WO2020135016A1 - 自动工作系统及其控制方法、门控设备及自移动设备 - Google Patents
自动工作系统及其控制方法、门控设备及自移动设备 Download PDFInfo
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- WO2020135016A1 WO2020135016A1 PCT/CN2019/124240 CN2019124240W WO2020135016A1 WO 2020135016 A1 WO2020135016 A1 WO 2020135016A1 CN 2019124240 W CN2019124240 W CN 2019124240W WO 2020135016 A1 WO2020135016 A1 WO 2020135016A1
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- door
- self
- mobile device
- target object
- moving device
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- 238000001514 detection method Methods 0.000 claims description 72
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the invention relates to the technical field of intelligent control, in particular to an automatic working system and its control method, a gate control device and a self-moving device.
- the present invention aims to solve one of the technical problems in the related art at least to a certain extent.
- the object of the present invention is to propose an automatic working system and its control method, gate control device and self-mobile device, which can effectively realize intelligent door control of self-mobile device, so that the application of self-mobile device can be more abundant Scene requirements.
- the automatic working system includes a self-moving device, driving in a work area, and includes a gate control device, used to determine the The driving state of the mobile device, and when the driving state is the target driving state, perform target control on the door; wherein, the target driving state indicates that the self-mobile device is driving toward the position of the door, or The self-moving device drives away from the position where the door is located.
- the gating device includes a detection module for detecting a target object and acquiring data associated with the target object; the gating device according to the data associated with the target object, Determine the driving state of the mobile device.
- the detection module is disposed on the self-moving device, the target object is disposed on the door or near the location where the door is located; or, the detection module is disposed on the door or where the door is located Near the location of, the target object is set on the self-mobile device.
- the target object includes a marker.
- the detection module includes an image acquisition device, or a laser ranging sensor, or an ultrasonic sensor.
- the detection module includes a laser scanner, and the target object includes a laser reflection plate.
- the detection module includes a magnetic detection sensor, and the target object includes a magnetic object.
- the magnetic detection sensor is disposed on the self-moving device, and the magnetic object is disposed on a preset path of the self-moving device.
- the target object includes a signal to be detected
- the gating device further includes: a signal generation module, and the detection module is provided in the On the mobile device, the signal generation module is located on the door or near the door location; or, the detection module is located on the door or near the door location, and the signal generation module is located on the self-moving device On the device;
- the signal generating module is configured to transmit a signal to be detected during the traveling of the mobile device.
- the data associated with the target object includes whether the target object is detected, and when the detection module detects the target object, the gating device determines the self-moving device Is driving towards the position of the door; or,
- the door control device determines that the driving state of the self-moving device is the position where the door leaves.
- the data associated with the target object includes a distance to the target object; when the detection module detects that the target object is within a preset distance, the gating device determines the The driving state from the mobile device is driving toward the position where the door is located; or,
- the door control device determines that the driving state of the self-moving device is the position where the door leaves.
- the door control device is also used to control the opening of the door when the driving state indicates that the self-moving device is driving to the position where the door is located; or,
- the door is controlled to be closed.
- the door control device is further used to control the opening distance of the door when the driving state indicates that the self-moving device is driving to the position where the door is located, so that The self-moving device enters the door.
- the opening distance includes: the width of the main body of the self-moving device.
- the self-moving device when the self-moving device satisfies a preset regression condition, it travels to the position where the door is located.
- it further includes: a docking station, where the docking station is used for docking the self-moving device;
- the self-moving device When the self-moving device satisfies a preset regression condition, the self-moving device travels to the position where the door is located, and after entering the door, travels to the docking station to stop.
- the docking station includes: a base station that is used to charge the self-mobile device;
- the self-mobile device When the self-mobile device meets the regression condition of insufficient power, the self-mobile device travels to the position where the door is located, and after driving into the door, travels to the base station for charging.
- the docking station or the base station is installed in an enclosed space, and the door is provided on the enclosed space.
- the automatic working system determines the driving state of the mobile device during driving from the mobile device, and performs target control on the door when the driving state is the target driving state;
- the status indicates driving from the mobile device to the position where the door is located, or indicating that the mobile device is away from the door position, which can effectively realize intelligent door control of the mobile device, making the application of the mobile device more satisfying. Scene requirements.
- the door control device provided by the embodiment of the second aspect of the present invention is used to determine the driving state of the self-mobile device during driving from the mobile device, and when the driving state is the target driving state , Target control of the door; wherein, the target driving state indicates that the self-moving device is driving toward the location where the door is located, or that the self-moving device is driving away from the location where the door is located.
- it includes:
- the detection module is used to detect the target object and obtain the data associated with the target object,
- the gating device determines the driving state of the self-mobile device according to the data associated with the target object.
- the door control device determines the driving state of the self-mobile device during driving from the mobile device, and performs target control on the door when the driving state is the target driving state;
- the status indicates driving from the mobile device to the position where the door is located, or indicating that the mobile device is away from the door position, which can effectively realize intelligent door control of the mobile device, making the application of the mobile device more satisfying. Scene requirements.
- the self-mobile device proposed in the embodiment of the third aspect of the present invention travels in a working area, including: a body, a mobile module, a working module and a control module; the mobile module, the working module and the control module are installed on the body
- the control module controls the mobile module to drive the self-mobile device to move, and controls the work module to perform work tasks;
- the self-mobile device includes a detection module for detecting the target object and acquiring the association with the target object
- the control module generates data indicating the target driving state of the self-mobile device based on the data associated with the target object and sends it to the door controller to control the opening or closing of the door; wherein, the target driving The status indicates that the self-moving device is driving toward the position where the door is located, or that the self-moving device is driving away from where the door is located.
- the self-mobile device proposed in the embodiment of the third aspect of the present invention detects the target object and obtains data associated with the target object; according to the data associated with the target object, generates data indicating the target driving state of the self-mobile device and sends Give the door controller to control the opening or closing of the door; where the target driving state indicates driving from the mobile device to the position where the door is located, or indicates that the mobile device moves away from the door position, which can effectively achieve self-movement
- the device performs intelligent door control, so that the application of mobile devices can meet the needs of more abundant scenarios.
- the automatic working system includes a self-mobile device and travels in a work area
- the control method includes the steps of detecting a target object and acquiring Data associated with the target object; based on the data associated with the target object, determining the target driving state of the self-mobile device; according to the target driving state of the self-mobile device, performing target control on the door; wherein, the The target driving state indicates that the self-moving device is driving toward the position where the door is located, or that the self-moving device is driving away from where the door is located.
- the control method of the automatic working system proposed in the embodiment of the fourth aspect of the present invention detects the target object and obtains the data associated with the target object; based on the data associated with the target object, generates a target indicating the target driving state from the mobile device Data is sent to the door controller to control the opening or closing of the door; where the target driving state indicates driving from the mobile device to the position where the door is located, or indicating that the mobile device moves away from the door position, which can be effectively achieved Intelligent mobile door control of self-mobile devices makes the application of self-mobile devices meet the requirements of richer scenarios.
- FIG. 1 is a schematic structural diagram of an automatic working system proposed by an embodiment of the present invention.
- FIG. 2 is a schematic structural diagram of an automatic working system proposed by another embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of an automatic lawnmower according to an embodiment of the present invention.
- FIG. 4 is a schematic diagram of an application scenario of an automatic working system in an embodiment of the present invention.
- FIG. 5 is a schematic diagram of another application scenario of an automatic working system in an embodiment of the present invention.
- FIG. 6 is a schematic diagram of another application scenario of an automatic working system in an embodiment of the present invention.
- FIG. 7 is a schematic diagram of another application scenario of the automatic working system in the embodiment of the present invention.
- FIG. 8 is a schematic diagram of a door control mode in an embodiment of the present invention.
- FIG. 9 is a schematic diagram of a door control mode in another embodiment of the present invention.
- FIG. 10 is a schematic diagram of a door control mode in another embodiment of the present invention.
- FIG. 11 is a schematic flowchart of a control method of an automatic working system according to an embodiment of the present invention.
- FIG. 12 is a schematic diagram of another application scenario of the automatic working system in the embodiment of the present invention.
- FIG. 1 is a schematic structural diagram of an automatic working system according to an embodiment of the present invention.
- the automatic working system 100 includes: a self-mobile device 101, and the self-mobile device 101 travels within a work area 105 defined by a boundary 107.
- the boundary may be physical or electronic.
- the physical boundary may be formed by grass and non-grass boundaries, obstacles, or pool flower beds.
- the electronic boundary may be formed by cable laying.
- the self-mobile device can generate a map of the work area through the navigation mechanism installed thereon, and automatically travel and/or work in the work area based on the map.
- the automatic working system may further include: a docking station 103, which may be used for charging and/or docking from the mobile device, that is, the docking station may be used as a base station for charging from the mobile device, or may be only from the mobile device A temporary stop.
- a docking station 103 which may be used for charging and/or docking from the mobile device, that is, the docking station may be used as a base station for charging from the mobile device, or may be only from the mobile device A temporary stop.
- the system 100 may further include: a gate control device 102 for determining the driving state of the mobile device 101 during driving from the mobile device 101, and performing target control on the door 104 when the driving state is the target driving state; wherein
- the target driving state indicates driving from the mobile device 101 to the position where the door is located, or indicating that the mobile device 101 is away from the position where the door is located. Further, in the embodiment of the present application, when the self-mobile device satisfies the preset regression condition, it can travel to the position where the door is located.
- the driving state is to instruct the door control device to open the door when driving from the mobile device to the door position
- the driving state is to instruct the door control to close the door when the mobile device moves away from the door position .
- the door control device can control the opening distance of the door, so that the mobile device can easily enter the door.
- the door is opened to the width of the main body of the mobile device 101.
- the space for opening the door may also be larger than the width of the main body of the self-moving device 101, which is not limited in this application.
- the door controller can also control the opening time of the door, so that when the mobile device is driven into the entrance, the door controller can control the door to automatically close, and control the opening distance or opening time of the door, which can reduce small animals The probability of waiting to enter the door.
- the gating device 102 includes a detection module 1021, and the detection module 1021 is used to detect the target object and obtain data associated with the target object; the gating device 102 determines the mobile device according to the data associated with the target object 101 driving status.
- the data associated with the target object includes whether the target object is detected.
- the gate control device 102 determines that the driving state from the mobile device 101 is driving to the position where the door is located.
- the door control device 102 determines that the driving state from the mobile device 101 is the position where the door is away.
- the data associated with the target object includes the distance to the target object.
- the gate control device 102 determines that the driving state of the mobile device is the position where the door is located.
- the gate control device 102 determines that the driving state from the mobile device 101 is the location where the door is away.
- the door control device 102 further includes a door controller 1023, which determines the driving state from the mobile device 101 according to the data associated with the target object.
- the door controller 1023 may also include a motor controller, which controls the opening or closing of the door by controlling the motor.
- the detection module 1021 and the door controller 1023 can be set together or separately, and can be set together on the mobile device 101, or on the door, or in the working environment of the mobile device 101, It may also be set on one of the working environments of the mobile device 101, the door, and the mobile device 101, respectively.
- the detection module 1021 / door controller 1023 can be wirelessly connected or wired to the mobile device 101 or the door, for example, a wireless connection can be achieved through a wireless communication module, or a wired connection can be achieved through an electrical connection.
- the gating device 102 may be provided on the main body of the self-mobile device 101 as a part of the self-mobile device 101; it may also be independent of the self-mobile device 101; or may be partially provided on the main body of the self-mobile device 101.
- the detection module 1021 is provided on the main body of the mobile device 101
- the door controller 1023 is provided on the door
- the detection module 1021 and the door controller 1023 are connected by wireless communication.
- the data transmitted by the detection module 1021 to the door controller 1023 may be the sensing data of the target object, or may be a control instruction generated after comparing the sensing data with a preset condition, that is, to The process of processing the data detected by the detection module 1021 may occur in the detection module 1021, the door controller 1023, or partly in the detection module 1021, partly in the door controller 1023.
- the control module from the mobile device 101 may also complete part or all of the processing.
- the detection module 1021 may also include an independent control device.
- the gate control device 102 further includes a signal generation module 1022 for transmitting signals to be detected while traveling from the mobile device 101; the detection module 1021 is used for real-time detection The signal to be detected, and when the signal to be detected is detected, it triggers to send the detected continuous signal to be detected to the door controller 1023; the door controller 1023 is used to analyze and process the continuous signal to be detected, and according to the analysis The result of the process determines the driving state from the mobile device 101.
- the detection module 1021 is provided on the door, and the signal generation module 1022 is provided on the mobile device 101.
- the implementation form of the gating device also includes multiple types, which will not be repeated here.
- the self-moving device 101 may be an automatic lawn mower, or an automatic vacuum cleaner, etc. They automatically travel on the ground or surface of the work area to perform mowing or vacuuming work.
- the self-moving device 101 is not limited to automatic lawn mowers and automatic
- the vacuum cleaner can also be other equipment, such as spray equipment, monitoring equipment and other equipment suitable for unattended operation.
- the self-moving device is an automatic lawnmower as an example for description.
- FIG. 3 is a schematic structural diagram of an automatic lawnmower according to an embodiment of the present invention.
- the automatic lawnmower 30 includes a body 301, a moving module 302, a working module 303, and a control module 304.
- the moving module 302, the working module 303, and the control module 304 are installed on the body.
- the control module 304 controls the moving module 302 to drive the automatic lawn mower to move, and controls the working module 303 to perform work tasks.
- the moving module 302 may include a wheel set, a crawler, etc., and is driven by a driving motor to drive the automatic lawn mower to move.
- the working module 303 includes a cutter head, which is rotated by a cutting motor to cut grass.
- the automatic lawnmower 30 may also include several sensors for detecting the boundary of the working area or obstacles in the working area.
- FIG. 4 is a schematic diagram of an application scenario of an automatic working system in an embodiment of the present invention, in which the working area has a boundary 41.
- an electronic boundary is used as an example for description, and the automatic lawn mower 42 senses the physical boundary by The generated magnetic field determines the position of the boundary, and the automatic lawnmower 42 can travel within the area defined by the boundary.
- the lawnmower can generate a map of the working area through the navigation mechanism installed on it, and automatically drive and work based on the map.
- the method of automatically passing the door during driving is different from this application.
- the automatic door passing method described in the embodiment is similar, and will not be repeated here.
- FIG. 5 is a schematic diagram of another application scenario of the automatic working system in the embodiment of the present invention. Similar to FIG. 4, the automatic lawn mower 51 can be driven in the working area.
- the target object detected by the detection module may be the automatic lawnmower or the door itself, for example, the automatic lawnmower or the door may be identified according to the shape characteristics of the automatic lawnmower or the door.
- the target object may also be a marker provided on the automatic lawn mower or the door, such as a two-dimensional code or a mark with a certain characteristic.
- the target object can also be set in the working environment of the automatic lawn mower, for example, set near the position of the door, and can be a magnetic nail or a magnetic ring set on the ground.
- a magnetic object is provided along the preset path of the automatic lawnmower near the door.
- the automatic lawnmower may move along the boundary or may not move within the working area along the boundary That is to say, the preset path includes the boundary of the working area, and also includes other preset paths in the working area.
- the detection module includes a magnetic detection sensor, specifically, a Hall sensor. When the automatic lawnmower travels along the preset path to the position of the door, the Hall sensor on the automatic lawnmower detects the magnetic object in the front yard, the control module judges that the automatic lawnmower is close to the position of the door, and sends it to the motor controller Signal, the motor controller controls the door to open based on the received signal.
- the Hall sensor on the automatic lawnmower detects the magnetic object in the backyard
- the control module judges that the automatic lawnmower is far away from the door position, and sends a signal to the motor controller ,
- the motor controller controls the door to close based on the received signal.
- the detection module includes an image acquisition device for capturing images.
- the target object may be a sign provided on the door or near the door.
- the control module determines that the automatic lawnmower is driving toward the door, and sends a signal to the motor controller, and the motor controller controls the door to open based on the received signal.
- the door control device may control the door to close after the door is opened for a preset time, or similarly control the door to close by judging the captured image.
- the image acquisition device can also be set on the door or near the door, and the target object can be the automatic lawn mower itself or the marker on it.
- the detection module includes an ultrasonic sensor, specifically, an ultrasonic transmitter and a receiver.
- the ultrasonic transmitter sends out an ultrasonic signal
- the ultrasonic receiver receives the ultrasonic signal reflected back by the target object, thereby calculating the distance to the target object.
- the gate control device judges whether the distance between the ultrasonic sensor and the target object is within a preset distance, and if it is within the preset distance, judges that the automatic lawnmower is close to the position of the door, thereby controlling the door to open.
- the detection module may also be a laser ranging sensor, etc., and the implementation manner is similar.
- the detection module includes a laser scanner, and the target object includes a laser emitting plate.
- the laser scanner is installed on the self-moving device, and the laser reflector is installed on or near the door.
- the laser reflector can reflect the signal emitted by the laser scanner.
- the control module Determine that the automatic lawnmower is driving towards the door.
- the gating device includes a signal generation module, and the target object includes a signal to be detected.
- the detection module 1021 may be a laser ranging sensor.
- the signal generation module 1022 generates a laser signal.
- the laser ranging sensor is used to detect the laser signal in real time.
- the door control device determines that the mobile device is driving toward the position of the door; or, the detection module 1021 may be an ultrasonic sensor.
- the detection module 1021 is an ultrasonic sensor
- the signal generation module 1022 generates an ultrasonic signal, wherein the ultrasonic sensor is used to detect the ultrasonic signal in real time.
- the door control device determines that the mobile device is driving toward the position where the door is located; and so on.
- the working area in FIG. 6 includes a front yard and a back yard.
- the working area includes a boundary line 61. Magnets or magnetic rings 62 may be provided on the boundary line 61.
- the automatic working system includes: an automatic lawn mower 31, a detection module 32, a signal generation module 33, and a door controller 34, as shown in FIG. 7, the detection module 32 is provided on the door 35, and the signal generation module 33 is provided Taking an example on the mobile device 31, the number of detection modules 32 may be multiple, and each detection module 32 may be disposed at the corner of the frame of the door 35, and the number of signal generation modules 33 may also be multiple, each signal The generating modules 33 are respectively installed on the mobile device 31. In this way, by setting a plurality of detection modules 32 and a plurality of signal generation modules 33, a variety of detection methods are combined to realize gating, which can effectively improve the accuracy of signal detection .
- the detection module 1021 may be configured as a suitable sensor according to actual use requirements, thereby improving the flexibility of the application scenario of the system 100 and meeting individualized use requirements.
- the door is controlled to open; or, when the driving state indicates that the mobile device 101 is driving away from the position of the door, the door is controlled to close, It can effectively realize the intelligent door pass control for the mobile device 101.
- the door can be controlled to open when in the position.
- This configuration can meet the needs of another application scenario. For example, since the mobile device 101 is walking in the work area, it avoids the application scenario of passing the door. limit.
- the self-mobile device 101 travels within a work area 105 defined by a boundary 107 through navigation.
- the self-moving device satisfies the preset return condition, it travels toward the position of the door.
- the docking station 103 is installed in the enclosed space 106, and the enclosed space 106 is provided with a door 104.
- the door control device 102 installed on the door detects that the mobile device is traveling toward the locked position of the door, the door is controlled to open, and then the mobile device 101 can enter the closed space through the door 104.
- the enclosed space may be a garage or the like, and the docking station may be a base station or a temporary docking station.
- the docking station When the docking station is used as a temporary docking station, it may be any location in the garage, which is not limited in this application.
- the self-mobile device can drive along the border or according to the position of the garage door in the map to the position of the door, and the door control device controls the door when it recognizes the target state from the mobile device to the door position It is opened so that the self-mobile device can drive in, and after its entry, the self-mobile device can temporarily dock at any location in the garage, and then go out to work after the rain stops. Or at night users can control their mobile devices to dock in the garage to avoid being stolen. Or, when the power of the self-mobile device is insufficient, the self-mobile device can drive along the border or according to the position of the garage door in the map to the position of the gate. After entering the gate, look for the base station in the garage and perform docking charging.
- a door exists in the working area, and the door divides the working area into two parts, including: a first working area and a second working
- the area is the front yard and the back yard in FIG. 6 or FIG. 7.
- the base station may also be set at any position in the first working area or the second working area.
- the self-mobile device may follow Drive directly to the location of the base station on the border or according to the map, and perform docking charging; when located in different working areas, the mobile device can enter another area to work, and the door control device recognizes the target of the mobile device driving to the door position In the state, the control door is opened, and the mobile device is driven to the base station after docking to charge.
- the self-mobile device may travel to another area based on user-defined and/or preset instructions in the system.
- the user can control the work of the lawnmower in the working area through the lawnmower app in the mobile phone or directly enter relevant commands in the main interface of the lawnmower;
- the operation of the lawn mower in the working area can be controlled based only on the commands preset by the system when the mobile device is shipped from the factory.
- FIG. 1 In the application scenario shown in FIG.
- the self-mobile device when the self-mobile device completes the work in the first work area and/or the second work area, the self-mobile device travels to the location where the door is located.
- the lawnmower when there are two working areas, when the lawnmower completes the mowing work in the first working area, the lawnmower can enter the second area to work in the gate control.
- the device recognizes the target state from the mobile device driving to the position of the door, it controls the door to open, so that the lawn mower can enter the door and reach the second working area.
- the processing method when the lawnmower completes the work in the second working area is similar to the above method, which will not be repeated in this application.
- the automatic working system may further include: a human detection module, when detecting the presence of a human in the current working area, control the mobile device to leave the current working area along the border or according to the map, when the door
- a human detection module when detecting the presence of a human in the current working area, control the mobile device to leave the current working area along the border or according to the map, when the door
- the control device recognizes that the mobile device is driving towards the target position of the door, the control door is opened, so that the mobile device can enter the door and enter another working area or a closed space such as a garage to avoid injury when the mobile device works To a child or user in the work area.
- the gating of the human body detection module may be similar to the detection module mentioned in the above embodiment, and the detection module may be used to detect the human body, for example: an image acquisition device or an optical sensor (such as an infrared sensor, etc.). Similar to the above embodiment, the detection module may be installed in the gate control device or the mobile device, which is not limited in
- FIG. 8 is a schematic diagram of a door control method in an embodiment of the invention
- FIG. 9 is a schematic diagram of a door control method in another embodiment of the invention
- FIG. 10 is a door control method in another embodiment of the invention Schematic diagram of the door.
- the door is opened electrically, and the door is directly or indirectly controlled by the motor to rotate around a main shaft to realize door opening and closing.
- the electric roller shutter door is included, and the motor is directly or indirectly controlled to roll up and down the door. In one embodiment, it includes an electric moving door, and the motor is directly or indirectly controlled to move the door horizontally to realize door opening and closing.
- the mobile device continuously controls the running direction of the door and the degree of opening of the door using the gyroscope technology.
- the target driving state indicates that the mobile device Driving at the location where the mobile device is away from the door, can effectively realize intelligent door control of the mobile device, so that the application of the mobile device can meet the richer scene requirements.
- FIG. 11 is a schematic flowchart of a control method of an automatic working system according to an embodiment of the present invention.
- the automatic working system includes self-mobile equipment and travels in the working area.
- the method includes:
- S111 Detect the target object and obtain data associated with the target object.
- S112 Determine the target driving state from the mobile device according to the data associated with the target object.
- S113 Perform target control on the door according to the target driving state of the mobile device, where the target driving state indicates driving from the mobile device to the position where the door is located, or indicates that the mobile device is away from the door position.
- the target driving state of the mobile device is determined; based on the target driving state of the mobile device, the door is targeted Control; where the target driving state indicates driving from the mobile device to the door position, or indicates that the mobile device is away from the door position, which can effectively realize intelligent door control of the mobile device, making the self-moving
- the application of the device meets the needs of more abundant scenarios.
- Any process or method description in a flowchart or otherwise described herein may be understood as representing a module, segment, or portion of code that includes one or more executable instructions for implementing specific logical functions or steps of a process , And the scope of the preferred embodiment of the present invention includes additional implementations, in which the functions may not be performed in the order shown or discussed, including performing the functions in a substantially simultaneous manner or in reverse order according to the functions involved, which shall It is understood by those skilled in the art to which the embodiments of the present invention belong.
- each part of the present invention may be implemented by hardware, software, firmware, or a combination thereof.
- multiple steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system.
- a logic gate circuit for implementing a logic function on a data signal
- PGA programmable gate arrays
- FPGA field programmable gate arrays
- each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module.
- the above integrated modules can be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
- the storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk.
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Abstract
本发明提出一种自动工作系统及其控制方法、门控设备及自移动设备，该自动工作系统包括自移动设备，在工作区域内行驶，该自动工作系统包括门控设备，用于在自移动设备行驶的过程中，确定自移动设备的行驶状态，并在行驶状态为目标行驶状态时，对门进行目标控制；其中，目标行驶状态指示自移动设备向门所在的位置处行驶，或者，指示自移动设备驶离门所在的位置处。通过本发明能够有效实现对自移动设备进行智能化的过门控制，使得自移动设备的应用满足更丰富的场景需求。
Description
本申请要求了申请日为2018年12月29日，申请号为201811630924.4的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明涉及智能控制技术领域，尤其涉及一种自动工作系统及其控制方法、门控设备及自移动设备。
随着计算机技术和人工智能技术的不断进步，类似于智能机器人的自动工作系统已经开始慢慢的走进人们的生活。
商业化的自动工作装置在工作区域内行驶时，在一些应用场景下，例如，若工作区域内被分隔为前院和后院，且前院和后院之间具有门进行隔离，有必要实现对自动工作装置进行智能化的过门控制。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本发明的目的在于提出一种自动工作系统及其控制方法、门控设备及自移动设备，能够有效实现对自移动设备进行智能化的过门控制，使得自移动设备的应用满足更丰富的场景需求。
为达到上述目的，本发明第一方面实施例提出的自动工作系统，包括自移动设备，在工作区域内行驶，包括门控设备，用于在所述自移动设备行驶的过程中，确定所述自移动设备的行驶状态，并在所述行驶状态为目标行驶状态时，对门进行目标控制；其中，所述目标行驶状态指示所述自移动设备向所述门所 在的位置处行驶，或者，指示所述自移动设备驶离所述门所在的位置处。
在本发明的一个实施例中，所述门控设备包括探测模块，用于探测目标对象，并获取与目标对象相关联的数据；所述门控设备根据所述与目标对象相关联的数据，确定所述自移动设备的行驶状态。
在本发明的一个实施例中，所述探测模块设置在所述自移动设备上，所述目标对象设置在门上或门所在的位置附近；或者，所述探测模块设置在门上或门所在的位置附近，所述目标对象设置在所述自移动设备上。
在本发明的一个实施例中，所述目标对象包括标记物。
在本发明的一个实施例中，所述探测模块包括图像采集装置，或激光测距传感器，或超声波传感器。
在本发明的一个实施例中，所述探测模块包括激光扫描器，所述目标对象包括激光反射板。
在本发明的一个实施例中，所述探测模块包括磁检测传感器，所述目标对象包括磁性物。
在本发明的一个实施例中，所述磁检测传感器设置在自移动设备上，所述磁性物设置在所述自移动设备的预设路径上。
在本发明的一个实施例中，所述目标对象包括待探测信号，在所述目标对象为所述待探测信号时，所述门控设备还包括：信号产生模块，所述探测模块设置在所述自移动设备上，所述信号产生模块设置在门上或门所在的位置附近；或者，所述探测模块设置在门上或门所在的位置附近，所述信号产生模块设置在所述自移动设备上；其中，
所述信号产生模块，用于在所述自移动设备行驶的过程中，发射待探测信号。
在本发明的一个实施例中，所述与目标对象相关联的数据包括是否探测到所述目标对象，所述探测模块探测到所述目标对象时，所述门控设备确定所述自移动设备的行驶状态为向所述门所在的位置处行驶；或者，
所述探测模块探测不到所述目标对象时，所述门控设备确定所述自移动设备的行驶状态为驶离门所在的位置。
在本发明的一个实施例中，所述与目标对象相关联的数据包括与目标对象的距离；所述探测模块探测到所述目标对象在预设距离内时，所述门控设备确定所述自移动设备的行驶状态为向所述门所在的位置处行驶；或者，
所述探测模块探测到所述目标对象不在预设距离内时，所述门控设备确定所述自移动设备的行驶状态为驶离门所在的位置。
在本发明的一个实施例中，其中，
所述门控设备，还用于在所述行驶状态为指示所述自移动设备向所述门所在的位置处行驶时，对所述门进行开启控制；或者，
在所述行驶状态为指示所述自移动设备驶离所述门所在的位置处时，对所述门进行关闭控制。
在本发明的一个实施例中，所述门控设备，还用于在所述行驶状态为指示所述自移动设备向所述门所在的位置处行驶时，控制所述门的开启距离，以便于所述自移动设备驶入所述门。
在本发明的一个实施例中，所述开启距离包括：所述自移动设备的主体宽度。
在本发明的一个实施例中，当所述自移动设备满足预设回归条件时，向所述门所在的位置处行驶。
在本发明的一个实施例中，还包括：停靠站，所述停靠站用于供所述自移动设备停靠；
当所述自移动设备满足预设回归条件时，所述自移动设备向所述门所在的位置处行驶，驶入所述门之后，行驶至所述停靠站停靠。
在本发明的一个实施例中，所述停靠站包括：基站，所述基站用于供所述自移动设备充电；
相应的，
当所述自移动设备满足电量不足的回归条件时，所述自移动设备向所述门所在的位置处行驶，驶入所述门之后，行驶至所述基站充电。
在本发明的一个实施例中，所述停靠站或所述基站设置于密闭空间内，所述密闭空间上设置有所述门。
本发明第一方面实施例提出的自动工作系统，通过在自移动设备行驶的过程中，确定自移动设备的行驶状态，并在行驶状态为目标行驶状态时，对门进行目标控制；其中，目标行驶状态指示自移动设备向门所在的位置处行驶，或者，指示自移动设备驶离门所在的位置处，能够有效实现对自移动设备进行智能化的过门控制，使得自移动设备的应用满足更丰富的场景需求。
为达到上述目的，本发明第二方面实施例提出的门控设备，用于在自移动设备行驶的过程中，确定所述自移动设备的行驶状态，并在所述行驶状态为目标行驶状态时，对门进行目标控制；其中，所述目标行驶状态指示所述自移动设备向所述门所在的位置处行驶，或者，指示所述自移动设备驶离所述门所在的位置处。
在本发明的一个实施例中，包括：
探测模块，用于探测目标对象，并获取与目标对象相关联的数据，
所述门控设备跟据所述与目标对象相关联的数据，确定所述自移动设备的行驶状态。
本发明第二方面实施例提出的门控设备，通过在自移动设备行驶的过程中，确定自移动设备的行驶状态，并在行驶状态为目标行驶状态时，对门进行目标控制；其中，目标行驶状态指示自移动设备向门所在的位置处行驶，或者，指示自移动设备驶离门所在的位置处，能够有效实现对自移动设备进行智能化的过门控制，使得自移动设备的应用满足更丰富的场景需求。
为达到上述目的，本发明第三方面实施例提出的自移动设备，在工作区域内行驶，包括：本体，移动模块，工作模块和控制模块；所述移动模块、工作模块和控制模块安装于本体；所述控制模块控制所述移动模块带动所述自移动 设备移动，并控制所述工作模块执行工作任务；所述自移动设备包括探测模块，用于探测目标对象，并获取与目标对象相关联的数据；所述控制模块根据与目标对象相关联的数据，生成指示所述自移动设备的目标行驶状态的数据，发送给门控制器，以控制门的开启或关闭；其中，所述目标行驶状态指示所述自移动设备向所述门所在的位置处行驶，或者，指示所述自移动设备驶离所述门所在的位置处。
本发明第三方面实施例提出的自移动设备，通过探测目标对象，并获取与目标对象相关联的数据；根据与目标对象相关联的数据，生成指示自移动设备的目标行驶状态的数据，发送给门控制器，以控制门的开启或关闭；其中，目标行驶状态指示自移动设备向门所在的位置处行驶，或者，指示自移动设备驶离门所在的位置处，能够有效实现对自移动设备进行智能化的过门控制，使得自移动设备的应用满足更丰富的场景需求。
为达到上述目的，本发明第四方面实施例提出的自动工作系统的控制方法，所述自动工作系统包括自移动设备，在工作区域内行驶，所述控制方法包括步骤：探测目标对象，并获取与目标对象相关联的数据；根据所述与目标对象相关联的数据，确定所述自移动设备的目标行驶状态；根据所述自移动设备的目标行驶状态，对门进行目标控制；其中，所述目标行驶状态指示所述自移动设备向所述门所在的位置处行驶，或者，指示所述自移动设备驶离所述门所在的位置处。
本发明第四方面实施例提出的自动工作系统的控制方法，通过探测目标对象，并获取与目标对象相关联的数据；根据与目标对象相关联的数据，生成指示自移动设备的目标行驶状态的数据，发送给门控制器，以控制门的开启或关闭；其中，目标行驶状态指示自移动设备向门所在的位置处行驶，或者，指示自移动设备驶离门所在的位置处，能够有效实现对自移动设备进行智能化的过门控制，使得自移动设备的应用满足更丰富的场景需求。
本发明附加的方面和优点将在下面的描述中部分给出，部分将从下面的描 述中变得明显，或通过本发明的实践了解到。
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明一实施例提出的自动工作系统的结构示意图；
图2是本发明另一实施例提出的自动工作系统的结构示意图；
图3为本发明一实施例的自动割草机的结构示意图；
图4为本发明实施例中自动工作系统的一种应用场景示意图；
图5为本发明实施例中自动工作系统的另一种应用场景示意图；
图6为本发明实施例中自动工作系统的另一种应用场景示意图；
图7为本发明实施例中自动工作系统的另一种应用场景示意图；
图8为本发明一实施例中门的控制方式示意图；
图9为本发明另一实施例中门的控制方式示意图；
图10为本发明另一实施例中门的控制方式示意图；
图11是本发明一实施例提出的自动工作系统的控制方法的流程示意图；
图12是本发明实施例中自动工作系统的另一种应用场景示意图。
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。相反，本发明的实施例包括落入所附加权利要求书的精神和内涵范围内的所有变化、修改和等同物。
图1是本发明一实施例提出的自动工作系统的结构示意图。
参见图1或图12本发明实施例中自动工作系统的一种应用场景示意图，自 动工作系统100包括：自移动设备101、自移动设备101在由边界107限定的工作区域105内行驶。该边界可以是实体的也可以是电子的，实体的边界可以是由草与非草的边界、障碍物或水池花坛等形成的，电子的边界可以是由电缆铺设形成的。当为实体边界时，自移动设备可以通过安装在其上的导航机构生成工作区域的地图，并基于该地图在工作区域内自动行驶和/或工作。该自动工作系统中还可以包括：停靠站103，该停靠站可以用于供自移动设备充电和/或停靠，即，停靠站可以作为基站供自移动设备充电使用，也可以只是自移动设备的一个临时停靠点。
该系统100还可以包括：门控设备102，用于在自移动设备101行驶的过程中，确定自移动设备101的行驶状态，并在行驶状态为目标行驶状态时，对门104进行目标控制；其中，目标行驶状态指示自移动设备101向门所在的位置处行驶，或者，指示自移动设备101驶离门所在的位置处。进一步的，在本申请的实施例中，当自移动设备满足预设回归条件时，可以向门所在的位置处行驶。
具体的，行驶状态为指示自移动设备向门所在的位置处行驶时，门控设备对门进行开启控制，行驶状态为指示自移动设备驶离门所在的位置处时，门控设备对门进行关闭控制。
在本申请的一个实施例中，门控设备可以控制门的开启距离，以便于自移动设备能够方便的驶入门内。具体的，可以是控制门开启至自移动设备101的主体宽度。当然，门开启的空间也可以大于自移动设101的主体宽度，本申请对此不作限定。进一步的，门控制器也可以控制所述门的开启时间，从而当自移动设备驶入门内时，门控制器可以控制门自动关闭，对门的开启距离或开启时间进行控制，可以减少小动物等进入门内的概率。
本实施例中，门控设备102包括探测模块1021，探测模块1021用于探测目标对象，并获取与目标对象相关联的数据；门控设备102根据与目标对象相关联的数据，确定自移动设备101的行驶状态。
一实施例中，与目标对象相关联的数据包括是否探测到目标对象，探测模块1021探测到目标对象时，门控设备102确定自移动设备101的行驶状态为向门所在的位置处行驶，探测模块探测不到目标对象时，门控设备102确定自移动设备101的行驶状态为驶离门所在的位置。
一实施例中，与目标对象相关联的数据包括与目标对象的距离，探测模块1021探测到目标对象在预设距离内时，门控设备102确定自移动设备的行驶状态为向门所在的位置处行驶，探测模块1021探测到目标对象不在预设距离内时，门控设备102确定自移动设备101的行驶状态为驶离门所在的位置。
本实施例中，门控设备102还包括门控制器1023，根据与目标对象相关联的数据，确定自移动设备101的行驶状态。门控制器1023还可以包括电机控制器，通过控制电机来控制门的开启或关闭。
可以理解的是，探测模块1021与门控制器1023可以设置在一起，也可以分离设置，可以共同设置在自移动设备101上，或共同设置在门上，或自移动设备101的工作环境中，也可以分别设置在自移动设备101、门、自移动设备101的工作环境中的一者上。探测模块1021/门控制器1023可以与自移动设备101或门无线连接或有线连接，例如通过无线通信模块实现无线连接，或通过电性连接实现有线连接。
可以理解的是，门控设备102可以作为自移动设备101的一部分，设置在自移动设备101的主体上；也可以独立于自移动设备101；也可以部分设置在自移动设备101的主体上，例如，一实施例中，探测模块1021设置在自移动设备101的主体上，门控制器1023设置在门上，探测模块1021与门控制器1023之间无线通信连接。
可以理解的是，探测模块1021传输给门控制器1023的数据，可以是对目标对象的感测数据，也可以是将感测数据与预设条件比较后生成的控制指令，也就是说，对探测模块1021探测到的数据进行处理的过程可以发生在探测模块1021中，也可以发生在门控制器1023中，或者部分发生在探测模块1021中， 部分发生在门控制器1023中。当然，也可以由自移动设备101的控制模块完成部分或全部处理过程。探测模块1021也可以包含独立的控制装置。
可选地，一些实施例中，参见图2，门控设备102还包括信号产生模块1022，用于在自移动设备101行驶的过程中，发射待探测信号；探测模块1021，用于实时地探测待探测信号，并在探测到待探测信号时，触发将探测到的持续的待探测信号发送至门控制器1023；门控制器1023，用于对持续的待探测信号进行分析处理，并根据分析处理得到的结果确定自移动设备101的行驶状态。图2所示的实施例中，探测模块1021设置在门上，信号产生模块1022设置在自移动设备101上。
如上，门控设备的实现形式还包括多种，不再赘述。
自移动设备101可以是自动割草机，或者自动吸尘器等，它们自动行驶于工作区域的地面或者表面上，进行割草或者吸尘工作，当然，自移动设备101不限于自动割草机和自动吸尘器，也可以为其它设备，如喷洒设备，监视设备等适合无人值守的设备。在本申请以下的实施例中以自移动设备为自动割草机为例进行说明。
图3为本发明一实施例的自动割草机的结构示意图，如图3所示，自动割草机30包括本体301，移动模块302，工作模块303和控制模块304。移动模块302、工作模块303和控制模块304安装于本体，控制模块304控制移动模块302带动自动割草机移动，并控制工作模块303执行工作任务。移动模块302可以包括轮组、履带等，由驱动马达驱动以带动自动割草机移动。工作模块303包括刀盘，由切割马达驱动旋转以割草。自动割草机30还可以包括若干传感器，用于检测工作区域的边界或工作区域内的障碍物等。
如图4为本发明实施例中自动工作系统的一种应用场景示意图，其中，工作区域具有边界41，在该应用场景中以电子边界为例进行说明，自动割草机42通过感应该实体边界所产生的磁场判断边界的位置，自动割草机42能够在该边界限定的区域内行驶。当然，工作区域中也可以不存在边界，割草机可以通过 安装在其上的导航机构生成工作区域的地图，并基于该地图自动行驶和工作，行驶过程中实现自动过门的方法和本申请其他实施例中所描述的自动过门的方法类似，在此不再赘述。
参见图5，图5为本发明实施例中自动工作系统的另一种应用场景示意图，和图4类似，自动割草机51可以在工作区域内行驶。
探测模块探测的目标对象，可以是自动割草机或门本身，例如可以根据自动割草机或门的形状特征来识别自动割草机或门。目标对象也可以是设置在自动割草机或门上的标记物，例如二维码或具备某特征的标识等。目标对象还可以设置在自动割草机的工作环境中，例如设置在门所在位置的附近，可以是设置在地面的磁钉或磁环等。
参图4和图5，一实施例中，在靠近门的位置沿自动割草机的预设路径设置磁性物，自动割草机可以是沿边界移动，也可以不沿边界在工作区域内移动，也就是说，预设路径包括工作区域的边界，也包括工作区域内的其他预设路径。探测模块包括磁检测传感器，具体的，包括霍尔传感器。当自动割草机沿预设路径向门所在的位置行驶时，自动割草机上的霍尔传感器检测到前院的磁性物，控制模块判断自动割草机靠近门所在位置，向电机控制器发送信号，电机控制器基于接收到的信号控制门打开。当自动割草机沿预设路径驶离门所在的位置时，自动割草机上的霍尔传感器检测到后院的磁性物，控制模块判断自动割草机远离门所在位置，向电机控制器发送信号，电机控制器基于接收到的信号控制门关闭。
一实施例中，探测模块包括图像采集装置，用于捕获图像。当图像采集装置设置在自动割草机上时，目标对象可以为设置在门上或门所在位置附近的标识。当图像采集装置捕获到含有该标识的图像时，控制模块判断自动割草机向门所在位置处行驶，向电机控制器发送信号，电机控制器基于接收到的信号控制门打开。门控设备可以在门打开预设时间后控制门关闭，或者同样通过判断捕获的图像来控制门关闭。当然，图像采集装置也可以设置在门上或门所在位 置附近，目标对象可以为自动割草机本身或其上的标记物。
一实施例中，探测模块包括超声波传感器，具体的，包括超声波发射器和接收器。超声波发射器发出超声波信号，超声波接收器接收经目标对象反射回的超声波信号，由此计算与目标对象的距离。门控设备判断超声波传感器与目标对象的距离是否在预设距离内，若在预设距离内，则判断自动割草机靠近门所在位置，从而控制门打开。探测模块还可以是激光测距传感器等等，实现方式类似。
一实施例中，探测模块包括激光扫描器，目标对象包括激光发射板。例如，激光扫描器设置在自移动设备上，激光反射板设置在门上或门所在位置附近，激光反射板能够反射激光扫描器发出的信号，当激光扫描器接收到反射的信号时，控制模块判断自动割草机向门所在位置处行驶。
再次参考图2，一些实施例中，门控设备包括信号产生模块，目标对象包括待探测信号。探测模块1021可以为：激光测距传感器，在探测模块1021为激光测距传感器时，相对应地，信号产生模块1022产生激光信号，其中，激光测距传感器用于实时地探测激光信号，激光测距传感器探测到激光信号时，门控设备判断自移动设备向门所在的位置处行驶；或者，探测模块1021可以为：超声波传感器，在探测模块1021为超声波传感器时，相对应地，信号产生模块1022产生超声波信号，其中，超声波传感器用于实时地探测超声波信号，超声波传感器探测到超声波信号时，门控设备判断自移动设备向门所在的位置处行驶；等等。
参考图6和图7，图6中的工作区域包括前院和后院，工作区域中包括边界线61、在边界线61上可以设置磁铁或者磁环62，在门35两侧连接设置有篱笆和墙63，自动工作系统包括：自动割草机31、探测模块32、信号产生模块33，以及门控制器34，如图7所示，以探测模块32设置在门35上，信号产生模块33设置在自移动设备31上进行示例，探测模块32的数量可以为多个，各探测模块32可以分别设置在门35边框的角上，以及，信号产生模块33的数量 也可以为多个，各信号产生模块33分别设置在自移动设备31上，如此，通过设置多个探测模块32以及多个信号产生模块33，将采用多种探测方法相结合来实现门控，可以有效提升信号探测的精准度。
本发明实施例在具体执行的过程中，可以根据实际使用需求将探测模块1021配置为合适的传感器，提升系统100应用场景的灵活性，满足个性化的使用需求。
通过上述在行驶状态为指示自移动设备101向门所在的位置处行驶时，对门进行开启控制；或者，在行驶状态为指示自移动设备101驶离门所在的位置处时，对门进行关闭控制，能够有效实现对自移动设备101进行智能化的过门控制。
另一实施例中，也可以配置为，在行驶状态为指示自移动设备101向门所在的位置处行驶时，对门进行关闭控制；或者，在行驶状态为指示自移动设备101驶离门所在的位置处时，对门进行开启控制，通过该种配置方式，能够满足另外一种应用场景的需求，例如，自移动设备101在工作区域内行走的过程中，避免其过门的应用场景，对此不作限制。
如图12所示，在本发明实施例自动工作系统的一种应用场景中，在该应用场景中，自移动设备101通过导航在边界107所限定的工作区域105内行驶。当自移动设备满足预设回归条件时，向门所在的位置处行驶。停靠站103设置于密闭空间106内，该密闭空间106上设置有门104。当门上所安装的门控设备102检测到自移动设备向门锁着位置行驶时，控制门开启，则自移动设备101可以通过门104进入该密闭空间。该密闭空间可以是车库等，该停靠站可以是基站或临时停靠点，当停靠站作为临时停靠点时，可以是车库中的任意位置，本申请不作限定。当发现外面下雨时，自移动设备可以沿着边界或者根据地图中车库门的位置向门所在位置处行驶，当门控设备识别到自移动设备驶向门所在位置的目标状态时则控制门打开，从而自移动设备可以驶入门，在其驶入门之后，自移动设备可以在车库内中的任一位置临时停靠，等雨停后再出去工作。 或者晚上用户可以控制自移动设备停靠在车库内避免被盗走。或者，当自移动设备电量不足时，自移动设备可以沿着边界或者根据地图中车库门的位置向向门所在的位置处行驶，驶入门之后，在车库内寻找基站，并进行对接充电。
在本发明实施例自动工作系统的另一种应用场景中，如图4-7中所示，工作区域中存在门，门将工作区域分为两个部分，包括：第一工作区域以及第二工作区域，即为图6或图7中的前院以及后院。此时，基站也可以设置于第一工作区域或者第二工作区域中的任一位置处，当自移动设备电量不足时，若自移动设备和基站位于同一工作区域时，自移动设备可以沿着边界或者根据地图直接驶向基站所在位置，并进行对接充电；当位于不同工作区域时，自移动设备可以进入另一区域中工作，在门控设备识别到自移动设备驶向门所在位置的目标状态时则控制门打开，自移动设备驶入门后，行驶至基站对接充电。
在本申请的一个实施例中，自移动设备可以基于用户自定义和/或系统中预先设置的指令向另外一个区域行驶。以割草机为例，在割草机的工作过程中，用户可以通过手机中的割草app或者直接在割草机主体界面中输入相关指令，控制割草机在工作区域中的工作；也可以仅仅基于自移动设备出厂时系统预先设置的指令控制割草机在工作区域中的工作。在如图4所示的应用场景中，当存在两个工作区域时，可以通过割草app设置其分别在两个工作区域中的工作时间，在第一工作区域中设置工作2h，在第二工作区域中设置工作5h。当割草机在第一工作区域中的工作时间达到2h时，割草机可以沿着边界或者根据地图进入第二区域中工作，在门控设备识别到自移动设备驶向门所在位置的目标状态时则控制门打开，割草机驶入门后到达第二工作区域，并继续在第二工作区域中的工作，直到工作时间达到5h。
在本申请的另一个实施例中，当自移动设备完成第一工作区域和/或第二工作区域中的工作时，自移动设备向门所在的位置处行驶。在一个应用场景中，以割草机为例，存在两个工作区域时，当割草机完成第一工作区域中的割草工作时，割草机可以进入第二区域中工作，在门控设备识别到自移动设备驶向门 所在位置的目标状态时则控制门打开，从而割草机可以进入门并到达第二工作区域。当割草机完成第二工作区域中工作时的处理方式和上述方法类似，本申请对此不再赘述。
在本申请的另一个实施例中，自动工作系统中还可以包括：人体检测模块，当检测到当前工作区域中存在人体时，控制自移动设备沿着边界或者根据地图离开当前工作区域，当门控设备识别到自移动设备驶向门所在位置的目标状态时则控制门打开，从而自移动设备可以驶入门，进入另一工作区域或车库等密闭空间内，以避免自移动设备工作时伤害到工作区域中的小朋友或用户。该人体检测模块门控可以类似于上面实施例中所提及的探测模块，该探测模块可以用于检测人体，例如：图像采集装置或光学传感器(如红外传感器等)。和上面实施例中类似，探测模块可以安装于门控设备，也可以安装于自移动设备，本申请对此不作限定。
参考图8-10，图8为本发明一实施例中门的控制方式示意图，图9为本发明另一实施例中门的控制方式示意图，图10为本发明另一实施例中门的控制方式示意图，门的打开/关闭方式包括多种，可以由电机直接驱动，或通过传动机构间接驱动。一实施例中，包括电动推开门，由电机直接或者间接控制门绕一根主轴转动实现门开和关。一实施例中，包括电动卷帘门，由电机直接或者间接控制门卷起和放下。一实施例中，包括电动移动门，由电机直接或者间接控制门横移动作实现门开和关。
一实施例中，门被控制打开后，自移动设备利用陀螺仪技术连续控制门的运行方向以及门的开启程度。
本实施例中，通过在自移动设备行驶的过程中，确定自移动设备的行驶状态，并在行驶状态为目标行驶状态时，对门进行目标控制；其中，目标行驶状态指示自移动设备向门所在的位置处行驶，或者，指示自移动设备驶离门所在的位置处，能够有效实现对自移动设备进行智能化的过门控制，使得自移动设备的应用满足更丰富的场景需求。
图11是本发明一实施例提出的自动工作系统的控制方法的流程示意图。
自动工作系统包括自移动设备，在工作区域内行驶。
参见图11，该方法包括：
S111：探测目标对象，并获取与目标对象相关联的数据。
S112：根据与目标对象相关联的数据，确定自移动设备的目标行驶状态。
S113：根据自移动设备的目标行驶状态，对门进行目标控制，其中，目标行驶状态指示自移动设备向门所在的位置处行驶，或者，指示自移动设备驶离门所在的位置处。
需要说明的是，前述图1-图10实施例中对自动工作系统实施例的解释说明也适用于该实施例的自动工作系统的控制方法，其实现原理类似，此处不再赘述。
本实施例中，通过探测目标对象，并获取与目标对象相关联的数据；根据与目标对象相关联的数据，确定自移动设备的目标行驶状态；根据自移动设备的目标行驶状态，对门进行目标控制；其中，目标行驶状态指示自移动设备向门所在的位置处行驶，或者，指示自移动设备驶离门所在的位置处，能够有效实现对自移动设备进行智能化的过门控制，使得自移动设备的应用满足更丰富的场景需求。
需要说明的是，在本发明的描述中，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。此外，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。
Claims (22)
- 一种自动工作系统，包括自移动设备，在工作区域内行驶，其特征在于，所述自动工作系统包括门控设备，用于在所述自移动设备行驶的过程中，确定所述自移动设备的行驶状态，并在所述行驶状态为目标行驶状态时，对门进行目标控制；其中，所述目标行驶状态指示所述自移动设备向所述门所在的位置处行驶，或者，指示所述自移动设备驶离所述门所在的位置处。
- 如权利要求1所述的自动工作系统，其特征在于，所述门控设备包括探测模块，用于探测目标对象，并获取与目标对象相关联的数据；所述门控设备根据所述与目标对象相关联的数据，确定所述自移动设备的行驶状态。
- 如权利要求2所述的自动工作系统，其特征在于，所述探测模块设置在所述自移动设备上，所述目标对象设置在门上或门所在的位置附近；或者，所述探测模块设置在门上或门所在的位置附近，所述目标对象设置在所述自移动设备上。
- 如权利要求2所述的自动工作系统，其特征在于，所述目标对象包括标记物。
- 如权利要求2所述的自动工作系统，其特征在于，所述探测模块包括图像采集装置，或激光测距传感器，或超声波传感器。
- 如权利要求2所述的自动工作系统，其特征在于，所述探测模块包括激光扫描器，所述目标对象包括激光反射板。
- 如权利要求2所述的自动工作系统，其特征在于，所述探测模块包括磁检测传感器，所述目标对象包括磁性物。
- 如权利要求7所述的自动工作系统，其特征在于，所述磁检测传感器设置在自移动设备上，所述磁性物设置在所述自移动设备的预设路径上。
- 如权利要求2所述的自动工作系统，其特征在于，所述目标对象包括待 探测信号，在所述目标对象为所述待探测信号时，所述门控设备还包括：信号产生模块，所述探测模块设置在所述自移动设备上，所述信号产生模块设置在门上或门所在的位置附近；或者，所述探测模块设置在门上或门所在的位置附近，所述信号产生模块设置在所述自移动设备上；其中，所述信号产生模块，用于在所述自移动设备行驶的过程中，发射待探测信号。
- 如权利要求2所述的自动工作系统，其特征在于，所述与目标对象相关联的数据包括是否探测到所述目标对象，所述探测模块探测到所述目标对象时，所述门控设备确定所述自移动设备的行驶状态为向所述门所在的位置处行驶；或者，所述探测模块探测不到所述目标对象时，所述门控设备确定所述自移动设备的行驶状态为驶离门所在的位置。
- 如权利要求2所述的自动工作系统，其特征在于，所述与目标对象相关联的数据包括与目标对象的距离；所述探测模块探测到所述目标对象在预设距离内时，所述门控设备确定所述自移动设备的行驶状态为向所述门所在的位置处行驶；或者，所述探测模块探测到所述目标对象不在预设距离内时，所述门控设备确定所述自移动设备的行驶状态为驶离门所在的位置。
- 如权利要求1所述的自动工作系统，其特征在于，其中，所述门控设备，还用于在所述行驶状态为指示所述自移动设备向所述门所在的位置处行驶时，对所述门进行开启控制；或者，在所述行驶状态为指示所述自移动设备驶离所述门所在的位置处时，对所述门进行关闭控制。
- 如权利要求12所述的自动工作系统，其特征在于，所述门控设备，还用于在所述行驶状态为指示所述自移动设备向所述门所在的位置处行驶时，控制所述门的开启距离，以便于所述自移动设备驶入所述门。
- 如权利要求13所述的自动工作系统，其特征在于，所述开启距离包括：所述自移动设备的主体宽度。
- 如权利要求1所述的自动工作系统，其特征在于，当所述自移动设备满足预设回归条件时，向所述门所在的位置处行驶。
- 如权利要求15所述的自动工作系统，其特征在于，还包括：停靠站，所述停靠站用于供所述自移动设备停靠；当所述自移动设备满足预设回归条件时，所述自移动设备向所述门所在的位置处行驶，驶入所述门之后，行驶至所述停靠站停靠。
- 如权利要求16所述的自动工作系统，其特征在于，所述停靠站包括：基站，所述基站用于供所述自移动设备充电；相应的，当所述自移动设备满足电量不足的回归条件时，所述自移动设备向所述门所在的位置处行驶，驶入所述门之后，行驶至所述基站充电。
- 如权利要求16或17所述的自动工作系统，其特征在于，所述停靠站或所述基站设置于密闭空间内，所述密闭空间上设置有所述门。
- 一种门控设备，其特征在于，用于在自移动设备行驶的过程中，确定所述自移动设备的行驶状态，并在所述行驶状态为目标行驶状态时，对门进行目标控制；其中，所述目标行驶状态指示所述自移动设备向所述门所在的位置处行驶，或者，指示所述自移动设备驶离所述门所在的位置处。
- 如权利要求19所述的门控设备，其特征在于，包括：探测模块，用于探测目标对象，并获取与目标对象相关联的数据，所述门控设备跟据所述与目标对象相关联的数据，确定所述自移动设备的行驶状态。
- 一种自移动设备，在工作区域内行驶，包括：本体，移动模块，工作模块和控制模块；所述移动模块、工作模块和控制模块安装于本体；所述控制 模块控制所述移动模块带动所述自移动设备移动，并控制所述工作模块执行工作任务；其特征在于，所述自移动设备包括探测模块，用于探测目标对象，并获取与目标对象相关联的数据；所述控制模块根据与目标对象相关联的数据，生成指示所述自移动设备的目标行驶状态的数据，发送给门控制器，以控制门的开启或关闭；其中，所述目标行驶状态指示所述自移动设备向所述门所在的位置处行驶，或者，指示所述自移动设备驶离所述门所在的位置处。
- 一种自动工作系统的控制方法，所述自动工作系统包括自移动设备，在工作区域内行驶，其特征在于，所述控制方法包括步骤：探测目标对象，并获取与目标对象相关联的数据；根据所述与目标对象相关联的数据，确定所述自移动设备的目标行驶状态；根据所述自移动设备的目标行驶状态，对门进行目标控制；其中，所述目标行驶状态指示所述自移动设备向所述门所在的位置处行驶，或者，指示所述自移动设备驶离所述门所在的位置处。
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