pile is connected with a working area through a passage, and the autonomous mobile device needs to pass through the passage to return to the charging pile from the working area.
• there may be temporary static obstacles in the passage of the work area for example, vehicles are temporarily parked in the passage, or there may be dynamic obstacles such as people or animals in the passage.
• the autonomous mobile device In a process of the autonomous mobile device returning to the charging pile, if there are obstacles in the passage, the autonomous mobile device would not pass through the passage, making it impossible for the autonomous mobile device to return to the charging pile.
• the present disclosure provides an autonomous mobile device, a method for controlling the autonomous mobile device and a computer readable storage medium, which are used for solving a problem that the autonomous mobile device cannot return to a charging pile.
• the present disclosure provides a method for controlling an autonomous mobile device, including:
• each of the second passages is a passage that the autonomous mobile device has not passed during a pile returning process
• controlling the autonomous mobile device to travel along the target passage so that the autonomous mobile device moves to the charging pile.
• step of determining a target passage among a plurality of second passages connected with the first working area includes:
• the step of determining the target passage among the second passages according to each pile returning path includes:
• the step of determining a second passage corresponding to a pile returning path whose path length is shorter than a preset path length as the target passage includes:
• the autonomous mobile device determines a working area where an entrance of a first passage is located when the autonomous mobile device detects that there is an obstacle in the first passage during a process of moving to a charging pile along the first passage; and determines a target passage among a plurality of second passages connected with the working area, so as to control the autonomous mobile device to move to the charging pile along the target passage.
• FIG. 1 is a schematic diagram of a scenario related to a method for controlling an autonomous mobile device according to the present disclosure.
• FIG. 4 is a flowchart of a second embodiment of a method for controlling an autonomous mobile device according to the present disclosure.
• FIG. 5 is a schematic diagram of another scenario related to a method for controlling an autonomous mobile device according to the present disclosure
• FIG. 9 is a schematic diagram of a hardware structure of an autonomous mobile device according to the present disclosure.
• An autonomous mobile device would return to a charging pile when the power is insufficient or a work task is finished.
• the charging pile is connected with a working area through a passage, and the autonomous mobile device needs to pass through the passage to return to the charging pile from the working area.
• the inventors of the present disclosure thought that in the process of the autonomous mobile device moving to the charging pile along a first passage, if the first passage is impassable, the passage should be replaced, so that the autonomous mobile device can move to the charging pile along a replaced passage, so as to avoid a situation where the autonomous mobile device cannot return to the pile.
• FIG. 2 is a first embodiment of a method for controlling an autonomous mobile device according to the present disclosure
• the method for controlling the autonomous mobile device includes the following steps:
• Step S201 determine a first working area where an entrance of a first passage is located when the autonomous mobile device detects that there is an obstacle in the first passage during a process of moving to a charging pile along the first passage.
• the autonomous mobile device can be a movable device such as a sweeper, a lawn mower or a robot.
• the autonomous mobile device will return to the charging pile after finishing a work task or power of the autonomous mobile device is insufficient.
• the autonomous mobile device returns to the charging pile, the autonomous mobile device will obtain a working area where it is located through positioning.
• the working area is provided with a plurality of passages, which are used to connect one working area with another, and the autonomous mobile device can move from one working area to another through the passages.
• the autonomous mobile device will move across the map during a mapping stage to create a map, and the map includes multiple working areas and passages set in each working area.
• the autonomous mobile device After obtaining the working area where it is located through positioning, the autonomous mobile device determines passages in the working areas from the map, so as to select one passage from the passages and return to the charging pile.
• the passage currently selected by the autonomous mobile device is defined as a first passage.
• the autonomous mobile device detects whether there is an obstacle in the first passage in real time through its own radar during a process of moving to the charging pile along the first passage. If an obstacle is detected in the first passage, the first passage is impassable, that is, the obstacle blocks the moving of the autonomous mobile device, and the autonomous mobile device needs to change the passage to return to the charging pile. In this regard, the autonomous mobile device determines the working area where the entrance of the first passage is located, which is defined as the first working area. It should be noted that the first passage has two exits, and an exit through which the autonomous mobile device enters the first passage is determined as the entrance of the first passage.
• Step S202 determine a target passage among a plurality of second passages connected with the first working area, where each of the second passages is a passage that the autonomous mobile device has not passed during a pile returning process.
• the autonomous mobile device determines, based on its own location, a first path for the autonomous mobile device to retreat to the entrance of the first passage; plans, based on the position of the entrance of the second passage, a second path for the autonomous mobile device to travel from the entrance of the first passage to the entrance of the second passage; plans, based on a position of the exit of the second passage and the position of the charging pile, a third path for the autonomous mobile device to travel; splices the first path, the second path, the second passage and the third path to obtain the pile returning path corresponding to the second passage.
• the map includes a working area A, a working area B and a working area C.
• An autonomous mobile device 200 is located in the working area B, a charging pile 100 is located in the working area A, a passage 1 and a passage 2 are set between the working area B and the working area A, a passage 3 is set between the working area B and the working area C, and a passage 4 is set between the working area C and the working area A. If the second passage is the passage 3, the third passage is then the passage 4, that is, the pile returning path corresponding to the second passage includes the passage 3 and the passage 4.
• a plurality of second passages can be set between the first working area and the second working area, and a plurality of third passages can also be set between the second working area and the area where the charging pile is located, so that the second passage can correspond to a plurality of pile returning paths.
• a passage 3 and a passage 5 are set between the work area B and the work area C
• a passage 5 and a passage 6 are set between the work area C and the work area A
• there are two corresponding pile returning paths for the passage 5 as the second passage where one pile returning path includes the passage 5 and the passage 4
• the other pile returning path includes the passage 5 and the passage 6.
• there are two corresponding pile returning paths for the passage 3 as the second passage where one pile returning path includes the passage 3 and the passage 4, and the other pile returning path includes the passage 3 and the passage 6.
• Step S302 determine a target passage among the second passages according to each pile returning path.
• the autonomous mobile device determines the target passage among the second passages based on respective pile returning paths.
• the autonomous mobile device calculates a path length of each pile returning path, and determines the second passage corresponding to a pile returning path whose path length is shorter than a preset path length as the target passage. Preferably, determine a minimum path length among respective path lengths which are shorter than the preset path length, and the second passage in the pile returning path with the minimum path length is the target passage.
• the autonomous mobile device chooses a short path to return to the charging pile, which reduces the pile returning time of the autonomous mobile device and improves the pile returning efficiency of the autonomous mobile device.
• the autonomous mobile device is a mowing robot, and when pile returning paths whose path lengths are shorter than the preset path length share the same path length, determine the degree of mowing completion of the working area passed by the pile returning paths with the same path length.
• the pile returning paths with the same path length are pile returning paths 1, which pass a working area 1 and a working area 2.
• the autonomous mobile device needs to return to the charging pile for charging due to insufficient power. Therefore, in the process of pile returning, remaining power of the autonomous mobile device needs to support itself to return to the charging pile.
• the autonomous mobile device acquires its own remaining power, and determines, based on a length of the pile returning path and a power consumption per unit length, a total power consumption for returning to the charging pile according to the pile returning path by the autonomous mobile device.
• the power consumption per unit length refers to the power consumed by the autonomous mobile device when moving a unit length at a set moving speed.
• the autonomous mobile device determines a second passage included in the pile returning path corresponding to the total power consumption less than the remaining power as the target passage.
• the autonomous mobile device determines the pile returning path corresponding to the second passage, thereby determining the target passage in each of the second passages based on each pile returning path, so that the autonomous mobile device returns to the charging pile along the target passage.
• the autonomous mobile device calculates a length of each moving path, so as to obtain distances for the autonomous mobile device to move to the second passages. Determine the minimum distance among the distances, and determine the second passage corresponding to the minimum distance as the target passage.
• the autonomous mobile device selects the second passage closest to the autonomous mobile device as the target passage according to a proximity principle, so as to return to the charging pile along the target passage.
• FIG. 7 is a fourth embodiment of a method for controlling an autonomous mobile device according to the present disclosure. Based on the first embodiment, step S202 includes:
• Step S701 acquire historical path information about the autonomous mobile device returning to the charging pile.
• the autonomous mobile device after detecting that the first passage is impassable, the autonomous mobile device needs to predict an unblocked passage based on historical information, so as to return to the charging pile successfully.
• the autonomous mobile device acquires the historical path information about the autonomous mobile device returning to the charging pile.
• the historical path information includes a retraced path of the autonomous mobile device, the retraced path is a path that the autonomous mobile device retreats to the entrance of the passage after detecting the passage with an obstacle.
• Step S702 determine a first number of times that the autonomous mobile device passes through the second passage and a second number of times that the second passage is impassable according to the historical path information.
• the autonomous mobile device counts, for each of the second passages, the second number of times that the second passage is impassable and the first number of times that the autonomous mobile device passes through the second passage. For example, if the retraced path includes the second passage, the second number of times for the second passage plus 1, that is, the autonomous mobile device counts the number of times for which it retraces in the second passage to obtain the second number of times.
• Step S703 determine a probability value that the second passage is impassable according to the first number of times and the second number of times.
• the autonomous mobile device divides the second number of times for the second passage by the first number of times for the second passage, thus obtaining a probability value that the autonomous mobile device cannot pass through the second passage.
• a preset threshold is stored in the autonomous mobile device. After obtaining the probability values corresponding to respective second passages, the autonomous mobile device determines the probability value (s) which is (are) smaller than the preset threshold, and a probability that the autonomous mobile device passes through the second passage corresponding to the probability value smaller than the preset threshold is higher, so such second passage can be used as the target passage.
• the second passage corresponding to a minimum probability value can also be regarded as the target passage.
• the second passage with the smallest number of pass-through times as the target passage, the number of times that the grass at the entrance of the passage being rolled can be reduced, and a situation that the grass cannot be eliminated by a mowing machine (the autonomous mobile device is a mowing machine) due to indentation is avoided.
• an autonomous mobile device 800 includes:
• a determining module 810 configured to determine a first working area where an entrance of a first passage is located when the autonomous mobile device detects that there is an obstacle in the first passage during a process of moving to a charging pile along the first passage;
• the determining module 810 is configured to determine a target passage among a plurality of second passages connected with the first working area, where each of the second passages is a passage that the autonomous mobile device has not passed during a pile returning process;
• a controlling module 820 configured to control the autonomous mobile device to travel along the target passage, so that the autonomous mobile device moves to the charging pile.
• the determining module 810 includes:
• a first determining unit configured to determine a pile returning path corresponding to each of the second passages according to a position of the autonomous mobile device, a position of the second passage and a position of the charging pile;
• the first determining unit is configured to determine the target passage among the second passages according to each pile returning path.
• a first determining subunit configured to determine a second passage corresponding to a pile returning path whose path length is shorter than a preset path length as the target passage.
• the first determining subunit includes:
• the first determining unit includes:
• an acquiring subunit configured to acquire remaining power of the autonomous mobile device
• a second determining subunit configured to determine, based on a length of the pile returning path and a power consumption per unit length, a total power consumption for returning to the charging pile according to the pile returning path by the autonomous mobile device;
• the second determining subunit is configured to determine a second passage included in a pile returning path corresponding to a total power consumption less than the remaining power as the target passage.
• a second determining subunit configured to determine a second working area connected with the first working area according to the second passage
• the second determining subunit is configured to determine a position of a third passage in the second working area, wherein the third passage is connected with an area where the charging pile is located and the second working area;
• the second determining subunit is configured to determine the pile returning path corresponding to the second passage according to the position of the autonomous mobile device, the position of the second passage, the position of the charging pile and the position of the third passage.
• the determining module 810 includes:
• a second determining unit configured to determine a distance for the autonomous mobile device to travel to each of the second passages
• the determining module 810 includes:
• an acquiring unit configured to acquire historical path information about the autonomous mobile device returning to the charging pile
• a third determining unit configured to determine a first number of times that the autonomous mobile device passes through the second passage and a second number of times that the second passage is impassable according to the historical path information
• the third determining unit is configured to determine a probability value that the second passage is impassable according to the first number of times and the second number of times;
• the third determining unit is configured to determine a second passage corresponding to a probability value smaller than a preset threshold as the target passage.
• the third determining unit includes:
• a third determining subunit configured to: when a plurality of probability values smaller than the preset threshold are the same, determine a smallest first number of times among first numbers of times for second passages corresponding to the plurality of probability values;
• the third determining subunit is configured to determine a second passage corresponding to the smallest first number of times as the target passage.
• FIG. 9 is a schematic diagram of a hardware structure of an autonomous mobile device shown in an exemplary embodiment.
• the autonomous mobile device 900 may include a processor 901, such as a CPU, a memory 902, and a transceiver 903. It can be understood by those skilled in the art that the structure shown in FIG. 9 does not constitute a limitation on the autonomous mobile device, more or less components than those shown in the figure can be included, or some components can be combined, or the autonomous mobile device could have different component arrangements.

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• Engineering & Computer Science (AREA)
• Aviation & Aerospace Engineering (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

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• 2022
  • 2022-12-22 CN CN202211654444.8A patent/CN116243702A/zh active Pending
• 2023
  • 2023-10-16 EP EP23905403.4A patent/EP4587899A4/de active Pending
  • 2023-10-16 WO PCT/CN2023/124806 patent/WO2024131230A1/en not_active Ceased

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