WO2018077160A1 - Procédé et système de planification de trajet pour dispositif automoteur - Google Patents

Procédé et système de planification de trajet pour dispositif automoteur Download PDF

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Publication number
WO2018077160A1
WO2018077160A1 PCT/CN2017/107458 CN2017107458W WO2018077160A1 WO 2018077160 A1 WO2018077160 A1 WO 2018077160A1 CN 2017107458 W CN2017107458 W CN 2017107458W WO 2018077160 A1 WO2018077160 A1 WO 2018077160A1
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WO
WIPO (PCT)
Prior art keywords
self
mobile device
working area
moving device
walking
Prior art date
Application number
PCT/CN2017/107458
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English (en)
Chinese (zh)
Inventor
何明明
查亚红
赵凤丽
周昶
刘芳世
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610926272.3A external-priority patent/CN107974995B/zh
Priority claimed from CN201610937574.0A external-priority patent/CN107974996B/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2018077160A1 publication Critical patent/WO2018077160A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a self-mobile device and an automation control technology, and in particular to a self-mobile device path planning method and system.
  • snow sweepers are well known. By using snow sweepers, it is easy to clean the snow on the road surface, saving manpower, material resources and financial resources.
  • the traditional snow sweeper is inseparable from the user's control. For example, it is necessary to artificially control the snow sweeper to turn and continue to walk, which makes the operation complicated and is not conducive to the popularization of the snow blower.
  • walking equipment such as lawn mowers, snow sweepers, coal unloaders, etc. are divided into two categories of motorized and electric, wherein the power supply mode of electric walking equipment is divided into battery power supply and power supply by cable.
  • the battery-powered walking equipment needs to be recharged repeatedly, but its walking path is not restricted by the cable; the cable-powered walking equipment has sufficient power supply, long working time, and even can be powered by the mains, without worrying about insufficient power.
  • the travel of the equipment is limited.
  • the Chinese patent publication No. CN202016783U discloses a constant tension cable power supply device.
  • the power supply device When the power supply device is used for a coal unloader, one end of the cable is connected with a fixed power source, and the outer lead is connected with the power supply line of the coal unloader.
  • the coal unloader advances, the reel is discharged, and the reel is retracted when the reel is retracted, thereby realizing the power supply of the fixed power to the traveling motor.
  • the power supply device disclosed in the above document can ensure that the speed of the cable is synchronized with the traveling speed of the host vehicle, if the traveling speed of the main vehicle is too fast or the walking distance is greater than the cable length, the cable is subjected to excessive force and the cable is easily broken. Especially for self-moving devices that are automatically walking, it is more likely to cause the cable to be broken.
  • the technical problem solved by the present invention is to provide a self-mobile device path planning method and system, which can be automatically operated without manual control, and can prevent the cable from being stressed when the walking speed of the mobile device is too fast or the walking distance is greater than the cable length. If it is too large, it is easy to break the cable.
  • a self-mobile device path planning method comprising:
  • the self-mobile device When the self-mobile device walks to reach the boundary of the work area, the self-mobile device is controlled to change the walking direction.
  • the method comprises:
  • the self-moving device controls the walking direction when the distance traveled by the mobile device from the straight line reaches the length of the first side of the working area.
  • the method further includes:
  • the step of calculating the preset number of turns of the self-mobile device according to the length of the second side of the working area and the operating width of the self-moving device is:
  • the first distance is 0.8 to 1 times the operating width of the self-moving device.
  • the method further includes:
  • the self-moving device is oriented along the first side direction Walking on the side or the third side;
  • the step of calculating the preset number of turns of the self-mobile device according to the average length and the operation width of the self-mobile device is:
  • the first distance is 0.8 to 1 times the operating width of the self-moving device.
  • the method further includes:
  • the method for setting a boundary line of the working area comprises:
  • the method for setting a boundary line of the working area comprises:
  • the self-mobile device is provided with a signal receiver that receives a signal transmitted by the signal transmitter.
  • the method comprises:
  • the self-moving device is controlled to change the walking direction when the distance traveled by the mobile device at an angle to reach the length of the first side of the working area.
  • the determining method of the tilt angle comprises:
  • the tilt angle of the self-moving device is calculated according to the shape and length of the second side of the work area.
  • the method further includes:
  • the self-moving device walking toward or away from the second side along the first side direction, the boundary of the second side direction Setting a boundary line, when the self-moving device hits a boundary line, controlling the self-moving device to change a walking direction; when the self-moving device hits a boundary line, recording the self-moving device along the working area a walking distance in a first side direction; and controlling the self-moving device to change a walking direction such that the self-moving device again travels along a first side direction of the working area, the walking direction of the self-mobile device and the self-mobile device The last walking direction in the direction of the first side of the working area is opposite;
  • the method for setting a boundary line of the working area comprises:
  • the method for setting a boundary line of the working area comprises:
  • the self-mobile device is provided with a signal receiver that receives a signal transmitted by the signal transmitter.
  • the step of controlling the transition from the mobile device to the walking direction comprises:
  • the self-moving device After the self-moving device walks the second distance, controlling the self-moving device to be deflected by 90 degrees, and after the deflecting, the walking direction of the self-moving device and the self-moving device last along the working area
  • the direction of travel in the first side direction is opposite.
  • the self-mobile device is connected to a power source through a cable, and the cable is wound around an automatic take-up line.
  • the method further includes:
  • the self-moving device is controlled to reciprocate along a parallel path in the working area, wherein the manner in which the self-moving device changes the walking direction is backward walking.
  • the walking speed of the self-moving device is controlled according to the pulling force of the cable.
  • controlling the self-moving device to reciprocate along a parallel path in the working area comprises:
  • controlling the adjacent path from the mobile device to the current path includes:
  • the method further includes:
  • the self-moving device is controlled to go backward in a straight line from the current position to the vicinity of the automatic take-up cable reel.
  • the self-mobile device is an automatic snowplow.
  • a self-moving device path planning method the working area of the self-moving device includes a first side edge and a second side edge different from the first side edge, and at least part of the boundary of the second side direction direction is set with a boundary line.
  • the methods include:
  • the method for setting a boundary line of the working area comprises:
  • the method for setting a boundary line of the working area comprises:
  • the self-mobile device is provided with a signal receiver that receives a signal transmitted by the signal transmitter.
  • the length of the working area of the mobile device is different from the length of the second side of the first side;
  • the step of calculating the preset number of turns of the self-mobile device according to the length of the second side of the working area and the operating width of the self-moving device is:
  • the first distance is 0.8 to 1 times the operating width of the self-moving device.
  • the portion where the boundary line is disposed on the boundary of the second side direction of the working area corresponds to a portion where the length of the first side direction of the working area is not fixed.
  • the length of the unfixed portion of the first side direction of the working area is smaller than the length of the fixed portion of the length of the first side direction; and the length of the fixed portion of the length of the first side direction of the working area is obtained when the self-moving device The distance traveled straight along the first side of the work area to reach the work area When the length of the first side direction of the domain is a fixed portion, the self-moving device is controlled to change the walking direction.
  • the maximum length of the first side direction of the working area is obtained, and the boundary line is disposed on the boundary of the second side direction of the working area, and the length of the first side direction corresponding to the working area is smaller than the first side direction.
  • the self-moving device controls the walking direction when the distance traveled by the self-moving device in a straight line along the first side direction of the working area reaches a maximum length of the first side direction of the working area.
  • the step of controlling the steering from the mobile device comprises:
  • the self-moving device After the self-moving device walks the second distance, controlling the self-moving device to be deflected by 90 degrees, and after the deflecting, the walking direction of the self-moving device and the self-moving device last along the working area
  • the direction of travel in the first side direction is opposite.
  • the self-moving device is connected to the power source through a cable, and the cable is wound on the automatic take-up cable reel.
  • the method further includes:
  • the self-moving device is controlled to reciprocate along a parallel path in the working area, wherein the manner in which the self-moving device changes the walking direction is backward walking.
  • the walking speed of the self-moving device is controlled according to the pulling force of the cable.
  • controlling the self-moving device to reciprocate along a parallel path in the working area comprises:
  • controlling the adjacent path from the mobile device to the current path includes:
  • the method further includes:
  • the self-moving device is controlled to go backward in a straight line from the current position to the vicinity of the automatic take-up cable reel.
  • the self-mobile device is an automatic snowplow.
  • a self-mobile device path planning system the working area of the self-mobile device includes a first side edge and a second side edge different from the first side edge, the self-moving device facing or away from the second side along the first side direction While walking, at least a portion of the boundary of the second side direction is set with a boundary line, the system comprising:
  • a controller configured to obtain a maximum length of the first side direction of the working area
  • a diverter having an input end coupled to the first output of the controller, the diverter for achieving a distance as the distance traveled by the self-moving device in a direction along a first side of the work area Controlling the self-mobile device when the maximum length of the first side direction of the region, or when the self-moving device hits the boundary line
  • the controller is further configured to obtain a length of the second side of the working area, and calculate a preset number of turns of the self-mobile device according to the length of the second side and the operating width of the mobile device:
  • the self-mobile device path planning system further includes a driver, the input end of the driver being connected to the second output end of the controller, the driver for turning the number of times of the self-mobile device is equal to the self-mobile device
  • the preset number of turns is preset
  • the self-mobile device is controlled to be stopped, and when the number of turns of the self-mobile device is not equal to the preset number of turns of the self-moving device, the self-moving device is controlled to walk straight.
  • the controller calculates that the preset number of steerings of the self-mobile device is performed by dividing the length of the second side by the first distance and subtracting 1; wherein the first distance is the self-moving
  • the operating width of the device is 0.8 to 1 times.
  • the self-mobile device comprises:
  • a body of the fuselage connected to a cable, the cable for supplying electrical energy to the self-mobile device;
  • a tension detecting unit configured to detect a tensile force of the cable when the self-moving device walks
  • a device control unit configured to adjust a walking speed of the self-mobile device according to the pulling force detected by the tension detecting unit.
  • the self-mobile device further includes a power input unit connected to the power source through the cable for supplying power to the self-mobile device, wherein the cable is wound around the automatic take-up cable tray at the power source on.
  • the self-mobile device further includes a navigation and positioning module, configured to perform path planning on the self-mobile device.
  • the system includes an automatic take-up cable reel for the self-mobile device.
  • the automatic take-up cable reel comprises:
  • a spool for winding a cable that transmits electrical energy to the self-mobile device
  • bracket for supporting the reel, the bracket rotating in a direction from the mobile device such that an outlet opening of the reel faces the direction from the mobile device.
  • the automatic take-up cable reel further comprises:
  • a direction detecting unit configured to detect a pulling direction of the cable
  • the cable tray control unit is configured to horizontally rotate the bracket according to the direction of the tension detected by the direction detecting unit, so that the outlet port of the reel faces the pulling direction.
  • the automatic take-up cable reel further includes: a base on which a rotating shaft is disposed, the bracket is fixed on the rotating shaft, and the bracket rotates under the pulling force of the cable.
  • the automatic take-up cable reel further comprises:
  • An angle sensor for detecting an angle of rotation of the bracket.
  • the automatic take-up cable reel further comprises:
  • a cable length measuring device for detecting the outgoing or return length of the cable.
  • the cable length measuring device comprises:
  • a counter for counting the number of revolutions of the wheel.
  • the self-mobile device is an automatic snowplow.
  • a self-mobile device path planning method and system is provided.
  • a self-mobile device path planning method comprising:
  • the self-moving device is controlled to turn when the distance traveled by the mobile device in a straight line reaches the width of the working area.
  • the self-moving device when the distance traveled by the mobile device in a straight line reaches the width of the working area, the self-moving device is controlled to be steered without manual control, and the operation is simple and widely used.
  • the length of the work area obtained from the mobile device is obtained
  • the step of calculating the preset number of turns of the self-mobile device according to the length of the working area and the operating width of the self-moving device is:
  • the first distance is 0.8 to 1 times the operating width of the self-moving device.
  • the method further includes the step of setting a boundary line of the working area; and when the self-moving device hits a boundary line, controlling the step of turning from the mobile device;
  • the step of controlling the steering from the mobile device comprises:
  • the self-moving device After controlling the self-moving device to deflect 90 degrees in the direction of the unwalked working area, walking a second distance along the width direction of the working area; the second distance is less than or equal to the operating width of the self-moving device;
  • the self-moving device After the self-moving device walks the second distance, controlling the self-moving device to be deflected by 90 degrees, and after the deflecting, the walking direction of the self-moving device and the self-moving device last along the working area
  • the direction of travel in the width direction is opposite.
  • the self-mobile device is an automatic snowplow.
  • a self-mobile device path planning method the working area of the mobile device includes a length direction and a width direction, and at least part of a side boundary of the length direction of the working area is set with a boundary line, and the method includes:
  • the self-moving device is controlled to turn when the distance traveled by the self-moving device in a straight line along the width direction of the working area reaches a distance that the self-moving device travels in the width direction of the working area at a time.
  • a boundary line is set at least part of only one side boundary in the length direction of the working area of the mobile device, which reduces the use of the boundary line, reduces the cost, and when the self-mobile device hits the boundary
  • the line is in line, the steering from the mobile device is controlled, no manual control is required, the operation is simple, and the application is wide.
  • the step of calculating the preset number of turns of the self-mobile device according to the length of the working area and the operating width of the self-moving device is:
  • the first distance is 0.8 to 1 times the operating width of the self-moving device.
  • the portion of the boundary line where only one side boundary of the length direction of the working area is disposed corresponds to a portion where the width of the working area is not fixed.
  • the width of the portion of the working area that is not fixed is smaller than the width of the portion where the width is fixed; and the width of the portion of the fixed width of the working area is obtained when the self-moving device is along the width of the working area The self-moving device is controlled to turn when the distance traveled reaches the width of the fixed width portion of the working area.
  • the maximum width of the working area is obtained; the portion of the length of the working area that is only one side of the boundary that sets the boundary line corresponds to the portion of the working area whose width is less than the maximum width;
  • the self-moving device is controlled to turn when the distance traveled by the self-moving device in a straight line along the width direction of the working area reaches a maximum width of the working area.
  • the step of controlling the steering from the mobile device comprises:
  • the self-moving device After the self-moving device walks the second distance, controlling the self-moving device to be deflected by 90 degrees, and after the deflecting, the walking direction of the self-moving device and the self-moving device last along the working area
  • the direction of travel in the width direction is opposite.
  • the self-mobile device is an automatic snowplow.
  • a self-mobile device path planning system that sets a boundary line from at least a portion of a boundary of a length direction of a working area of a mobile device, the system comprising:
  • a controller configured to obtain a maximum width of the working area
  • a steering gear the input end of the steering gear being connected to a first output end of the controller, the diverter for reaching a maximum distance of the working area when the self-moving device travels straight along a width direction of the working area Width, or when the self-moving device hits a boundary line, controlling the self-moving device Ready to turn.
  • the controller is further configured to acquire a length of the working area, and calculate a preset number of steering times of the self-mobile device according to the length of the working area and the operating width of the mobile device;
  • the self-mobile device path planning system further includes a driver, the input end of the driver being connected to the second output end of the controller, the driver for turning the number of times of the self-mobile device is equal to the self-mobile device
  • the preset number of turns is preset
  • the self-mobile device is controlled to be stopped, and when the number of turns of the self-mobile device is not equal to the preset number of turns of the self-moving device, the self-moving device is controlled to walk straight.
  • the controller calculates that the preset number of turns of the self-mobile device is performed by dividing the length of the working area by the first distance and subtracting 1; wherein the first distance is The operating width of the self-moving device is 0.8 to 1 times.
  • the self-mobile device is an automatic snowplow.
  • the self-mobile device path planning system sets a boundary line at least part of only one side boundary in the length direction of the working area of the mobile device, reduces the use of the boundary line, reduces the cost, and when the self-mobile device encounters the boundary
  • a self-moving device and a control method thereof, and an automatic take-up cable reel are provided.
  • the technical problem to be solved by the present invention is that in the prior art, when the walking speed of the mobile device is too fast or the walking distance is greater than the cable length, the cable is too strong to easily break the cable, thereby providing a self-moving device and a control method thereof And automatic take-up cable reel.
  • An embodiment of the present invention provides a self-mobile device, including: a body, connected to a cable, the cable is used to provide power to the self-mobile device, and a tension detecting unit is configured to be used when the mobile device is walking Detecting a tensile force of the cable; and a device control unit, configured to adjust a walking speed of the self-moving device according to a tensile force detected by the tensile force detecting unit.
  • the method further includes: a power input unit connected to the power source through the cable, for supplying power to the self-mobile device, wherein the cable is wound on the automatic take-up cable tray at the power source.
  • the method further includes: a navigation and positioning module, configured to perform path planning on the self-mobile device.
  • a navigation and positioning module configured to perform path planning on the self-mobile device.
  • Embodiments of the present invention also provide an automatic take-up cable reel for the self-mobile device.
  • a reel for winding a cable for transmitting electrical energy to the self-moving device
  • a bracket for supporting the reel, the bracket rotating with the direction of the self-moving device, The outlet of the reel faces the direction of the self-moving device.
  • the method further includes: a direction detecting unit, configured to detect a pulling direction of the cable; and a cable tray control unit, configured to horizontally rotate the bracket according to the direction of the pulling force detected by the direction detecting unit, so as to The outlet of the reel is oriented in the direction of the pulling force.
  • a direction detecting unit configured to detect a pulling direction of the cable
  • a cable tray control unit configured to horizontally rotate the bracket according to the direction of the pulling force detected by the direction detecting unit, so as to The outlet of the reel is oriented in the direction of the pulling force.
  • the method further includes: a base on which the rotating shaft is disposed, the bracket is fixed on the rotating shaft, and the bracket rotates under the pulling force of the cable.
  • the method further includes: an angle sensor for detecting an angle of rotation of the bracket.
  • the method further includes: a cable length measuring device, configured to detect an outgoing line or a return line length of the cable.
  • the cable length measuring device comprises: a rotating wheel, which is rotated by the cable outlet or the return line; and a counter for counting the number of revolutions of the rotating wheel.
  • the embodiment of the present invention further provides a control method of a self-mobile device, wherein the self-mobile device is connected to a power source through a cable, and the cable is wound on an automatic take-up cable tray, and the control method includes: controlling the self-moving The apparatus reciprocates along a parallel path within the work area, wherein the self-mobile device returns in a reverse walking manner.
  • the walking speed of the self-moving device is controlled according to the pulling force of the cable.
  • controlling the self-moving device to reciprocate along a parallel path in the working area comprises: controlling the self-mobile device to advance along a current path to a boundary of the working area; controlling the self-mobile device along the current Moving the path backward from the boundary of the working area to an initial position of the current path; controlling the self-mobile device to go to the adjacent path of the current path, and returning the adjacent path as the current path Performing a step of controlling the self-mobile device to advance along a current path to a boundary of the work area.
  • controlling the ad hoc device to go to the adjacent path of the current path includes: controlling the self-mobile device to turn a predetermined distance in a preset direction, wherein the preset direction is perpendicular to The current path and the area that is not traveled by the mobile device, the ⁇ is greater than 0, less than or equal to 90; controlling the self-moving device to turn a degree to the opposite direction to the predetermined direction to the The adjacent path of the current path.
  • the method further includes: performing control when the walking path of the self-mobile device does not cover the working area The step of the self-moving device retreating from the boundary of the working area to the initial position of the current path along the current path.
  • the self-moving device is controlled to go backwards in a straight line from the current position to the vicinity of the automatic take-up cable reel.
  • the tension detecting unit is disposed on the body of the mobile device to detect the magnitude of the tensile force that the cable is subjected to, and the walking speed of the self-moving device is adjusted according to the pulling force, so that when the tensile force of the cable is greater than the upper limit threshold,
  • the walking speed of the mobile device can avoid the phenomenon that the cable is too fast due to the walking speed of the mobile device, the cable is easily broken, and the accident rate of automatic control of the automatic self-mobile device is reduced.
  • the embodiment of the present invention uses a cable to supply power from a mobile device.
  • a battery-powered self-mobile device is used.
  • the battery capacity is large, which means high cost and large volume.
  • the machine needs to have the function of automatically returning to the base station for charging, which is necessary to increase the cost of the base station, while the return and charging time sacrifices the working efficiency.
  • the above problem is not provided by the cable to supply energy from the mobile device, but the cable imposes restrictions on the mobile device: the cable is easily broken and easily entangled.
  • the self-moving device cable of the embodiment of the present invention is at the rear of the machine, and the cable is pulled forward from the mobile device, and the boundary is retracted, and the cable is automatically retracted by the cable reel, and the cable is not coiled on the ground. Pull the cable and go forward.
  • the bracket can be arranged horizontally so that the outlet of the reel always faces the self-moving device, which can avoid the wear between the cable and the side wall of the reel, prolong the service life of the cable, and is not self-moving. Only the walking of the equipment is a hindrance.
  • the reciprocating walking from the mobile device along the parallel path can ensure that the working area covers the entire working area, wherein when the vehicle is moving forward (ie, away from the automatic take-up cable reel), the cable is dragged forward; when returning, the reverse is adopted. Walk to the initial position.
  • the return mode of the embodiment is such that the self-moving device is not entangled by the cable, as compared with the self-moving device turning back.
  • FIG. 1 is a flow chart of a path planning method for a self-mobile device in an embodiment
  • FIG. 2 is an application scenario diagram of the self-mobile device path planning method shown in FIG. 1;
  • FIG. 3 is a further embodiment of the self-mobile device path planning method of FIG. 1;
  • Figure 5 is a working area of the self-mobile device in an embodiment
  • FIG. 6 is a flowchart of a path planning method for a self-mobile device in an embodiment
  • FIG. 7 is a further embodiment of the self-mobile device path planning method described in FIG. 6;
  • Figure 8 is a working area of the self-mobile device in an embodiment
  • FIG. 9 is a schematic structural diagram of a self-mobile device path planning system in an embodiment.
  • FIG. 10 is a schematic block diagram of a specific example of a self-mobile device according to an embodiment of the present invention.
  • FIG. 11 is a schematic block diagram of a specific example of a self-mobile device control system according to an embodiment of the present invention.
  • FIG. 12 is a schematic block diagram of another specific example of a self-mobile device according to an embodiment of the present invention.
  • FIG. 13 is a schematic block diagram of a specific example of an automatic take-up cable reel according to an embodiment of the present invention.
  • FIG. 14 is a schematic block diagram showing another specific example of an automatic take-up cable reel according to an embodiment of the present invention.
  • 15A to 15E are schematic diagrams showing a walking control route of a mobile device according to an embodiment of the present invention.
  • FIG. 16 is a flowchart of a specific example of a method for controlling a self-mobile device according to an embodiment of the present invention.
  • connection or integral connection; may be mechanical connection or electrical connection; may be directly connected, may also be indirectly connected through an intermediate medium, or may be internal communication of two components, may be wireless connection, or may be wired connection.
  • connection or integral connection; may be mechanical connection or electrical connection; may be directly connected, may also be indirectly connected through an intermediate medium, or may be internal communication of two components, may be wireless connection, or may be wired connection.
  • operating width of the mobile device may be approximated to the width of the mobile device, for example, when the mobile device is an automatic snowplow, the operating width of the mobile device refers to the snow sweep width from the mobile device, which may be approximated as The width of the automatic snowplow.
  • the working area of the self-moving device of the present invention comprises a first side edge, a second side edge different from the first side edge and a third side edge opposite to the second side edge position, the self-moving device is oriented along the first side direction Walking on the second side or the third side.
  • the first side direction may be the width direction of the work area or the length direction of the work area.
  • a self-mobile device path planning method includes:
  • the self-mobile device When the self-mobile device walks to reach the boundary of the work area, the self-mobile device is controlled to change the walking direction.
  • the working area is reached, and when the boundary line is set at the outermost side of the boundary, the boundary refers to the position of the boundary line.
  • the boundary line is not set, for example, through a GPS map, that is, a map of the work area is built in from the mobile device or the boundary is a boundary on the map.
  • the boundary is the side where the length is located or the side where the width is located.
  • the shape is irregular.
  • the boundary may be an arc-shaped arc edge position, and the boundary is also It can be considered as a position near the arc edge that is closer to the arc edge.
  • the motion trajectory of the self-moving device travels straight along the first side direction to reach the boundary or walks at an angle to the first side direction to reach the boundary.
  • the method includes:
  • the method further comprises:
  • the step of calculating the preset number of turns of the self-mobile device according to the length of the second side of the working area and the operating width of the self-moving device is:
  • the method further comprises:
  • boundary line of the working area There may be various methods for setting the boundary line of the working area, and one may directly lay a boundary line on the boundary of the working area, that is, an actual boundary line structure.
  • Another type may set a virtual boundary line, such as a plurality of signal transmitters at a boundary position of the working area, a plurality of the signal transmitters forming a boundary line; and the self-mobile device is provided with a signal transmitted by the receiving signal transmitter.
  • Signal receiver may be various methods for setting the boundary line of the working area, and one may directly lay a boundary line on the boundary of the working area, that is, an actual boundary line structure.
  • a virtual boundary line such as a plurality of signal transmitters at a boundary position of the working area, a plurality of the signal transmitters forming a boundary line; and the self-mobile device is provided with a signal transmitted by the receiving signal transmitter.
  • Signal receiver
  • the step of controlling the self-moving device to change the direction of travel include:
  • the self-moving device After the self-moving device walks the second distance, controlling the self-moving device to be deflected by 90 degrees, and after the deflecting, the walking direction of the self-moving device and the self-moving device last along the working area
  • the direction of travel in the first side direction is opposite.
  • the method includes:
  • the self-moving device is controlled to change the walking direction when the distance traveled by the mobile device at an angle to reach the length of the first side of the working area.
  • the method for determining the tilt angle in the method includes:
  • the tilt angle of the self-moving device is calculated according to the shape and length of the second side of the work area.
  • the method further comprises:
  • the self-moving device is oriented along the first side direction Walking on the side or the third side;
  • the step of calculating the preset number of turns of the self-mobile device according to the average length and the operation width of the self-mobile device is:
  • the preset number of steerings from the mobile device is calculated by dividing the average length by the first distance and subtracting 1 from the mobile device by 0.8 to 1 times the operating width of the mobile device.
  • the method further comprises:
  • the self-moving device walking toward or away from the second side along the first side direction, the boundary of the second side direction Setting a boundary line, when the self-moving device hits a boundary line, controlling the self-mobile device to change a walking direction;
  • boundary line of the working area There may be various methods for setting the boundary line of the working area, and one may directly lay a boundary line on the boundary of the working area, that is, an actual boundary line structure.
  • Another type may set a virtual boundary line, such as a plurality of signal transmitters at a boundary position of the working area, a plurality of the signal transmitters forming a boundary line; and the self-mobile device is provided with a signal transmitted by the receiving signal transmitter.
  • Signal receiver may be various methods for setting the boundary line of the working area, and one may directly lay a boundary line on the boundary of the working area, that is, an actual boundary line structure.
  • a virtual boundary line such as a plurality of signal transmitters at a boundary position of the working area, a plurality of the signal transmitters forming a boundary line; and the self-mobile device is provided with a signal transmitted by the receiving signal transmitter.
  • Signal receiver
  • the step of controlling the transition from the mobile device to the walking direction comprises:
  • the self-moving device After the self-moving device walks the second distance, controlling the self-moving device to be deflected by 90 degrees, and after the deflecting, the walking direction of the self-moving device and the self-moving device last along the working area
  • the direction of travel in the first side direction is opposite.
  • the self-moving device travels straight along the first side direction of the working area, and may set a boundary line or not, and may not directly set a boundary line.
  • the steering is controlled by calculating the distance traveled along the first side, and in the third embodiment, the boundary line is provided, the working area of the self-moving device includes a first side and a second side different from the first side, A boundary line is provided at least in part of the boundary of the second side direction.
  • the method includes:
  • boundary line of the working area There may be various methods for setting the boundary line of the working area, and one may directly lay a boundary line on the boundary of the working area, that is, an actual boundary line structure.
  • Another type may set a virtual boundary line, such as a plurality of signal transmitters at a boundary position of the working area, a plurality of the signal transmitters forming a boundary line; and the self-mobile device is provided with a signal transmitted by the receiving signal transmitter.
  • Signal receiver may be various methods for setting the boundary line of the working area, and one may directly lay a boundary line on the boundary of the working area, that is, an actual boundary line structure.
  • a virtual boundary line such as a plurality of signal transmitters at a boundary position of the working area, a plurality of the signal transmitters forming a boundary line; and the self-mobile device is provided with a signal transmitted by the receiving signal transmitter.
  • Signal receiver
  • the step of calculating the preset number of turns of the self-mobile device according to the length of the second side of the working area and the operating width of the self-moving device is:
  • the first distance is 0.8 to 1 times the operating width of the self-moving device.
  • the edge is set on the boundary of the second side of the working area
  • the portion of the boundary corresponds to a portion of the working area that is not fixed in the length of the first side.
  • the length of the unfixed portion of the first side direction of the working area is smaller than the length of the fixed portion of the length of the first side direction; and the length of the fixed portion of the length of the first side of the working area is obtained, when the self-moving device is along the working area
  • the self-moving device is controlled to change the traveling direction.
  • the step of controlling the steering from the mobile device comprises:
  • the self-moving device After the self-moving device walks the second distance, controlling the self-moving device to be deflected by 90 degrees, and after the deflecting, the walking direction of the self-moving device and the self-moving device last along the working area
  • the direction of travel in the first side direction is opposite.
  • the steering can be realized by rotating a certain angle.
  • the steering can be realized by direct reverse .
  • the direct reverse implementation steering is also applicable to the self-mobile device path planning method of the above three embodiments.
  • the self-moving device is connected to a power source via a cable that is wound around an automatic take-up cable reel.
  • the self-mobile device path planning method of this embodiment includes:
  • the self-moving device When the self-moving device walks to reach the boundary of the working area, the self-moving device is controlled to change the walking direction; wherein the self-moving device changes the walking direction by means of backward walking.
  • the walking speed of the self-moving device is controlled according to the pulling force of the cable.
  • controlling the self-moving device to reciprocate along a parallel path within the work area comprises:
  • controlling the ad hoc device to go to the adjacent path of the current path comprises:
  • the method further comprises:
  • the self-moving device is controlled to go backwards in a straight line from the current position to the vicinity of the automatic take-up cable reel.
  • the first side is set to be a width
  • the second side and the third side are lengths for further description of the embodiments of the present invention.
  • FIG. 1 is a flowchart of a path planning method for a self-mobile device in an embodiment.
  • the method includes:
  • S102 Obtain a width W of a work area of the mobile device.
  • the application scenario of the automatic snowplow is a road, and the automatic snowplow starts to sweep the snow along the width of the road, so here is the width W of the working area obtained from the mobile device.
  • the automatic snowplow is along the length of the work area When walking in the direction of the degree, the length L of the working area can be first obtained.
  • S104 Control walking from the mobile device in a straight line along the width direction of the work area.
  • S106 Determine whether the distance traveled by the mobile device in a straight line reaches the width of the working area.
  • the self-moving device when the distance traveled by the mobile device in a straight line reaches the width W of the working area, the self-moving device is controlled to be steered without manual control, and the operation is simple and widely used.
  • FIG. 2 is an application scenario diagram of the self-mobile device path planning method shown in FIG. 1.
  • the working area of the self-moving device is a rectangle having a width W and a length L. Since the mobile device walks in the direction of the width W, when the distance traveled by the straight line reaches the width W, the mobile device is turned to walk. For details, refer to the arrow shown in FIG. 2.
  • FIG. 3 is a further embodiment of the self-mobile device path planning method illustrated in FIG. 1.
  • the method in this embodiment may include the following steps:
  • S302 Obtain a length L and a width W of the working area of the mobile device.
  • the width of the working area is W to control the steering from the mobile device, and the length L of the working area is to obtain the preset number of steerings from the mobile device, thereby controlling the shutdown after the mobile device is completed.
  • S304 Calculate the preset number of turns from the mobile device according to the length L of the work area and the operation width a of the mobile device.
  • S306 Control walking from the mobile device in a straight line along the width W direction of the working area.
  • S308 Determine whether the distance traveled by the mobile device in a straight line reaches the width W of the working area.
  • step S310 When the distance traveled by the mobile device from the straight line reaches the width W of the working area, then the control is turned from the mobile device, otherwise returning to step S306, the control continues to walk straight from the mobile device.
  • S314 Determine whether the number of turns from the mobile device is equal to the preset number of turns.
  • step S316 If yes, controlling the self-mobile device to stop, otherwise returning to the step of controlling the straight-line walking of the self-moving device along the width direction of the working area, that is, step S306.
  • the self-mobile device not only can the work of the self-mobile device be automatically controlled, but also whether the work of the mobile device in the work area is completed accurately, and after the work is completed, the self-mobile device is controlled. Standby down.
  • the operation width of the mobile device is a
  • the preset number of steerings from the mobile device is calculated in step S304, which can be calculated by W/a-1.
  • FIG. 4 is a schematic diagram of a working area of the mobile device in an embodiment.
  • the side c in Fig. 3 is provided with a boundary line, and the boundary line is not provided on the side d and the side e, which can reduce the use of the boundary line and reduce the cost.
  • the method further includes the steps of setting a boundary line of the work area; and controlling the steering from the mobile device when the mobile device encounters the boundary line.
  • FIG. 5 is a schematic diagram of a working area of the mobile device in an embodiment.
  • a boundary line is laid on the side AB, and the working area is further divided into a triangle ABE and a rectangular AECD by the auxiliary line AE.
  • the auxiliary line does not exist in actual use, and is merely for convenience of explanation.
  • the self-moving device can travel in the direction of the arrow in Figure 5, when the boundary line is encountered or when the walking distance reaches the width W of the working area, then the self-moving device is turned.
  • the step of controlling the steering from the mobile device may include: controlling to move the second distance along the width direction of the working area after the mobile device deflects 90 degrees in the direction of the unwalked working area; the second distance is less than or equal to the operation of the mobile device. Width or the first distance described above. After the second distance is traveled from the mobile device, the control is deflected by 90 degrees from the mobile device, and the direction of travel from the mobile device after the deflection is opposite to the direction of travel from the last direction of the mobile device in the width direction of the working area. Specifically, it can be divided into two situations. One is that the distance traveled by the mobile device in a straight line reaches the width W of the working area, and one is that the moving device hits the boundary line.
  • the step of controlling the steering from the mobile device includes: when the length of the straight line from the mobile device reaches the working area
  • the width W is controlled, after the mobile device is deflected by 90 degrees in the direction of the unwalked working area, the second distance is traveled along the width W direction of the working area; the second distance is less than or equal to the operating width a of the mobile device or the first distance
  • the distance W of the walking working area after the deflection of the mobile device is controlled by 90 degrees, and the walking direction of the self-moving device after deflection and the width of the last working area of the self-moving device
  • the traveling direction in the W direction is reversed; after the distance from the width W of the working area of the mobile device is controlled, after the movement is shifted by 90 degrees from the mobile device to the unworked working area, the third distance is traveled along the length L of the working
  • the sum of the second distance and the third distance may be the first distance b or the operation width a from the mobile device; when the third distance is traveled from the mobile device After controlling the deflection from the mobile device to continue running 90 degrees, and the direction deflected from a mobile device traveling from the traveling direction along the width W direction of the last working area opposite to the mobile device. That is, as shown in FIG. 5, firstly, the distance from the K point in the KM direction, that is, the width W of the working area in the width W direction of the working area, reaches the M point, and the second distance is traveled after the mobile device is deflected by 90 degrees.
  • the distance W of the walking working area After reaching the N point, and then deflecting 90 degrees, the distance W of the walking working area reaches 0 point, and then deflects 90 degrees, then walks the third distance to reach the point P and then deflects 90 degrees, once for the cycle, reciprocating until the last deflection,
  • the sum of the second distance MN and the third distance OP is the first distance b or the operating width a from the mobile device.
  • the step of controlling the steering from the mobile device includes: when the mobile device touches the boundary line, the self-moving device is recorded along the working area. a walking distance in the width W direction; and controlling the distance from the mobile device to the unwalked working area by 90 degrees, walking a second distance along the length L of the working area; the second distance is less than or equal to the operating width of the mobile device a Or a first distance b; after the second distance is moved from the mobile device, the distance traveled from the mobile device to the width W direction of the working area after the deflection of the mobile device by 90 degrees, and the deflection from the mobile device
  • the traveling direction is opposite to the walking direction of the mobile device last time along the width W direction of the working area; when the distance traveled from the mobile device reaches the walking distance from the mobile device last time along the width W of the working area, the control is from the mobile device to Unworked work area After the direction is deflected by 90 degrees, the third distance
  • the mobile device walks from the F point in the FG direction, that is, the width W direction of the working area to reach the G point.
  • the second distance is reached to the Q point, and then the 90 degree is deflected and the last edge is taken.
  • the distance traveled in the width direction of the working area reaches the I point, and after the deflection of 90 degrees, the third distance is extended to reach the J point and then deflected by 90 degrees, once for the period, reciprocating until the last deflection, wherein the second distance GQ and the third distance
  • the sum of the IJs may be the first distance b or the operational width a from the mobile device. Referring to FIG. 6, FIG.
  • a working area of the self-mobile device includes a length direction and a width direction, and only a length direction of the working area
  • a boundary line is provided at least in part of one side boundary, and the method may include:
  • S602 Control walking from the mobile device in a straight line along the width direction of the work area. As indicated by the arrows in Figure 4.
  • S604 Determine whether the mobile device touches the boundary line. Specifically, as shown in FIG. 4, when the mobile device encounters a boundary line disposed on the side c, it is turned from the mobile device.
  • Step S606 when the mobile device touches the boundary line, record the walking distance from the mobile device along the width direction of the working area, and control the steering from the mobile device, so that the self-moving device walks straight along the width direction of the working area again; otherwise, returns Step S602, controlling the linear walking from the mobile device to continue along the width direction of the working area.
  • S608 Controlling the steering from the mobile device when the distance traveled by the mobile device in a straight line along the width direction of the working area reaches a distance from the mobile device last time walking in the width direction of the working area.
  • a boundary line is set at least part of only one side boundary in the length direction of the working area of the mobile device, which reduces the use of the boundary line, reduces the cost, and when the self-mobile device hits the boundary
  • the line is in line, the steering from the mobile device is controlled, no manual control is required, the operation is simple, and the application is wide.
  • FIG. 7 is a further embodiment of the self-mobile device path planning method described in FIG. The method in this embodiment may include the following steps:
  • S702 Obtain a length L of a work area of the mobile device.
  • S704 Calculate a preset number of steerings from the mobile device according to the length L of the work area and the operation width a of the mobile device.
  • S706 Control walking from the mobile device in a straight line along the width direction of the work area.
  • S708 Determine whether the mobile device touches the boundary line.
  • step S710 When the mobile device touches the boundary line, the control is turned from the mobile device, otherwise returning to step S706, the control continues to walk straight from the mobile device.
  • S714 Determine whether the number of steerings of the self-mobile device is equal to the preset number of steerings.
  • the above self-mobile device path planning method controls the steering from the mobile device when the mobile device hits the boundary line, does not require manual control, is easy to operate, and is widely used.
  • FIG. 8 is an application scenario diagram of the self-mobile device path planning method shown in FIG. 7 .
  • the working area of the self-moving device has a width W and a length L. Since the operation width of the mobile device is a, the preset number of turns from the mobile device is calculated in step S604, which can be calculated by W/a-1. In an embodiment, the preset number of steerings from the mobile device may also be calculated by dividing the width of the working area by the first distance b and subtracting 1; the first distance b is 0.8 to 1 from the operating width of the mobile device.
  • the portion of the boundary line where only one side boundary of the length direction of the region is disposed corresponds to a portion where the width of the working region is not fixed.
  • the size of the width of the working area is changed, so that on one side in the longitudinal direction, a boundary line is provided at AB, and at the rectangular AECD of FIG. 5, the width of the working area is fixed. , so there is no need to set a boundary line.
  • the width of the working area at the side GH and the side HI in Fig. 8 is changed, so that boundary lines are provided at both the side GH and the side HI.
  • the width of the portion where the width of the working area is not fixed is smaller than the width of the portion where the width is fixed; and the width of the portion where the width of the working area is fixed, when the distance travels straight from the moving device along the width direction of the working area
  • the self-moving device is controlled to turn when the width of the fixed portion of the working area is reached.
  • the method may further include: obtaining a maximum width of the working area; a portion of the length boundary of the working area that is only one side of the boundary, and a portion of the working area corresponding to a width of the working area that is smaller than a maximum width; Controls the steering from the mobile device when the distance traveled by the mobile device in a straight line along the width of the work area reaches the maximum width of the work area.
  • each steering in the walking process of the mobile device is judged based on whether the boundary line is touched, and it is not necessary to determine according to the length of the working area of the mobile device.
  • the step of controlling the steering from the mobile device includes: when the mobile device touches the boundary line, recording the walking distance from the mobile device along the width W direction of the working area; and controlling the self-mobile device After being deflected by 90 degrees in the direction of the unwalked work area, the second distance is traveled along the length L of the work area; the second distance is less than or equal to the first distance b or the operation width a from the mobile device; After two distances, the distance traveled from the mobile device to the width W direction of the working area after being deflected by the mobile device by 90 degrees, and the walking direction of the self-moving device after deflection and the width of the last working area of the self-moving device The walking direction in the W direction is opposite; when the distance traveled by the mobile device reaches the walking distance in
  • the length of the working area is a third distance in the L direction, and the sum of the second distance and the third distance may be the first distance b or the self-moving setting
  • FIG. 9 is a schematic structural diagram of a self-mobile device path planning system according to an embodiment.
  • a boundary line is provided from at least a portion of the boundary of the length direction of the working area of the mobile device, the system including the controller 100 and the diverter 200; the input of the diverter 200 and the first output of the controller 100 Connected.
  • the controller 100 is configured to acquire a maximum width of the working area; the redirector 200 is configured to control the self-moving when the length of the straight traveling path from the mobile device reaches the maximum width of the working area, or when the mobile device hits the boundary line Equipment steering.
  • the self-mobile device path planning system sets a boundary line at least part of only one side boundary in the length direction of the working area of the mobile device, reduces the use of the boundary line, reduces the cost, and when the self-mobile device encounters the boundary
  • the controller is further configured to acquire the length of the work area, and calculate the preset number of turns from the mobile device according to the length L of the work area and the operation width a of the mobile device.
  • the self-mobile device path planning system further includes a driver 300, the input end of the driver 300 is connected to the second output end of the controller, and the driver 300 is used for the steering number of the self-mobile device is not equal to the preset steering from the mobile device When the number of times, the control moves from the mobile device. When the number of turns from the mobile device is equal to the preset number of turns from the mobile device, the control is stopped from the mobile device, and the number of turns from the mobile device is not equal to the preset steering from the mobile device.
  • the controller 100 calculates that the preset number of turns from the mobile device is performed by dividing the width of the work area by the first distance b and subtracting 1; wherein the first distance b is an operation from the mobile device. 0.8 to 1 times the width a.
  • the self-moving device includes a body main body 101, a tension detecting unit 102, and a device control unit 103.
  • the fuselage main body 101 is connected to the cable 20 for supplying electric power to the self-moving device;
  • the tensile force detecting unit 102 is configured to detect the tensile force of the cable 20 when the mobile device is walking, and the tensile force detecting unit 102 can perform the pulling force by using the stress sensor.
  • the device control unit 103 is configured to adjust the walking speed of the self-moving device according to the pulling force detected by the tension detecting unit 102.
  • One end of the cable 20 of the embodiment of the present invention is connected to the body main body 101, and the other end is connected to an external power source, which may be an AC power source (such as a commercial power source) or a DC power source.
  • an AC power source such as a commercial power source
  • a DC power source for safety reasons, the AC power supply can be stepped down by AC/AC, or AC/DC step-down to a safe voltage; high power
  • the DC power supply can be stepped down by DC/AC, or DC/DC stepped down to a safe voltage.
  • the walking speed of the mobile device is controlled by its own control strategy from the mobile device itself.
  • the speed is too fast, it is easy to appear: the cable 20 is released at a lower speed than the moving device, and the cable 20 is subjected to excessive pulling force.
  • the cable 20 is torn or the cable connector is detached.
  • a speed control feedback mechanism is adopted, by setting a tension detecting unit 102 on the body main body 101 of the mobile device to detect the tensile force of the cable 20, and adjusting the walking speed of the self-moving device according to the pulling force, so that When the tensile force of the cable 20 is greater than the upper limit threshold, the walking speed of the self-moving device is lowered.
  • the walking speed of the self-moving device it is also possible to increase the walking speed of the self-moving device to a certain value when the tensile force of the cable 20 is less than the lower limit threshold. In this way, it is possible to avoid the phenomenon that the moving speed of the mobile device is too fast, the cable is subjected to excessive force, the cable is easily broken, and the accident rate of automatic control from the mobile device is reduced.
  • the embodiment of the present invention uses a cable to supply power from a mobile device.
  • a battery-powered self-mobile device is used.
  • the battery capacity is large, which means high cost and large volume.
  • the above problem is not provided by the cable to supply energy from the mobile device, but the cable imposes restrictions on the mobile device: the cable is easily broken and easily entangled.
  • the self-moving device cable of the embodiment of the present invention is at the rear of the machine, and the cable is pulled forward from the mobile device, and the boundary is retracted, and the cable is automatically retracted by the cable reel, and the cable is not coiled on the ground. Pull the cable and go forward.
  • the self-mobile device of the embodiment of the present invention further includes: a power input unit 104, which is disposed on the body 101, and the power input unit 104 is connected to the power source through the cable 20.
  • a power input unit 104 For supplying power to the self-moving device, wherein the cable 20 is wound around the automatic take-up cable reel 30 at the power source.
  • the cable 20 is retracted by the automatic take-up cable reel 30.
  • the cable plug 105 is connected to the cable 20. Pulling force is generated along the cable 20, and the pulling force acts on the reel of the automatic take-up cable reel 30 to cause the wire to be pulled.
  • the tensile force detecting unit 102 detects the tensile force of the cable 20, and the pulling force is the pulling force of the reel to the cable 20.
  • the automatic take-up cable reel 30 automatically retracts the cable 20 to prevent the cable 20 from being entangled from the mobile device.
  • the self-mobile device of the embodiment further includes: a navigation and positioning module 106, configured to perform path planning on the self-mobile device.
  • the navigation and positioning module 106 may include a MEMS motion sensor, GPS, combined with pulse radio (UWB) positioning, ultrasonic positioning, laser assisted positioning, etc., wherein the motion sensor may include a gyroscope, an acceleration sensor, and an electronic compass. Wait.
  • the self-moving device of the embodiment of the present invention may further include: a working motor 107 for driving the working disk; a walking motor 108 for driving the mobile device; and a human-machine interaction module 109 for performing Human-computer interaction; wireless communication module 110 and memory 111.
  • the device control unit 103 is connected to each of the above components.
  • the wireless communication module 110 can communicate with the automatic take-up cable reel to assist in repositioning or controlling from the mobile device.
  • the embodiment of the invention also provides an automatic take-up cable reel.
  • the automatic take-up cable reel is fixed in the garage and can be used in the self-mobile device of the above embodiment of the present invention, and has the function of automatically recovering the cable.
  • the automatic take-up cable reel of the present embodiment comprises: a reel 301 for winding a cable 20 for transmitting electrical energy to the self-moving device; and a bracket 302 for supporting the volume
  • the barrel 301, the holder 302 rotates in the direction from the mobile device, so that the outlet of the reel 301 faces the direction from the mobile device.
  • the bracket 302 is horizontally rotatable such that the outlet of the reel 301 always faces the self-moving device, which can avoid wear between the cable 20 and the side wall of the reel 301, and prolong the service life of the cable 20. And it does not hinder the walking of the mobile device alone.
  • the automatic take-up cable reel of the embodiment further includes: a base 303, the base 303 is provided with a rotating shaft 3031, the bracket 302 is fixed on the rotating shaft 3031, and the bracket 302 is on the cable 20 Rotate under tension.
  • the bracket 302 is passively rotated by the pulling force of the cable, and the rotating shaft 3031 is rotated, so that the outlet of the bracket 302 faces the self-moving device.
  • the automatic take-up cable reel of the embodiment adopts a method of actively adjusting the direction of the reel outlet.
  • the automatic retractable cable reel adds a direction detecting unit for detecting the cable receiving Pulling direction; cable tray control unit for detecting according to the direction detecting unit In the direction of the pulling force, the bracket is rotated horizontally so that the outlet of the reel is oriented toward the pulling force.
  • the direction of the self-moving device is determined by the pulling direction of the cable.
  • the cable tray control unit controls the bracket to rotate in the direction, thereby ensuring the cable outlet of the cable.
  • the direction from the mobile device remains the same.
  • the automatic take-up cable reel of the embodiment of the present invention further includes an angle sensor 304 for detecting the angle at which the bracket 302 rotates.
  • the angle sensor 304 can be a gyroscope and the measured angle can be used to assist in determining the path of the regression from the mobile device.
  • the automatic take-up cable reel also includes a cable length measuring device 305 for detecting the outgoing or return length of the cable.
  • the cable length measuring device includes: a rotating wheel that rotates under the driving of the cable outlet or the return line; and a counter for counting the number of revolutions of the rotating wheel.
  • n is the number of revolutions of the wheel. The number of turns is obtained by the counter; the cable is determined according to the direction of rotation of the wheel. Pull out or retract.
  • the automatic take-up cable reel further comprises: an electric shock or short circuit protection device 306 and a wireless communication module 307, and the electric shock or short circuit protection device 306 can be a contactor/circuit breaker, etc., to ensure the safety of the cable reel Sex.
  • the wireless communication module 307 then communicates with the communication on the mobile device.
  • the above modular units are all connected to the cable tray control unit 308 of the automatic take-up cable reel, and are controlled accordingly.
  • the embodiment of the present invention further provides a self-mobile device control method, wherein the self-mobile device shown in this embodiment is connected to a power source through a cable, and the cable is wound on the automatic take-up cable tray, and the self-mobile device may be A self-mobile device as described in the above embodiments.
  • the control method includes: controlling the reciprocating walking of the self-moving device along the parallel path in the working area, wherein the self-moving device returns in a reverse walking manner.
  • the reciprocating walking from the mobile device along the parallel path can ensure that the working area covers the entire working area, wherein the backward walking manner can be reversed by the original path, or firstly deflected by an angle, a reversed trajectory and a forward trajectory.
  • the spacing may be greater than zero and less than the diameter of the working head of the machine, or may be free of spacing.
  • the embodiment of the original road return includes: when the vehicle is moving forward (ie, away from the automatic take-up cable reel), the cable is dragged forward; when returning, the vehicle is moved backward to the initial position to ensure that the path of each forward travel is parallel. Just overlap.
  • the return mode of the embodiment makes Self-mobile devices are not entangled by cables.
  • controlling the walking speed of the self-moving device according to the pulling force of the cable during the walking from the mobile device in a direction away from the automatic take-up cable reel.
  • the traveling speed of the self-moving device is adjusted according to the pulling force, so that the tensile force on the cable 20 is greater than the upper limit.
  • the walking speed of the self-moving device is lowered.
  • the tensile force of the cable 20 exceeds the limit threshold, it indicates that the cable is stuck or has been placed for the longest length, and the control stops walking or retreating from the mobile device.
  • controlling the reciprocating of the self-moving device along the parallel path in the working area in the embodiment comprises: controlling the self-moving device to advance along the current path to the boundary of the working area; controlling the self-moving device from the working area along the current path Regressing to the initial position of the current path at the boundary; controlling the adjacent path from the mobile device to the current path, using the adjacent path as the current path, returning to perform the control from the mobile device along the current path to the boundary of the working area step.
  • the automatic take-up cable reel is fixed indoors and operates from the mobile device in the work area.
  • the mobile device travels from the position near the automatic take-up cable reel to the boundary of the work area (the boundary between the work area and the main road shown in the figure), and then walks backwards from the mobile device.
  • the fourth position then go to the adjacent parallel path on the right side of the previous path in the work area and walk to the right side of the work area in the same way.
  • each time walking to the boundary of the working area it can be determined whether the walking path of the mobile device covers the working area; wherein the walking path of the self-moving device is not covered In the area, the step of controlling the self-moving device to retreat from the boundary of the working area to the initial position of the current path along the current path; controlling the self-moving device to follow the straight line from the current position when the walking path of the mobile device has covered the working area Walk backwards to the vicinity of the automatic take-up cable reel. Since the walking path of the mobile device has covered the working area, the work task from the mobile device has been completed, and therefore, the current position can be directly returned to the starting point along the straight line, and the work is stopped, as shown in Fig. 15E.
  • controlling the adjacent path from the mobile device to the current path includes: controlling a predetermined distance from the mobile device to turn a predetermined distance in the preset direction, wherein the preset direction is perpendicular to the current path and is pointed From the area where the mobile device has not traveled, ⁇ is greater than 0 and less than or equal to 90; and the control is turned from the mobile device to the opposite direction of the preset direction by a degree to the adjacent path of the current path.
  • the adjacent path is parallel to the current path, and the current path described here is the path that was last traveled.
  • step S801 a work area is determined.
  • step S802 the snow blower starts to sweep in a straight line from the starting point, as shown in Fig. 15A.
  • step S803 the snow blower advances to the boundary of the work area.
  • the distance of the snow blower can be set according to the size of the work area, and the snow blower can be controlled to advance to the distance.
  • step S804 the snow blower stops the snow sweeping and returns backwards, as shown in Fig. 15B.
  • step S805 the distance that the snow blower is reversed is controlled to be equal to the forward distance.
  • Step S806 turning left ⁇ ° and starting to travel for a distance as shown in Fig. 15C.
  • step S807 the right angle is turned by ⁇ ° to straighten the body, as shown in Fig. 15D.
  • step S808 the snow blower advances to the boundary of the work area.
  • step S809 it is determined whether the work area has been swept. If yes, step S810 is performed; otherwise, step S804 is performed.
  • step S810 the snow sweeping line is stopped and the line is reversed to the vicinity of the starting point.
  • the self-mobile device described in the embodiment of the present invention may be an automatic snow sweeper, an automatic lawn mower, or the like.

Abstract

La présente invention concerne un procédé et un système de planification de trajet pour un dispositif automoteur, le procédé consistant à acquérir une première direction latérale d'une zone de travail ; à commander le dispositif automoteur de manière à ce qu'il se déplace dans la première direction latérale, lorsque le dispositif automoteur se déplace vers une limite de la zone de travail, à commander le dispositif automoteur de manière à ce qu'il tourne. Le système de planification de trajet pour un dispositif automoteur comprend : un dispositif de commande (100), conçu pour acquérir la longueur maximale de la première direction latérale de la zone de travail ; un dispositif de direction (200) dont une extrémité d'entrée est reliée à une première extrémité de sortie du dispositif de commande (100), et qui est conçu pour commander le dispositif automoteur de manière à ce qu'il tourne lorsqu'une distance de déplacement en ligne droite dudit dispositif dans la première direction latérale atteint la longueur maximale de la première direction latérale, ou lorsque le dispositif automoteur touche une ligne limite. Au moyen du procédé et du système de planification de trajet pour un dispositif automoteur, lorsqu'une distance de déplacement atteint la longueur d'un premier côté ou lorsqu'une ligne limite est atteinte, le dispositif automoteur est commandé de manière à tourner, ne nécessitant pas de commande manuelle, ayant pour résultat à un fonctionnement simple et des applications étendues.
PCT/CN2017/107458 2016-10-24 2017-10-24 Procédé et système de planification de trajet pour dispositif automoteur WO2018077160A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201610926272.3A CN107974995B (zh) 2016-10-24 2016-10-24 自移动设备路径规划方法和系统
CN201610926272.3 2016-10-24
CN201610937574.0A CN107974996B (zh) 2016-10-25 2016-10-25 一种自动行走设备及其控制方法以及自动收线电缆盘
CN201610937574.0 2016-10-25

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