WO2020088461A1 - Control method and system for walking robot - Google Patents

Abstract

Disclosed are a control method and system for a walking robot. The system comprises: a configuration module (100), for supplying a closed line patrol path, wherein the line patrol path is a closed loop formed by a boundary line of a working area where a walking robot is located; a patrol module (200) for driving the walking robot to set out from a beginning point, walk along the line patrol path, record the perimeter of the line patrol path and determine the position of a narrow channel on the line patrol path; an area dividing module (300) for dividing an area formed by the current line patrol path into at least one narrow area formed by at least one narrow channel and at least two non-narrow areas connected to two ends of at least one narrow area; and a control processing module (400) for acquiring a position value corresponding to each starting point in each non-narrow area according to the recorded perimeter of the line patrol path, wherein the starting point is arranged on the line patrol path and each non-narrow area comprises at least one of the starting points, and the position value is equal to the length value of a distance on the line patrol path of the current starting point to the beginning point. Before a preset condition is met, the walking robot is only allowed to choose to enter into a working state at the starting point of the same non-narrow area and is forbidden from entering into the narrow area. Working spaces can be automatically divided to make a walking robot avoid entering into a narrow area during a working process thereof in each non-narrow area, improving working efficiency.

Description

Control method and system of walking robot Technical field

The invention relates to the field of intelligent control, in particular to a control method and processing system of a walking robot.

Background technique

With the continuous progress of science and technology, various automatic working equipment has begun to slowly enter people's lives, such as: automatic vacuum robots, automatic lawn mowing robots, etc. This automatic working equipment has a walking device, a working device and an automatic control device, so that the automatic working equipment can be separated from the operation of people, and it can automatically walk and perform work within a certain range. When the energy storage device of the automatic working equipment has insufficient energy, it It can automatically return to the charging station device for charging, and then continue to work.

Taking the automatic working equipment as a mowing robot as an example, during the working process, the mowing robot uses the electronic boundary to surround the lawn and the rockery, fountains and other obstacles in the lawn, and performs random mowing on the lawn within the electronic boundary , In order to liberate users from manual labor, and is widely used because of its low price.

In the prior art, the walking path of the mowing robot is mostly based on non-narrow areas for traversal operations, so for regular work areas, the mowing robot can usually meet user needs; however, in practical applications, often complex and diverse Mowing area, especially the mowing area with narrow area, the lawn mower robot in the prior art has a low probability of randomly entering the narrow area and passing through the narrow area to enter the next working area, resulting in a long-term mowing robot Deviating from certain mowing areas, which results in the grass in the mowing area being left unattended for a long time and can only be removed manually by the operating user.

Summary of the invention

In order to solve the above technical problems, the object of the present invention is to provide a control method and system for a walking robot.

In order to achieve one of the above objects of the invention, a control method of a walking robot includes: S1: providing a closed line-traveling path, which is a closed loop formed by the boundary line of the working area where the walking robot is located; S2: driving The walking robot starts from the initial point and walks along the patrol route for one week, recording the circumference of the patrol route and confirming the position of the narrow channel on the patrol route; S3: dividing the area formed by the current patrol route into at least one narrow At least one narrow area formed by the channel, and at least two non-narrow areas connected at both ends of at least one of the narrow areas; S4: obtaining the position corresponding to each departure point in each of the non-narrow areas according to the recorded perimeter of the route Value; the starting point is set on the patrol route, and each of the non-narrow areas includes at least one of the starting points; the position value is equal to the length of the current starting point from the initial point on the patrol route ; S5: Before reaching the preset condition, only the walking robot is allowed to choose to belong to the same non-narrow area Enters the work mode at the starting point and prohibits the walking robot from entering the narrow area.

As a preferred solution of a specific embodiment of the present invention, the initial point is set at a base station location.

As a preferred solution of a specific embodiment of the present invention, the preset condition is at least one of cumulative working time, cumulative working distance traveled, and battery pack power.

As a preferred solution of a specific embodiment of the present invention, the method further includes: S21: transmitting a signal to the boundary line to generate an electromagnetic signal around the boundary line; S22: driving the walking robot along the extension direction of the patrol line path During the walking process, record the strength of the electromagnetic signal actually received by the walking robot; S23: confirm the position of the narrow channel on the line-tracking path according to the strength of the electromagnetic signal actually received by the walking robot.

As a preferred solution of a specific embodiment of the present invention, “Acquiring the position value corresponding to each departure point in each non-narrow area according to the recorded perimeter of the route for patrol” specifically includes: S41: acquiring the area formed between the narrow area and the non-narrow area Critical point, and the corresponding position value of each critical point; where, along the extending direction of the patrol route, the critical point sequence formed is the critical point P1, the critical point P2, the critical point P3, the critical point P4, the position corresponding to each critical point The values are L _P1 , L _P2 , L _P3 , and L _P4 in sequence; S42: Obtain the perimeter of each non-narrow area according to the position value corresponding to each critical point; or according to the obtained position value corresponding to the critical point and the line path Perimeter to obtain the perimeter of each non-stenosis area; S43: According to the perimeter of each non-stenosis area, independently obtain the position value corresponding to each starting point in the non-stenosis area.

As a preferred solution of a specific embodiment of the present invention, “obtaining the perimeter of each non-narrow area according to the obtained position value corresponding to the critical point and the perimeter of the line-travel path” specifically includes: determining whether the initial point On the narrow area, if it is, the current perimeter of the non-narrow area l _A = l _sum- (L _P4- L _P1 ); if not, the perimeter of the current non-narrow area l _A = L _P3- L _P2 , where, l _sum indicates the perimeter of the line- _tracking path, and l _A indicates the perimeter of the current non-narrow area.

As a preferred solution of a specific embodiment of the present invention, “obtaining the perimeter of each non-narrow area according to the position value corresponding to each critical point” specifically includes: using an accumulation algorithm to obtain the perimeter of each non-narrow area, that is, determining the initial point Whether it is in the current non-narrow area, if it is, along the extension direction of the patrol route, the circumference of the current non-narrow area is accumulated from the initial point, and when the critical point P1 is reached, the accumulation of the current non-narrow area is stopped. When reaching the critical point P4, continue to accumulate the perimeter of the current non-narrow area until returning to the initial point; if not, the perimeter of the current non-narrow area is between the critical point P2 and the critical point P3 along the extension direction of the patrol route length.

As a preferred solution of a specific embodiment of the present invention, “According to the perimeter of each non-stenosis area to independently obtain the position value corresponding to each starting point in the non-stenosis area” specifically includes: S431: Obtained according to the perimeter of the non-stenosis area l _A position of the starting point of the value of S L _S, the position of the end point E of the values of the line section between the departure and along the transmission line L _E path from the start point S to end point E length l _SE; the departure interval in accordance with the transmission line path of travel The trajectory and the starting point are all selected within the starting interval; then l _SE = L _E- L _S , L _S = x · l _A , L _E = y · l _A , l _SE ≤ l _A , where x <y, x∈ [0,1), y∈ (0,1]; S432: select at least one starting point within the starting interval.

As a preferred solution of a specific embodiment of the present invention, the method further includes: determining whether the initial point is on the current non-narrow area, and if so, setting the initial point as the starting point S of the current non-narrow area; if not, Then, the critical point P3 is set as the starting point S of the current non-narrow area.

As a preferred solution of a specific embodiment of the present invention, the method specifically includes: dividing the starting interval into a plurality of sub-intervals; and selecting at least one starting point corresponding to the sub-interval in each sub-interval.

As a preferred solution of a specific embodiment of the present invention, "dividing the departure interval into multiple sub-intervals" specifically includes: dividing the departure interval into multiple sub-intervals according to an ordered sequence.

As a preferred solution of a specific embodiment of the present invention, "dividing the starting interval into multiple sub-intervals according to the ordered sequence" specifically includes: dividing the starting interval into multiple sub-intervals according to the ordered sequence, so that the length relationship between the sub-intervals is For example, at least one of the arithmetic sequence, the geometric sequence, the equal sum sequence, the Fibonacci sequence, the group sequence, the period sequence, and the step sequence.

As a preferred solution of a specific embodiment of the present invention, "selecting at least one starting point in the starting interval" specifically includes: obtaining at least one starting point in the starting interval in a random or pseudo-random manner.

As a preferred solution of a specific embodiment of the present invention, the method specifically includes: within the starting interval, starting from the position value L _{S of the} starting point S, selecting the first starting interval according to the first preset length, and selecting the first starting interval Randomly select the first departure point within the departure interval; sequentially use the selected departure point as the starting point, divide at least one second departure interval according to the second preset length, and randomly select the next departure point within the second departure interval Until the entire starting interval is traversed.

As a preferred solution of a specific embodiment of the present invention, the method further includes: automatically acquiring a frequency value corresponding to each starting point in the current line-travel route; the frequency value is the number of consecutive departures of the walking robot at the same starting point.

As a preferred solution of a specific embodiment of the present invention, the method further includes: configuring the frequency value of each starting point to be equal within a preset frequency threshold range; or within the preset frequency threshold range, according to the distance between each starting point The distance difference of the previous departure point on the patrol route is positively related to configuring the frequency value corresponding to each departure point; or within the preset frequency threshold range, randomly configuring any frequency value for each departure point.

As a preferred solution of a specific embodiment of the present invention, the method further includes: acquiring the state attributes of the walking robot in real time, the state attributes including: at least one of the battery pack power, the continuous working duration, and the continuous working walking distance; If the power of the battery pack of the walking robot is less than the preset power threshold, and / or the continuous working duration is greater than the preset working duration threshold, and / or the continuous walking distance is greater than the preset continuous walking distance threshold, the walking robot is driven Return to the base station.

As a preferred solution of a specific embodiment of the present invention, when the walking robot reaches a preset condition, the position value and / or frequency value of the starting point are newly determined.

In order to achieve another object of the invention described above, an embodiment of the present invention provides a control system for a walking robot. The system includes: a configuration module for providing a closed line-traveling path for the line-traveling robot to work A closed loop formed by the boundary of the area; a patrol module for driving the walking robot from the initial point, walking along the patrol route for one week, recording the circumference of the patrol route and confirming the location of the narrow passage on the patrol route; area A dividing module for dividing the area formed by the current patrol route into at least one narrow area formed by at least one narrow passage, and at least two non-narrow areas connected at both ends of the at least one narrow area; the control processing module uses In order to obtain the position value corresponding to each departure point in each of the non-narrow areas according to the recorded perimeter of the tour route; the departure point is set on the tour route, and each of the non-narrow areas includes at least one location The starting point; the position value is equal to the length of the current starting point from the initial point on the route Value; before reaching the preset condition, only allowing the walking robot at said selected starting point in the same area belonging to the non-narrowed into the working state and prohibits the walking robot enters the narrow regions.

Compared with the prior art, the control method and system of the walking robot of the present invention automatically divide the working area for the working space with a narrow channel to form a narrow area and a non-narrow area, and make the walking robot in the working process, According to the need to freely pass through the narrow area to traverse each non-narrow area, and thus improve the traversal of the walking robot in the working area, improve work efficiency.

BRIEF DESCRIPTION

FIG. 1 is a schematic structural diagram of a walking robot in an embodiment of the present invention;

2 is a schematic flowchart of a method for controlling a walking robot in an embodiment of the present invention;

3 is a schematic flowchart of a method for judging a narrow channel in a working area according to an embodiment of the present invention;

4 is a schematic flow chart of acquiring a position value corresponding to each starting point in any non-narrow area in an embodiment of the present invention;

FIG. 5 and FIG. 6 are respectively effect diagrams of specific examples of the present invention in a specific application environment;

7 is a schematic flowchart of a starting point selection method in an embodiment of the present invention;

8 is a schematic structural view of a walking route of a walking robot in a specific example of the present invention;

9 is a block diagram of a control system of a walking robot in an embodiment of the present invention;

FIG. 10 is a schematic diagram of a work flow of a control system of a walking robot in an embodiment of the present invention.

detailed description

The present invention will be described in detail below with reference to the embodiments shown in the drawings. However, these embodiments do not limit the present invention, and structural, method, or functional changes made by those of ordinary skill in the art according to these embodiments are included in the protection scope of the present invention.

The walking robot of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the work area to perform grass cutting and vacuuming work. In the specific example of the present invention, the walking robot is used as a lawn mower as an example for specific description Correspondingly, the working area may be a lawn.

As shown in FIG. 1, in a preferred embodiment of the present invention, a walking robot is provided. The walking robot includes: a body 10, a walking unit and a control unit provided on the body 10; and a walking robot for docking and charging Base station.

The base station is connected to a boundary line arranged along the peripheral side of the working area. When the base station transmits a pulse code signal to the boundary line, the pulse code signal is transmitted within the boundary line to form a magnetic field near the boundary line and generate an electromagnetic signal.

The walking unit includes: a driving wheel 21, a passive wheel 23, and a motor 25 for driving the driving wheel 21; the motor 25 may be a brushless motor with a reduction box; after the motor 25 is started, the driving wheel may be driven through the reduction box 21 Walking, and controlling the rotation speed of the driving wheel 21, further, in conjunction with the adjustment of the driving wheel 21, the entire walking robot is driven to realize forward, backward, turning and other actions. The passive wheel 23 may be a universal wheel, which mainly serves to support balance.

The control unit includes at least a status sensor, which is used to acquire various information obtained by the walking robot along the patrol route, for example: acquiring the electromagnetic signal strength on the patrol route; in this specific embodiment, the status sensor includes The boundary line sensor will be described in detail in the following content; the data storage is used to store various information obtained by the robot walking along the line patrol path, such as EPROM, Flash or SD card. There are various types of information obtained by the walking robot walking along the patrol route, which will be described in further detail below.

Because the base station transmits pulse-coded signals along the boundary line to form an electromagnetic signal near the boundary line, the control unit can control the motor according to the change of the electromagnetic signal strength near the boundary line and the difference between the internal and external signals obtained by the status sensor Operation, so that the walking robot always runs along the boundary line or runs inside or outside along the boundary line with an equal distance from the boundary line.

The walking robot further includes: a working mechanism for working. In this embodiment, the working mechanism is a lawn mower disk, and various sensors for sensing the walking state of the walking robot, such as: dumping, leaving the ground, collision sensor Wait, no more details here.

In the specific application environment of the present invention, the working area (lawn) may be a whole non-narrow area, or may be at least one narrow area formed by at least one narrow passage, and connected at both ends of the at least one narrow area At least two non-narrow areas.

With reference to FIG. 2, a method for controlling a walking robot according to a preferred embodiment of the present invention includes:

S1. Provide a closed patrol route, which is a closed loop formed by the boundary line of the working area where the walking robot is located.

S2. Drive the walking robot from the initial point to walk along the patrol route for one week, record the circumference of the patrol route and confirm the position of the narrow channel on the patrol route.

In a preferred embodiment of the present invention, at least one line patrol mode and one operation mode are configured for the walking robot; in the line patrol mode, the walking robot can be driven from the initial point, walk along the line patrol path for one week, and record the line patrol The perimeter of the path, the strength of the electromagnetic signal actually received by the walking robot, etc. In the line patrol mode, the walking robot may also be driven from the initial point and reach a specific starting point along the line patrol path to enter the work mode. In the work mode, the walking robot can be driven to walk along a straight line or a curve in the working area and cut grass. When the walking robot reaches a certain posture (such as encountering a boundary line), it turns to enter the direction of the working area. In the work mode, you can also drive the walking robot to walk along the boundary line and cut the grass.

In an implementable mode of the present invention, the status sensor further includes: a mileage sensor, which is used to record the circumference of the line patrol path, that is, the travel distance of the walking robot; the mileage sensor may also be an odometer, inertial sensor, Hall Or photoelectric sensors.

In a preferred embodiment of the present invention, as shown in FIG. 3, the step S2 specifically includes: S21, transmitting a pulse code signal along the patrol route to generate an electromagnetic signal on the patrol route; S22, driving the walk During the robot walking along the extension direction of the patrol route, record the strength of the electromagnetic signal actually received by the walking robot; S23. Confirm the position of the narrow channel on the patrol route according to the strength of the electromagnetic signal actually received by the walking robot.

In a preferred embodiment of the present invention, the boundary line sensor detects the electromagnetic signal actually received on the walking robot.

In a preferred embodiment of the present invention, a pair of boundary line sensors are symmetrically arranged along the center line of the walking robot. During the walking robot walks along the patrol path, the pair of boundary line sensors respectively detect the electromagnetic signal strength on both sides of the patrol path; In the narrow area, the magnetic field strength between the narrow areas is strengthened due to the superposition of the magnetic fields generated relative to the boundary line, so that the magnetic field strength outside the narrow area is weakened. Compare the electromagnetic intensity generated by the signal, or confirm the position and range of the narrow area according to the change of the electromagnetic signal intensity actually received by the two boundary line sensors.

After confirming that there is a narrow channel, the method further includes: S3, dividing the area formed by the current patrol route into at least one narrow area formed by at least one narrow channel, and at least two connected at both ends of the at least one narrow area Non-narrow area.

It should be noted that if it is confirmed that there is no narrow passage, the work is completed directly in the working area formed by the current patrol route.

S4. Acquire the position value corresponding to each departure point in each non-narrow area according to the recorded perimeter of the patrol route; the departure point is set on the patrol route, and each of the non-narrow areas includes at least one Departure point; the position value is equal to the length value of the current departure point from the initial point on the patrol route. Starting from the initial point, the walking robot walks along the boundary line in the patrol line mode to the specified starting point, then turns into the work area and enters the work mode. For the case where the initial point coincides with the starting point, the walking robot directly turns into the work area at the initial point and enters the work mode.

With reference to FIG. 4, in a specific embodiment of the present invention, the step S4 specifically includes: S41, acquiring a critical point formed between a narrow area and a non-narrow area, and the position value corresponding to each critical point; In the extending direction of the line path, the critical points formed are the critical point P ₁ , the critical point P ₂ , the critical point P ₃ , and the critical point P _4. The position values corresponding to each critical point are L _P1 , L _P2 , L _P3 , L _P4 ; S42, obtain the perimeter of each non-narrowed area according to the position value corresponding to each critical point; or obtain the perimeter of each non-narrowed area according to the obtained position value corresponding to the critical point and the perimeter of the route path; S43 .According to the perimeter of each non-narrow area, the position value corresponding to each starting point in the non-narrow area is independently obtained.

It should be noted that the step S4 can be selected to be completed in the line patrol mode, can also be completed in the operation mode, or can be completed in two modes; the initial point is that the walking robot walks along the line patrol path for a week The starting point in the process. In the specific embodiment of the present invention, the walking robot usually starts from the base station and walks along the patrol route for one week before returning to the base station. In this way, the position of the base station can be used as an initial point.

In step S41, after determining the position of the narrow passage, the walking robot can automatically identify the critical point, that is, the position of the critical point can be determined. For ease of understanding, the present invention places the critical point in the extending direction of the patrol path (ie, direction D1) ) Is represented by the critical point P ₁ , the critical point P ₂ , the critical point P ₃ , and the critical point P ₄ according to the order of arrival; in other embodiments of the present invention, the coil can also be manually laid at the corresponding position of the critical point The method increases the accuracy of identifying the critical point, which will not be described in detail here.

In the first preferred embodiment of the present invention, the step S42 specifically includes: judging whether the initial point is on the current non-stenosis area, and if so, the perimeter of the current non-stenosis area l _A = l _sum- (L _P4 -L _P1 ); if not, the current perimeter of the non-narrowed area l _A = L _P3- L _P2 , where l _sum represents the perimeter of the patrol route, and l _A represents the perimeter of the current non-narrowed area.

For ease of understanding, with reference to FIG. 5, the present invention describes a specific example to facilitate understanding; in this example, the line-traveling path starts from the initial point (base station position in this embodiment), extends in the direction of arrow D1, and returns To the end of the initial point; the working area includes the non-narrow area A, the non-narrow area B, and the narrow area C that divides the working area into the non-narrow area A and the non-narrow area B; in this example, in the line patrol mode, the walking robot After walking along the boundary line (that is, the patrol route) for one week, the perimeter of the patrol route is obtained as l _sum , and the critical points formed by the non-narrow area A and the narrow area C in the extension direction of the patrol route are P ₁ and Critical point P ₄ , the order of the critical points formed by the non-narrow area B and the narrow area C in the extending direction of the line-travel path is P ₂ and the critical point P ₃ , and the position values corresponding to each critical point in the extending direction of the line-track path The order is represented by L _P1 , L _P2 , L _P3 , and L _P4 .

Correspondingly, the initial point is on the non-stenosis area A, so the perimeter of the non-stenosis area A can be expressed as l _A = l _sum- (L _P4- L _P1 ), and the perimeter of the non-stenosis area B can be expressed as l _B = L _P3 -L _P2 .

In the second preferred embodiment of the present invention, the step S42 specifically includes: using an accumulation algorithm to obtain the circumference of each non-narrow area, that is, to determine whether the initial point is on the current non-narrow area, and if so, to extend along the patrol route direction, from the initial accumulation point on the perimeter of the current non-narrow region and reach the critical point P _1, stopping the accumulation of non-narrow region of the circumference of this, when P ₄ reaches the critical point, the current continues to accumulate non narrow circumferential area Long until it returns to the initial point; if not, the current perimeter of the non-narrow area is the length from the critical point P ₂ to the critical point P ₃ along the extension direction of the route.

For ease of understanding, with reference to FIG. 6, the present invention describes a specific example to facilitate understanding.

It should be noted that, in the example shown in FIG. 6 and the example shown in FIG. 5, the perimeter, area division, initial point, critical point, and position value corresponding to the critical point are all expressed in the same way as in FIG. 5, so they are not More details.

In the preferred embodiment, since the initial point is on the non-narrowed area A, for the non-narrowed area A, the perimeter of the current non-narrowed area A is accumulated from the initial point along the extension direction of the route, when the critical point is reached At P ₁ , stop accumulating the perimeter of the current non-stenosis area A. When reaching P ₄ , continue to accumulate the perimeter of the current non-stenosis area A until returning to the initial point; that is, the perimeter of the non-stenosis area A is equal to the patrol line The sum of the length from the initial point to P _{1 and} the length from P ₄ to the initial point in the extending direction of the path.

For the non-stenosis area B, since the initial point is not on the non-stenosis area B, when P ₂ is reached, the circumference of the current non-stenosis area B starts to accumulate until after reaching P ₃ , the accumulation of the current non-stenosis area B's circumference is stopped; that is The perimeter of the non-narrow area B is equal to the length of P ₂ to P ₃ in the extending direction of the line-tracing path.

In a preferred embodiment of the present invention, as shown in FIG. 7, the step S43 specifically includes: S431, obtaining the line length l _{SE of the} departure interval according to the circumference l _{A of the} non-narrow area, the position value L _{S of the} starting point _S and The position value L _E of the end point E, the starting interval is a trajectory following the patrol route, then l _SE = L _E- L _S , L _S = x · l _A , L _E = y · l _A , l _SE ≤ l _A , where x <y, x∈ [0,1), y∈ (0,1]; S432, select at least one starting point in the starting interval.

It should be noted that the starting point L _S may be any point on the current line-tracking path. In a preferred embodiment of the present invention, it is determined whether the initial point is on the current non-narrow area, and if so, the initial point is set to The starting point S of the current non-narrow area; if not, the critical point P _{3 is} set as the starting point S of the current non-narrow area.

In a specific embodiment of the present invention, the step S432 specifically includes: dividing the departure interval into a plurality of sub-intervals; selecting at least one departure point corresponding to the sub-interval in each sub-interval respectively.

There are many ways to divide the departure interval into multiple sub-intervals. In a preferred embodiment, the departure interval is divided into multiple sub-intervals according to an ordered sequence, so that the length relationship between the sub-intervals is represented as an equidistance sequence, At least one of the proportional sequence, the equal sum sequence, the Fibonacci sequence, the group sequence, the period sequence, the step sequence, etc.

In a specific embodiment of the present invention, the starting interval is divided into n sub-intervals, n is a positive integer, then the length of each sub-interval has a certain relationship, which can be expressed as: L _Ai = Rt (i, l _Subi ) + L _S , where i ∈ [1, n], and i is an integer; l _Subi represents the length of the corresponding i-th sub-interval, L _Ai represents the position value of the starting point in the i-th sub-interval, and Rt (i, l _Subi ) is Relationship function.

In this specific example, the value of n can be preset, or the length of each sub-interval can be specified, and the formula

Obtain the number n of subintervals, where intD () is a rounding function down.

As a special example of this specific embodiment, the starting interval is divided into multiple sub-intervals using an arithmetic sequence, the tolerance is 0, and a specific value of n is set; then Rt (i, l _Subi ) = (k + i- 1) · l _Subi ,

k∈ [0,1], L _Ai = (k + i-1) · l _Subi + L _S. For example: when k = 0, it means that the starting point of each sub-interval is taken as the starting point of the current sub-interval, when k = 0.5, it means that the midpoint of each sub-interval is taken as the starting point of the current sub-interval, when k = 1 , Indicating that the end point of each sub-interval is taken as the starting point of the current sub-interval.

With continued reference to FIG. 5, in this embodiment, in order to avoid redundant description, the present invention will only take the area A as an example for specific introduction; in this example, the obtained non-narrow area A has a perimeter l _A = 300m, which is obtained by query = 0, y = 0.5, n = 10, k = 1, and the area A is separated by an arithmetic sequence to form multiple sub-intervals with a tolerance of 0; then l _SE = 0.5 × 300m-0 = 150m, l _Subi = 150m ÷ 10 = 15m, l _A1 = 15m,

..., l _A10 = 150m.

In another preferred embodiment of the present invention, the step S432 specifically includes: obtaining at least one starting point in a random or pseudo-random manner within the starting interval.

In a specific embodiment of the present invention, in the departure interval, starting from the position value L _{S of the} starting point S, the first departure interval is selected according to the first preset length, and the first one is randomly selected in the first departure interval Departure point; in turn take the selected departure point as the starting point, divide at least one second departure interval according to the second preset length, and randomly select the next departure point within the second departure interval until the entire departure interval is traversed.

The first preset length and the second preset length are both length preset constant values, and their sizes can be specifically set according to the length of the departure interval, for example: according to the length ratio corresponding to the departure interval, the This will not be described in detail; the departure interval is divided into a first departure interval and at least one second departure interval according to the first preset length, the second preset length, and the position of the selected departure point. The two departure intervals are only distinguished according to the second preset length, and the true length is not specifically limited. Since each departure point is selected in a random or pseudo-random manner, when the second departure interval exceeds one, each second The length of the departure interval may vary.

As an example of this specific implementation, the range of the first preset length is set to [a ₁ , b ₁ ], and the range of the second preset length is [a ₂ , b ₂ ], then L _A1 = RND (i ) + L _S , where RND (i) is a random / pseudo-random function, and RND (i) ∈ [a ₁ , b ₁ ], L _Aj = L _{A (j-1)} + RND (j), where RND ( j) ∈ [a ₂ , b ₂ ], j is an integer and j ∈ [2, c], c satisfies L _Ac ≤ L _E and L _{A (c + 1)} > L _E. That is, the first starting point is within the range defined by the starting point S and the first preset length, and its specific position within the range can be arbitrarily specified, or it can be determined by a random or pseudo-random algorithm, and the next starting point is on the previous The position of the starting point is selected within the starting interval defined by the second preset length.

Further, the method further includes: S5. Before reaching a preset condition, only the walking robot is allowed to select to enter the work mode at the starting point belonging to the same non-narrow area, and the walking robot is prohibited from entering The narrow area.

In a preferred embodiment of the present invention, the frequency value corresponding to each starting point in the current line patrol route is automatically obtained; the frequency value is the number of consecutive departures from the same starting point.

In the present invention, the frequency value corresponding to each starting point can be specified arbitrarily, and can also be obtained according to a certain rule. In a preferred embodiment of the present invention, the frequency value of each starting point is configured to be equal within the preset frequency threshold range; or within the preset frequency threshold range, according to the distance between each starting point and its adjacent previous starting point on the patrol route The distance difference above is positively related to configuring the frequency value corresponding to each starting point; or within the preset frequency threshold range, randomly configuring any frequency value for each starting point.

The frequency threshold range is usually a numerical range, the minimum value is 1, the maximum value is M, and M is a positive integer; under normal circumstances, it can be specifically set according to the size of the work area and the length relationship between adjacent starting points, for example: When the obtained starting points are equidistantly set, the frequency values corresponding to the starting points are usually set to be equal. When the distance between adjacent starting points is greater, the frequency values of adjacent starting points are correspondingly set to be larger; of course You can also set the total frequency value, and then assign the frequency value in proportion to the position value corresponding to the starting point, which will not be described in detail here.

In a preferred embodiment of the present invention, the method further includes: establishing a memory list for storing each starting point and its corresponding position value and frequency value; by querying the memory list, obtaining the position value corresponding to each starting point Sum frequency value.

The walking robot is driven to work in the current non-narrow area until a preset condition is reached, and then passes through the narrow area and enters the next non-narrow area to complete the work. When working in the current non-narrow area, the walking robot is only allowed to enter the working state at the starting point belonging to the current non-narrow area, and the walking robot is prohibited from entering the narrow area. In the preferred embodiment of the present invention, the working order of the walking robot is slightly adjusted corresponding to the different positions of the starting point.

With reference to FIG. 5, all the starting points in the current non-narrow area are on the same continuous line of patrol in the direction of the extension of the line of patrol, so that during the work, they continue to walk along the line of patrol, ie All starting points on the non-narrow area A and the non-narrow area B can be traversed separately. It should be noted that the first preferred embodiment obtains the perimeter of each non-narrowed area according to the position value corresponding to each critical point, which is more applicable to all starting points on the non-narrowed area, and extends in the direction of the patrol route. It is on the same continuous line of patrol route.

With reference to FIG. 6, the starting point on the current non-narrow area is on two consecutive line patrol paths in the extending direction of the line patrol path. Thus, when the walking robot does not complete the work of the current non-narrow area A, it needs to be avoided It enters the narrow area. At this time, if the walking robot accidentally enters the narrow area, it needs to return to the current non-narrow area A. After traversing all the starting points of the narrow area A, it then passes through the narrow area and enters the non-narrow area B. It should be noted that the second preferred embodiment obtains the perimeter of each non-narrowed area according to the position value corresponding to each critical point, which is more suitable for the starting point on the non-narrowed area and is located at 2 On a continuous line of patrol route.

In a realizable manner of the present invention, if a walking robot accidentally enters a narrow area through a boundary line of a narrow area, after entering the narrow area, the walking direction of the robot can be adjusted to reach another boundary line corresponding to the current boundary line, and then Then adjust the walking direction of the robot to make it return to the current non-narrow area and continue to work.

Further, the control method of the walking robot of the present invention further includes: acquiring the state attributes of the walking robot in real time, the state attributes including: at least one of the battery pack power, the continuous working duration, and the continuous working walking distance; according to the walking robot State attribute to determine whether to execute the regression mode.

If the power of the battery pack of the walking robot is less than the preset power threshold, and / or the continuous working duration is greater than the preset working duration threshold, and / or the continuous walking distance is greater than the preset continuous walking distance threshold, the walking robot is driven Perform regression mode. In the return mode, the walking robot finds the position of the base station, and returns to the base station for charging, and after charging is completed, returns to the position where the return mode was executed and continues to work.

It should be noted that after all the starting points of the walking robot on the patrol route have completed the work according to the obtained frequency value, it also needs to execute the regression mode. After that, if the work area for the next execution and the work area for the previous execution Same, you will directly enter the operation mode after patrol the line to the starting point, or re-determine the starting point and / or frequency value, then patrol the line to the new starting point; if they are different, you need to re-enter the patrol line mode, and will not repeat them in detail here . Preferably, when the walking robot traverses all starting points to complete the work according to the obtained frequency value, and then returns to the base station, before re-starting the work from the base station, the position value and / or frequency value of the starting point is re-determined, which helps avoid The problem of grass abrasion is caused by too many steering turns in the same position. In other preferred embodiments, the starting point position value and / or frequency value may also be re-determined according to other preset conditions, including but not limited to cumulative working time, cumulative working walking distance, cumulative charging times, whether it is specific The number of times of booting, etc.

Further, in the same working area, in order to avoid that the walking robot always walks at the same position on both sides of the boundary line to get out of ruts and damage the lawn, you can take the method of driving the walking robot to walk in different positions along the parallel area of the boundary line, as shown As shown in 8, the boundary line starts from the initial point, extends in the direction of arrow D1, and returns to the end of the initial point; line1 is the inner parallel line of the boundary line located on the lawn, and line2 is the outer parallel line of the boundary line located on the edge of the lawn. The distance between the two from the boundary line is generally a body, and the distance between the inner boundary line1 can be appropriately widened; the walking robot can travel within the range between line1 and line2 on both sides of the boundary line; and it can be executed in a certain order: as in Move to the left once, move to the right one wheel wide position next time, and move to the next wheel wide position again. When reaching the extreme position on the right, turn to the left and drive back and forth from the charging station. A random or other method is used to drive the walking robot between the boundary lines line1 and line2 to achieve the purpose of protecting the lawn.

As shown in FIG. 9, in the first embodiment of the present invention, the control system of the walking robot includes: a configuration module 100, a patrol module 200, an area division module 300, a control processing module 400 and a storage module 500.

The configuration module 100 is used to provide a closed line patrol path, which is a closed loop formed by the boundary line of the working area where the walking robot is located.

The patrol module 200 is used to drive the walking robot from the initial point, walk along the patrol route for one week, record the circumference of the patrol route and confirm the position of the narrow passage on the patrol route.

After the base station is turned on, the configuration module 100 transmits a pulse-coded signal along the patrol route through a signal generating device provided in the base station to generate an electromagnetic signal on the patrol route.

The patrol module 200 is used to drive the walking robot to walk along the extension direction of the patrol line path, record the strength of the electromagnetic signal actually received by the walking robot, and confirm the narrow channel on the patrol path according to the strength of the electromagnetic signal actually received by the walking robot s position.

The area dividing module 300 is used to divide the area formed by the current patrol route into at least one narrow area formed by at least one narrow passage, and at least two non-narrow areas connected at both ends of the at least one narrow area. .

The control processing module 400 is used to: obtain the position value corresponding to each departure point in each non-narrow area according to the recorded perimeter of the tour route; the position value is the length of the current departure point from the initial point on the tour route.

In a specific embodiment of the present invention, the control processing module 400 is specifically used to: obtain the critical point formed between the narrow area and the non-narrow area, and the position value corresponding to each critical point; wherein, along the extension direction of the patrol path, form The order of critical points is critical point P ₁ , critical point P ₂ , critical point P ₃ , critical point P ₄ , and the corresponding position values of each critical point are L _P1 , L _P2 , L _P3 , L _P4 in sequence; according to each critical point Obtain the perimeter of each non-narrowed area according to the corresponding position value; or obtain the perimeter of each non-narrowed area according to the obtained position value corresponding to the critical point and the perimeter of the route path; S43, according to the perimeter of each non-narrowed area Long independently obtains the position value corresponding to each starting point in the non-narrow area.

In the first preferred embodiment of the present invention, the control processing module 400 is specifically used to determine whether the initial point is on the current non-narrow area, and if so, the perimeter of the current non-narrow area l _A = l _sum- ( _LP4- L _P1 ); if not, the current perimeter of the non-narrowed area l _A = L _P3- L _P2 , where l _sum represents the perimeter of the patrol route, and l _A represents the perimeter of the current non-narrowed area.

In the second preferred embodiment of the present invention, the control processing module 400 is specifically used to obtain the perimeter of each non-narrow area using an accumulation algorithm, that is, to determine whether the initial point is on the current non-narrow area, and if so, to extend along the route direction, from the initial accumulation point on the perimeter of the current non-narrow region and reach the critical point P _1, stopping the accumulation of non-narrow region of the circumference of this, when P ₄ reaches the critical point, the current continues to accumulate non narrow circumferential area Long until it returns to the initial point; if not, the current perimeter of the non-narrow area is the length from the critical point P ₂ to the critical point P ₃ along the extension direction of the route.

Further, the control processing module 400 is configured to obtain the start position value the position value in accordance with the interval of non-narrow region peripheral length l _A line length l _SE, the start point S and end point E L _{S E} L, the departure interval According to the trajectory of the line-travel path, then l _SE = L _E- L _S , L _S = x · l _A , L _E = y · l _A , l _SE ≤ l _A , where x <y, x ∈ [0 , 1), y∈ (0,1]; select at least one starting point in the starting interval ...

Further, in a specific embodiment of the present invention, the control processing module 400 is specifically configured to divide the departure interval into a plurality of sub-intervals; at least one departure point corresponding to the sub-interval is selected in each sub-interval.

The control processing module 400 divides the departure interval into multiple sub-intervals. In a preferred embodiment, the departure interval is divided into multiple sub-intervals according to an ordered sequence, so that the length relationship between the sub-intervals is, for example, Arithmetic series, isometric series, equal sum series, Fibonacci series, grouping series, periodic series, step series and so on.

Further, the control processing module 400 is also used to obtain at least one starting point in a random or pseudo-random manner within the starting interval.

In a specific embodiment of the present invention, the control processing module 400 selects the first starting interval according to the first preset length from the position value L _{S of the} starting point S in the starting interval, and randomly selects the first starting interval Set the first starting point; take the selected starting point as the starting point in sequence, divide at least one second starting interval according to the second preset length, and randomly select the next starting point within the second starting interval until the entire starting point is traversed Interval.

Further, the control processing module 400 is further configured to drive the walking robot to walk along the line-tracking path to traverse each starting point on each non-narrow area, and reach each starting point within the same non-narrow area according to the corresponding position value At this time, the walking robot is driven into a working state; wherein, before the work of each narrow area is completed, the walking robot is prevented from entering the narrow area.

In one possible implementation of the present invention, if the control processing module 400 confirms that a walking robot enters the narrow region by accident through a boundary line of the narrow region, it can adjust the walking direction of the robot to reach another corresponding to the current boundary line after entering the narrow region A boundary line, and then adjust the walking direction of the robot to make it return to the current non-narrow area and continue to work.

In a preferred embodiment of the present invention, the control processing module 400 automatically obtains the frequency value corresponding to each starting point in the current patrol route; the frequency value is the number of consecutive departures from the same starting point; only the walking is allowed until the preset conditions are reached The robot chooses to enter the work mode at the starting point belonging to the same non-narrow area, and prohibits the walking robot from entering the narrow area. .

In the present invention, the frequency value corresponding to each starting point can be specified arbitrarily, and can also be obtained according to a certain rule. In a preferred embodiment of the present invention, the control processing module 400 configures the frequency value of each starting point to be equal within the preset frequency threshold range; or within the preset frequency threshold range, according to the distance between each starting point and its adjacent previous starting point The distance difference on the patrol route is positively related to configuring the frequency value corresponding to each starting point; or within the preset frequency threshold range, randomly configuring any frequency value for each starting point.

At least one memory list is set in the storage module 500; the memory list is used to store each starting point and its corresponding position value and frequency value, and generate a position value sequence table according to the frequency value. Specifically, the position value sequence table includes The starting serial number and its corresponding position value. For example, in one embodiment, the position value of the starting point PA1 L _PA1 = 0m, frequency value F _PA1 = 1; the position value of the starting point PA2 L _PA2 = 15m, the frequency value F _PA2 = 3; the position value of the starting point PA3 L _PA3 = 30m, the frequency value F _PA3 = 2; the starting point PA4 position value L _PA4 = 45m, the frequency value F _PA4 = 2. Then, the generated starting sequence number-position value list {(index, L _PAi )} is {(1,0), (2,15), (3,15), (4,15), (5,30) , (6,30), (7,45), (8,45)}, where index is the starting sequence number and L _PAi is the position value of the starting point PA _i . The control processing module 400 may obtain the position value and frequency value corresponding to the selected starting point of the current departure by querying the position value sequence table and the current departure sequence number stored in the memory list.

After entering the work mode, when the walking robot reaches any starting point, it enters the working area according to the frequency value corresponding to the starting point for mowing.

Further, the control processing module 400 is further used to obtain real-time state attributes of the walking robot. The state attributes include: at least one of the battery pack power, continuous working time, and continuous walking distance; according to the state attributes of the walking robot, the judgment Whether to execute the regression mode. If the power of the battery pack of the walking robot is less than the preset power threshold, and / or the continuous working duration is greater than the preset working duration threshold, and / or the continuous walking distance is greater than the preset continuous walking distance threshold, the walking robot is driven Perform regression mode.

Compared with the prior art, the control method and system of the walking robot of the present invention automatically divide the working area for the working space with a narrow channel to form a narrow area and a non-narrow area, and make the walking robot in the working process, According to the need to freely pass through the narrow area to traverse each non-narrow area, and thus improve the traversal of the walking robot in the working area, improve work efficiency.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the modules in the system described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, system, and method may be implemented in other ways. For example, the system implementation described above is only schematic. For example, the division of the modules is only a division of logical functions. In actual implementation, there may be other divisions, for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, systems or modules, and may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The above integrated modules can be implemented in the form of hardware, or in the form of hardware plus software function modules.

The above integrated modules implemented in the form of software function modules may be stored in a computer-readable storage medium. The above software function modules are stored in a storage medium, and include several instructions to enable a computer system (which may be a personal computer, a server, or a network system, etc.) or a processor (processor) to perform the methods described in the various embodiments of the present application. Partial steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

In order to explain the technical solution of the present invention more clearly and comprehensively, referring to FIG. 10, the control system of the walking robot according to any one of the above embodiments works according to the following steps.

ST1: The system initializes and starts to work. Specifically, the base station is powered on and sends a signal to the boundary line to generate an electromagnetic signal near the boundary line. At this time, the robot is located in the base station, that is, at the initial position, and the initial value of the starting sequence number is 0.

ST2: The robot enters the line patrol mode, starts from the initial point, walks along the boundary line and returns to the initial point after going around the boundary line once, and records the circumference of the boundary line and the position of the narrow area. The specific method has been described in detail in the foregoing, and will not be repeated here.

ST3: According to the perimeter of the boundary line, determine the position value of each starting point and the frequency value corresponding to each starting point on the boundary line of each non-narrow area, and form the position value sequence for each non-narrow area according to the frequency value, and then form Departure serial number-position value list. Wherein, the method of determining the position value, frequency value and starting sequence number list is implemented according to the above method, which will not be repeated here; the starting sequence number-position value list of each non-narrow area is independent.

ST4: Retrieve and use the starting sequence number-position value list of a non-narrow area.

ST5: The value of the starting sequence number is increased by 1.

ST6: The robot starts from the initial point and walks along the boundary line to the starting point corresponding to the starting sequence number of the non-narrow area again in the patrol mode.

ST7: The robot turns from the starting point away from the boundary line, enters the non-narrow area and starts mowing, that is, enters the operation mode from the line patrol mode.

ST8: The robot maintains the operation mode and performs mowing operations in the work area.

ST9: Determine whether the robot satisfies specific state attributes. Specifically, in some embodiments, it is determined that the remaining power of the battery pack satisfies a threshold or less. If yes, the robot executes ST10 to return to the base station. If not, executes ST8 to continue mowing in the work area. In some embodiments, it is determined whether the cumulative mowing time of the robot satisfies a threshold value or greater. If it is, the robot performs ST10 to return to the base station. If not, it executes ST8 to continue mowing in the work area. In some embodiments, it is determined whether the cumulative walking distance of the robot satisfies a threshold or greater. If it is, the robot executes ST10 to return to the base station. If not, it executes ST8 to continue mowing in the work area. The specific state attribute here may be a single state attribute or a combination of multiple state attributes, including but not limited to the state attributes listed above in the form of examples.

ST10: The robot returns to the initial point. Specifically, the robot is driven back to the base station, and is charged and / or maintained.

ST11: Determine whether to continue working. Specifically, after the charging and / or maintenance is completed, it is determined whether the current work plan is completed, that is, whether to continue working. If you continue to work, execute ST2, if you do not continue to work, execute ST15.

ST12: Determine whether to allow the robot to enter another non-narrow area. Specifically, in some embodiments, the judgment condition is whether the cumulative working time in the non-narrow area reaches a threshold; in some embodiments, the judgment condition is whether the cumulative working walking distance in the non-narrow area reaches one Threshold. If yes, execute ST13, if no, execute ST14. The judgment condition here may be a single condition, or a combination of multiple conditions, including but not limited to the conditions listed above in the form of examples.

ST13: Recall and use the starting sequence number-position value list of another non-narrow area, and set the starting sequence number value to 0.

ST14: Continue to use the starting sequence number-position value list of the current non-narrow area.

ST15: The system is shut down and the work is ended. In this step, the robot is usually located in the base station in a stored state, and the power of the robot and / or base station is automatically or artificially cut off.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still Modifications to the technical solutions described in the foregoing embodiments, or equivalent replacements of some of the technical features; and these modifications or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (19)

1. A control method of a walking robot, including:

   S1: Provide a closed line-tracking path, which is a closed loop formed by the boundary line of the working area where the walking robot is located;

   S2: driving the walking robot from the initial point, walking along the patrol route for one week, recording the circumference of the patrol route and confirming the position of the narrow channel on the patrol route;

   S3: Divide the area formed by the current patrol route into at least one narrow area formed by at least one narrow passage, and at least two non-narrow areas connected at both ends of the at least one narrow area;

   S4: Obtaining the position value corresponding to each departure point in each of the non-narrow areas according to the recorded perimeter of the tour route; the departure point is set on the tour route and each of the non-narrow areas includes at least The starting point; the position value is equal to the length value of the current starting point from the initial point on the line-tracking path;

   S5: Before reaching the preset condition, only the walking robot is allowed to select to enter the work mode at the starting point belonging to the same non-narrow area, and the walking robot is prohibited from entering the narrow area.
2. The method for controlling a walking robot according to claim 1, wherein the initial point is set at a base station position.
3. The control method of a walking robot according to claim 2, wherein the preset condition is at least one of cumulative working time, cumulative working walking distance, and battery pack power.
4. The method for controlling a walking robot according to claim 2, wherein the method further comprises:

   S21: Send a signal to the boundary line to generate an electromagnetic signal around the boundary line;

   S22: During driving the walking robot to walk along the extension direction of the patrol line path, record the intensity of the electromagnetic signal actually received by the walking robot;

   S23: According to the strength of the electromagnetic signal actually received by the walking robot, confirm the position of the narrow channel on the line patrol path.
5. The method for controlling a walking robot according to claim 2, wherein "acquiring the position value corresponding to each starting point in each non-narrow area according to the recorded perimeter of the line-traveling route" specifically includes:

   S41: Obtain the critical point formed between the narrow area and the non-narrow area, and the position value corresponding to each critical point; where, along the extending direction of the line-tracking path, the critical points are formed in the order of critical point P ₁ and critical point P ₂ , Critical point P ₃ , critical point P ₄ , and the corresponding position values of each critical point are L _P1 , L _P2 , L _P3 , and L _P4 in sequence;

   S42: Obtain the perimeter of each non-narrow area according to the position value corresponding to each critical point; or obtain the perimeter of each non-narrow area according to the obtained position value corresponding to the critical point and the perimeter of the line-travel path;

   S43: Acquire the position value corresponding to each starting point in the non-narrow area independently according to the perimeter of each non-narrow area.
6. The control method of a walking robot according to claim 5, characterized in that "obtaining the perimeter of each non-narrow area according to the obtained position value corresponding to the critical point and the perimeter of the line-traveling path" specifically includes:

   Determine whether the initial point is on the current non-narrow area,

   If yes, the current perimeter of the non-narrow area l _A = l _sum- (L _P4- L _P1 );

   If not, the perimeter of the current non-narrow area l _A = L _P3- L _P2 , where l _sum represents the perimeter of the line-travel path, and l _A represents the perimeter of the current non-narrow area.
7. The control method of a walking robot according to claim 5, characterized in that "acquiring the perimeter of each non-narrow area according to the position value corresponding to each critical point" specifically includes:

   Use the accumulation algorithm to obtain the perimeter of each non-narrow area, namely

   Determine whether the initial point is on the current non-narrow area,

   If it is, along the extension direction of the patrol route, the perimeter of the current non-narrow area is accumulated from the initial point, and when the critical point P ₁ is reached, the perimeter of the current non-narrow area is stopped. When the critical point P ₄ is reached, Continue to accumulate the circumference of the current non-narrow area until it returns to the initial point;

   If not, the current perimeter of the non-narrow area is the length from the critical point P ₂ to the critical point P ₃ along the extending direction of the route.
8. The control method of a walking robot according to any one of claims 5 to 7, characterized in that "acquiring the position value corresponding to each starting point in the non-narrow area independently according to the perimeter of each non-narrow area" specifically includes

   S431: obtaining the starting point position value S L _S in accordance with the circumferential length of the non-narrow region l _A, the value of the position of the end point E and L _E along the transmission line path from the start point S to the starting interval between the end point E of the line length l _SE The starting interval is a trajectory that follows the patrol route, and the starting points are all selected within the starting interval; then l _SE = L _E- L _S , L _S = x · l _A , L _E = y · l _A , l _SE ≤ l _A , where x <y, x∈ [0,1), y∈ (0,1];

   S432: Select at least one starting point in the starting interval.
9. The method for controlling a walking robot according to claim 8, wherein the method further comprises:

   Determine whether the initial point is on the current non-narrow area,

   If yes, set the initial point to the starting point S of the current non-narrow area;

   If not, the critical point P _{3 is} set as the starting point S of the current non-narrow area.
10. The method for controlling a walking robot according to claim 8, wherein the method specifically comprises:

    Divide the starting interval into multiple sub-intervals;

    At least one starting point corresponding to the sub-interval is selected in each sub-interval.
11. The method for controlling a walking robot according to claim 10, wherein "dividing the starting interval into a plurality of sub-intervals" specifically includes:

    The starting interval is divided into multiple sub-intervals according to the ordered sequence.
12. The method for controlling a walking robot according to claim 11, wherein "dividing the starting interval into multiple sub-intervals according to an ordered sequence" specifically includes:

    The starting interval is divided into multiple sub-intervals according to the ordered sequence, so that the length relationship between the sub-intervals is, for example, the arithmetic sequence, the geometric sequence, the equal sum sequence, the Fibonacci sequence, the group sequence, the period sequence, the order sequence At least one of them.
13. The method for controlling a walking robot according to claim 8, wherein "selecting at least one starting point in the starting interval" specifically includes:

    At least one starting point is obtained in a random or pseudo-random manner within the starting interval.
14. The method for controlling a walking robot according to claim 13, wherein the method specifically comprises:

    In the departure interval, starting from the position value L _{S of the} starting point S, the first departure interval is selected according to the first preset length, and the first departure point is randomly selected in the first departure interval;

    Taking the selected starting point as the starting point in sequence, at least one second starting interval is divided according to the second preset length, and the next starting point is randomly selected within the second starting interval until the entire starting interval is traversed.
15. The method for controlling a walking robot according to claim 5, wherein the method further comprises:

    Automatically obtain the frequency value corresponding to each starting point in the current patrol route; the frequency value is the number of times the walking robot continuously starts at the same starting point.
16. The method for controlling a walking robot according to claim 15, wherein the method further comprises:

    Within the preset frequency threshold range, configure the frequency value of each starting point to be equal;

    Or within the preset frequency threshold range, according to the distance difference between each starting point and its adjacent previous starting point on the patrol route, it is positively related to configuring the frequency value corresponding to each starting point;

    Or, within the preset frequency threshold range, randomly configure any frequency value for each starting point.
17. The method for controlling a walking robot according to claim 2, wherein the method further comprises:

    Real-time acquisition of the state attributes of the walking robot, the state attributes including: at least one of the battery pack power, the duration of continuous working, and the distance of continuous working walking;

    If the power of the battery pack of the walking robot is less than the preset power threshold, and / or the continuous working duration is greater than the preset working duration threshold, and / or the continuous walking distance is greater than the preset continuous walking distance threshold, the walking robot is driven Return to the base station.
18. The method for controlling a walking robot according to claim 1, wherein when the walking robot reaches a preset condition, the position value and / or frequency value of the starting point are newly determined.
19. A control system for a walking robot, characterized in that the system includes:

    The configuration module is used to provide a closed line patrol path, which is a closed loop formed by the boundary line of the working area where the walking robot is located;

    The patrol module is used to drive the walking robot from the initial point, walk along the patrol route for one week, record the circumference of the patrol route and confirm the position of the narrow channel on the patrol route;

    An area dividing module, configured to divide the area formed by the current patrol route into at least one narrow area formed by at least one narrow passage, and at least two non-narrow areas connected at both ends of the at least one narrow area;

    A control processing module, configured to obtain the position value corresponding to each departure point in each of the non-narrow areas according to the recorded perimeter of the tour route; the departure point is set on the tour route and each of the non-narrow areas Includes at least one of the starting points; the position value is equal to the length value of the current starting point from the initial point on the line-tracking path;

    Before reaching the preset condition, only the walking robot is allowed to choose to enter the working state at the starting point belonging to the same non-narrow area, and the walking robot is prohibited from entering the narrow area.

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