WO2021013173A1 - 自动行走设备回归停靠站的控制方法及自动行走设备 - Google Patents

自动行走设备回归停靠站的控制方法及自动行走设备 Download PDF

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Publication number
WO2021013173A1
WO2021013173A1 PCT/CN2020/103499 CN2020103499W WO2021013173A1 WO 2021013173 A1 WO2021013173 A1 WO 2021013173A1 CN 2020103499 W CN2020103499 W CN 2020103499W WO 2021013173 A1 WO2021013173 A1 WO 2021013173A1
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Prior art keywords
boundary line
working area
length
automatic traveling
walking
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PCT/CN2020/103499
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English (en)
French (fr)
Inventor
多尔夫达维德
泰斯托林费德里科
康蒂伊曼纽尔
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苏州宝时得电动工具有限公司
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Priority to CN202080051625.4A priority Critical patent/CN114365055B/zh
Publication of WO2021013173A1 publication Critical patent/WO2021013173A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment

Definitions

  • the invention relates to the field of gardening technology, in particular to a method for controlling the return of an automatic walking device to a docking station and the automatic walking device.
  • the intelligent lawn mower has automatic walking function, and can complete the work of mowing the lawn autonomously, without direct human control and operation, and greatly reduces manual operation. It is a tool suitable for lawn mowing and maintenance in home courtyards, public green spaces and other places.
  • smart lawn mowers are equipped with batteries to detect the remaining energy of the batteries. When the remaining energy is less than or equal to the preset energy value, the lawn mower is controlled to return to the charging station for charging.
  • a control method for returning an autonomous vehicle to a docking station The autonomous vehicle moves and works within a working area defined by a boundary line, the autonomous vehicle includes a power supply module that provides energy, and the control method includes: acquiring the The size parameters of the working area of the autonomous walking equipment; set a preset energy level threshold of the power module according to the size parameters; detect the energy level of the power module, and control when the energy level of the power module is less than or equal to the preset energy level threshold The self-propelled equipment returns to the stop.
  • the size parameter of the working area includes: the length of the boundary line of the working area and/or the area of the working area.
  • the acquiring the size parameter of the working area of the autonomous walking device includes: receiving the area parameter input by the user.
  • the control method includes: obtaining the length of the boundary line of the working area of the autonomous walking device; setting a preset energy level threshold of the power module according to the length of the boundary line; detecting the energy level of the power module, when When the energy level of the power supply module is less than or equal to the preset energy level threshold, the automatic traveling equipment is controlled to return to the stop along the boundary line.
  • the energy level of the power module is represented by the voltage or/and the discharge current of the power module.
  • the preset energy level threshold is positively correlated with the length of the border line.
  • the preset energy level threshold increases accordingly, and/or when the length of the border line decreases, The preset energy level threshold decreases accordingly.
  • the acquiring the length of the boundary line of the working area of the autonomous vehicle includes acquiring the length of the outer boundary line of the working area of the autonomous vehicle, and setting the preset energy level threshold of the power module according to the length of the outer boundary line.
  • the acquiring the length of the boundary line of the working area of the autonomous vehicle includes receiving parameters input by the user, and determining the length of the boundary line of the working area of the autonomous vehicle according to the parameters input by the user.
  • the receiving the parameters input by the user includes receiving parameter information sent by the user through the control panel of the autonomous walking device and/or the remote terminal.
  • the acquiring the length of the boundary line of the working area of the autonomous vehicle includes controlling the autonomous vehicle to move one circle along the boundary of the working area, and calculating the walking distance of the autonomous vehicle;
  • the walking distance of the self-propelled equipment determines the length of the boundary line of the working area.
  • the controlling the automatic traveling equipment to move one circle along the boundary line of the working area includes: controlling the automatic traveling equipment to start moving from the stop station, and when the automatic traveling equipment returns to the When stopping at the station, it is judged that the automatic traveling equipment moves in a circle along the boundary line of the working area.
  • the controlling the automatic traveling equipment to move one circle along the boundary line of the working area includes: controlling the automatic traveling equipment to move along the boundary line of the working area, and detecting whether the automatic traveling equipment receives Preset signal: After receiving the preset signal, the self-propelled equipment determines the current position as the starting point. When the self-propelled equipment receives the preset signal next time, it is determined that the self-propelled equipment has moved along the boundary line of the working area.
  • the calculating the walking distance of the autonomous vehicle includes: recording the rotation of the drive motor of the autonomous vehicle while the autonomous vehicle moves along the boundary line of the working area The number of turns; according to the number of turns of the drive motor and the diameter of the drive wheel of the autonomous vehicle, the walking distance of the autonomous vehicle is calculated.
  • the determining the length of the boundary line of the working area where the autonomous vehicle is located includes: the autonomous vehicle moves along the boundary line of the working area multiple times, and calculating the autonomous vehicle The walking distance of multiple movements; the average value of the walking distance of multiple movements is determined as the length of the boundary line of the working area of the automatic walking equipment.
  • the determining the average value of the walking distance of multiple movements as the length of the boundary line of the working area of the autonomous vehicle includes: counting the movement of the autonomous vehicle along the boundary of the working area Number of times; when the number of movements is less than or equal to a preset threshold, the average of the walking distances of multiple movements is determined as the length of the boundary line of the working area where it is located.
  • control method further includes: when the number of movements exceeds a preset threshold, calculating an average of the walking distance moved within the preset threshold times; and determining the current walking distance of the automatic walking device Distance; said obtaining the length of the boundary line of the working area of the automatic walking equipment includes: taking the average of the walking distance of the preset threshold value movement and the walking distance of the current movement as the average value, and The average value is determined as the length of the boundary line of the working area of the autonomous vehicle.
  • the determining the length of the boundary line of the working area of the autonomous vehicle includes: controlling the autonomous device to move one circle along the boundary line of the working area to obtain the The moving speed and the moving time; according to the moving speed and the moving time, the length of the boundary line of the working area of the autonomous walking device is determined.
  • An automatic walking device comprising: a housing, a mobile module, a task execution module, and a controller; the mobile module and the task execution module are installed in the housing; the controller is respectively connected to the mobile module and the The task execution module is electrically connected, and the controller includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the computer program is executed by the processor, in the method described in any of the above embodiments, A step of.
  • the above-mentioned method for controlling the return of the automatic traveling equipment to the docking station and the automatic traveling equipment obtain the size parameters of the working area of the automatic traveling equipment; set a preset energy level threshold value of the power supply module according to the size parameters; detect the energy level of the power supply module, when the power supply When the energy level of the module is less than or equal to the preset energy level threshold, the automatic walking equipment is controlled to return to the stop. It realizes the flexible setting of the preset energy level threshold of the autonomous walking device according to the size parameters of the working area, and solves the problem that the preset energy level threshold of the power module cannot be flexibly set in the traditional technology, which causes the autonomous walking device to return to the charging station on the way A technical problem with an abnormal shutdown.
  • Fig. 1 is a schematic flow chart of a control method for returning an autonomous walking device to a docking station in an embodiment
  • Fig. 2 is a schematic flow chart of a method for controlling the return of an automatic traveling device to a docking station in an embodiment
  • Fig. 3 is a schematic flow chart of a method for controlling the return of an automatic walking device to a docking station in an embodiment
  • Fig. 4 is a schematic flowchart of a method for controlling the return of an automatic traveling device to a docking station in an embodiment
  • Figure 5 is a schematic flow chart of a method for controlling the return of an autonomous walking device to a docking station in an embodiment
  • Fig. 6 is a schematic flowchart of a method for controlling the return of an automatic traveling device to a docking station in an embodiment
  • Fig. 7 is a schematic flow chart of a method for controlling the return of an autonomous walking device to a docking station in an embodiment.
  • the autonomous vehicle moves and works within the working area defined by the boundary line, and the autonomous vehicle includes a power supply module that provides energy.
  • a power supply module that provides energy.
  • the self-propelled device can be a smart lawn mower, a smart snow sweeper, a smart sweeper, a smart scrubber, a robot cleaner, and other similar smart devices with a self-propelled function.
  • the boundary line can be the general term of the boundary line formed by the boundary line around the working area and the obstacle inside the working area. It refers to the boundary line between the working area and the non-working area of the automatic walking equipment.
  • the area defined by the boundary line is the automatic Working area of walking equipment.
  • the boundary line at the periphery of the work area is usually connected end to end at the periphery of the work area, enclosing the work area.
  • the boundary line can be electronic, and the electronic boundary line can be the boundary signal sent by the boundary signal generating device, such as electromagnetic signal, acoustic signal or light signal, etc.; the boundary line can also be physical, the dividing line between grass and non-grass . Obstacles can be flower beds, water pools, etc.
  • the boundary line formed by the obstacles in the working area can also be similar to the above-mentioned outer boundary line, which can be electronic or physical, such as the boundary line between flower beds, pools, etc. and grass.
  • the self-propelled equipment moves and works within the working area defined by the boundary line. When its energy is insufficient, it can return to the docking station to supplement energy.
  • the size parameter of the working area may include: the length of the boundary line of the working area and/or the area of the working area.
  • the boundary line length is the length around the edge of the working area where the automatic walking equipment is located, that is, the circumference of the working area.
  • the length of the boundary of the working area can be determined in a variety of ways, for example, manually measuring the length of the boundary of the working area where the autonomous device is located, or Map the working area, use the drawn map to obtain the boundary line length of the working area, or obtain the boundary line length of the working area during the process of the automatic walking device working along the boundary line of the working area, or the automatic walking equipment walking along the boundary line to build Obtain the boundary line length in the process of drawing.
  • the area can be the area of the working area where the automatic traveling equipment is located, and can be confirmed in a manner similar to the length of the boundary line. For example: the length of the boundary line is manually measured and calculated by the user; or the lawn mower builds a map of the work area or the user draws a map or the lawn mower walks along the boundary line, and the lawn mower is calculated through the internal program; or in general The user already knows the lawn area when purchasing the lawn, so the user can get the area of the work area according to the area written on the production certificate.
  • S120 Set a preset energy level threshold of the power module according to the size parameter
  • S130 Detect the energy level of the power supply module, and when the energy level of the power supply module is less than or equal to the preset energy level threshold, control the automatic walking equipment to return to the docking station.
  • the automatic walking equipment by obtaining the size parameters of the working area of the autonomous walking equipment; setting a preset energy level threshold of the power module according to the size parameters; detecting the energy level of the power module, when the energy level of the power module is less than or equal to When the energy level threshold is preset, the automatic walking equipment is controlled to return to the stop. It realizes the flexible setting of the preset energy level threshold of the autonomous walking device according to the size parameters of the working area, and solves the problem that the preset energy level threshold of the power module cannot be flexibly set in the traditional technology, which causes the autonomous walking device to return to the charging station on the way A technical problem with an abnormal shutdown.
  • the autonomous propelling equipment includes: a navigation device, which can be used to obtain the current position information of the autonomous propelling device, and the control device in the autonomous propelling device can control the movement and work of the autonomous propelling device according to the position information .
  • the navigation device may be a satellite positioning device (such as GPS or RTK-GPS, etc.) or a vision device.
  • the navigation device can realize the automatic walking of the automatic walking equipment when there are only physical boundary lines in the working area, so that when the energy level of the power module in the automatic walking equipment is less than or equal to the preset energy level threshold, the automatic walking equipment can According to the map or visual device established by the satellite positioning device, the automatic walking equipment is directly controlled to return to the docking station.
  • the autonomous vehicle may include a magnetic induction device, and the control device in the autonomous vehicle may control the movement and operation of the autonomous vehicle according to the electronic signal sensed by the magnetic induction device. That is, the magnetic induction device is suitable for scenarios where there are electronic boundary lines in the work area.
  • the autonomous vehicle can control the autonomous vehicle to return to the stop along the boundary line according to the boundary signal sensed by the magnetic induction device.
  • the corresponding relationship between the size parameter (the length or area of the boundary line) of the working area and the preset energy level threshold is stored in advance in the storage unit unit of the autonomous walking device.
  • the size parameters of the working area are the length of the boundary line and the angle of returning to the stop along the boundary line. It is worth noting that although the following embodiments only involve the length of the boundary line and the return to the stop along the boundary line, the size parameter of the working area is also applicable to other size parameters such as the area of the working area and the automatic return of the automatic walking equipment The situation of the stop is not repeated in this application.
  • the corresponding relationship between the length of the boundary line and the preset energy level threshold can be stored in the storage unit of the autonomous walking device in the form of a list of preset energy level thresholds.
  • the preset energy level threshold list is pre-stored with the length of the boundary line and the preset energy level threshold.
  • the preset energy level threshold refers to the voltage or discharge current that ensures that the autonomous walking equipment can return to the docking station or the charging station when it is working in the working area. In general, the preset energy level threshold is set according to actual conditions, and is related to the battery capacity of the power module installed on the autonomous vehicle.
  • the length of the boundary line of the working area where the autonomous vehicle is located can be determined according to the working area
  • the length of the boundary line sets the preset energy level threshold required by the autonomous walking equipment, for example, the preset energy level threshold is set as the return voltage of the automated walking equipment.
  • the value range of the return voltage can be 16.9V to 17.6V.
  • the preset energy level threshold of the self-propelled equipment is fixed, but the working area of the self-propelled equipment is different, and the self-propelled equipment needs to travel different distances when returning to the docking station.
  • the working area has different requirements for the preset energy level threshold.
  • the fixed preset energy level threshold in the traditional technology cannot meet the regression voltage required by most working conditions. Especially for some large working areas, or the boundary lines of the working areas are relatively tortuous, if the preset energy level threshold of the automatic driving equipment cannot be set reasonably, abnormal shutdowns are likely to occur during the return of the automatic driving equipment.
  • the length of the boundary line of the working area of the autonomous walking equipment is obtained; a preset energy level threshold of the power module is set according to the length of the boundary line; the energy level of the power module is detected, and when the energy level of the power module is less than or When it is equal to the preset energy level threshold, control the automatic traveling equipment to return to the stop along the boundary line. It realizes the flexible setting of the preset energy level threshold of the self-propelled device according to the length of the boundary line of the working area, and solves the problem that the preset energy level threshold of the power module cannot be flexibly set in the traditional technology. The technical problem of abnormal shutdown occurred on the way.
  • the energy level of the power module is represented by the voltage or/and discharge current of the power module.
  • the energy level of the power supply module is detected in real time.
  • the energy level of the power supply module can be determined by detecting the voltage and/or discharge current of the power supply module.
  • the voltage and/or discharge current of the module are compared with the preset energy level threshold.
  • the docking station includes a charging station, and the smart lawn mower returns to the charging station along the boundary line to supplement energy.
  • the preset energy level threshold is positively correlated with the length of the border line.
  • the self-propelled equipment includes a storage unit, and the storage unit includes the corresponding relationship between the preset energy level threshold and the length of the boundary line.
  • the longer the boundary line length the longer the distance the self-propelled equipment needs to travel when returning to the charging station Therefore, it is necessary to set a larger preset energy level threshold.
  • the smaller the boundary line length the shorter the distance that the autonomous vehicle must travel when returning to the charging station. Therefore, a smaller preset energy level value needs to be set.
  • the preset energy level threshold there is an interval change between the length of the boundary line and the preset energy level threshold.
  • the length of the boundary line When the length of the boundary line is within a certain interval, it corresponds to a preset energy level threshold, that is, when the length of the boundary line increases, the preset energy level threshold The energy level threshold does not necessarily have to be increased. Instead, when the length of the boundary line increases to a certain extent, the preset energy level threshold increases, but the preset energy level threshold and the length of the boundary line show a positive correlation as a whole, that is, the boundary line If the length is increased by a certain value, the preset energy level threshold will increase accordingly. Similarly, when the length of the boundary line decreases, the preset energy level threshold does not necessarily have to be reduced.
  • the preset energy level threshold decreases accordingly.
  • the preset energy level is reduced following the decrease in the length of the boundary line, and the preset energy level can be set variable according to the length of the boundary line.
  • acquiring the length of the boundary line of the working area of the autonomous vehicle includes acquiring the length of the outer boundary line of the working area of the autonomous device, and setting the preset energy level threshold of the power module according to the length of the outer boundary line.
  • the self-propelled equipment moves and works in a working area, which is defined by a boundary line.
  • the boundary line includes an outer boundary line and an inner boundary line.
  • the outer boundary line is located on the periphery of the working area, which defines the area where the autonomous device can move and walks, and the inner boundary line is located inside the working area, and defines the area in the working area that the autonomous device does not need to process, and the autonomous device moves to the inner boundary
  • the inner boundary line also includes an internal guide line for guiding the autonomous vehicle to return to the docking station.
  • the energy level of the power module of the self-propelled equipment is less than or equal to the preset energy level threshold, the self-propelled equipment moves along the outer boundary line to return to the stop.
  • the length of the boundary line of the working area may be the length of the outer boundary line of the working area.
  • the voltage or/and the voltage of the power module of the autonomous vehicle can be set according to the length of the outer boundary line of the working area Discharge current.
  • obtaining the length of the boundary line of the working area of the autonomous walking device includes receiving parameters input by the user, and determining the length of the boundary line of the working area of the autonomous walking device according to the parameters input by the user.
  • the length of the boundary line may be obtained by receiving a parameter input by the user, and the parameter input by the user may be the length of the boundary line directly, or the parameters of the boundary line, such as the shape and size of the boundary line.
  • the parameters input by the user are circle and radius
  • the length of the boundary line of the working area of the automatic walking device is calculated according to the circle shape and radius input by the user.
  • the parameter input by the user can also be the rectangle and the length and width of the rectangle.
  • receiving the parameters input by the user includes receiving parameter information sent by the user through the control panel of the autonomous walking device and/or the remote terminal.
  • the autonomous walking device may be provided with a control panel, and the parameters input by the user are received through the control panel.
  • the autonomous vehicle may be provided with a communication module and a remote terminal, and the remote terminal sends the parameter information to the communication module of the autonomous vehicle after the user inputs parameter information through the remote terminal.
  • acquiring the length of the boundary line of the working area of the autonomous vehicle includes controlling the autonomous device to move one circle along the boundary of the working area, and calculating the walking distance of the autonomous device; and determining the location based on the walking distance of the autonomous vehicle. The length of the boundary line of the working area.
  • the autonomous vehicle in order to determine the length of the boundary line, the autonomous vehicle is instructed to walk one circle clockwise or counterclockwise along the boundary line of the work area, and the walking distance that the autonomous vehicle travels on one circle of the boundary line is calculated.
  • the walking distance of the automatic traveling equipment in a circle of the boundary line is the boundary coil of the working area where the automatic traveling equipment is located, and the traveling distance of the automatic traveling equipment is determined as the length of the boundary line of the working area where it is located.
  • the autonomous vehicle may be instructed to work along the boundary line of the working area. While working, walk a circle along the boundary line of the working area, and when the work is performed in the boundary line area, the measurement and calculation of the walking distance are also completed, and the walking distance of the automatic walking equipment is also determined as the working area. The length of the boundary line.
  • the walking distance of the autonomous vehicle is calculated when the autonomous vehicle moves along the boundary of the working area for one week, and the walking distance of the autonomous vehicle is determined as the length of the boundary of the working area. It is realized that the calculation of the length of the boundary line is completed while the boundary line is moving, and there is no additional workload when determining the length of the boundary line.
  • controlling the automatic traveling equipment to move one circle along the boundary line of the working area includes: controlling the automatic traveling equipment to start moving with a stop as a starting point, and when the automatic traveling equipment returns to the stop along the boundary line, it is determined to be automatic The walking equipment moves in a circle along the boundary of the work area.
  • the docking station may be the equipment where the autonomous walking equipment is in a non-working state, the docking station may also provide electrical energy for the battery of the autonomous walking equipment, and the docking station may also be called a charging station.
  • the boundary line in this embodiment may be a wire that forms a loop after being energized, and the boundary line is used to divide the working area of the self-propelled device.
  • the stop is electrically connected to the boundary line.
  • the docking station can be used to provide current to the boundary line, thereby generating a constant magnetic field around the boundary line, and the constant magnetic field is the boundary signal.
  • the magnetic field strength and direction of the constant magnetic field can be identified, so as to determine the working area according to the constant magnetic field.
  • the autonomous driving device is controlled to start moving, and when the autonomous driving device returns to the docking station along the boundary line, it is determined that the autonomous walking device moves in a circle along the boundary line of the working area.
  • the automatic traveling equipment may be provided with an edge working mode, which means that the automatic traveling equipment works along the boundary line of the working area.
  • the self-propelled equipment When the self-propelled equipment is in the edge working mode, that is, the self-propelled equipment works along the boundary line of the working area.
  • the docking station Since the docking station is set on the boundary line, and the docking station is used to provide current for the boundary line, it can start moving with the docking station as the starting point and the stopping station as the end point, that is, the automatic traveling equipment returns to the docking station, and it is working along the edge
  • the automatic traveling device of the mode walks along the boundary line in a circle.
  • the stop station as the starting point and the end point in this embodiment can be in the form of a charging station or other forms.
  • the automatic traveling device when the automatic traveling device receives a special signal for the first time, it is determined that the automatic traveling device is located at the starting point. After the device walks around the boundary line, it is determined that the automatic traveling device returns to the starting point when it receives the special signal again.
  • the autonomous traveling device by instructing the autonomous device to work along the boundary line of the working area, starting from the docking station and returning to the docking station, the autonomous traveling device completes a circle movement of the boundary line of the working area, and places the autonomous vehicle on the boundary
  • the walking distance of one circle of the line is determined as the length of the boundary line of the working area.
  • controlling the automatic traveling equipment to move along the boundary line of the work area includes: controlling the automatic traveling equipment to move along the boundary line of the work area, detecting whether the automatic traveling equipment receives a preset signal, and the automatic traveling equipment After receiving the preset signal, the current position is determined as the starting point. When the autonomous vehicle next receives the preset signal, it is determined that the autonomous vehicle has moved along the boundary line of the working area.
  • the preset signals include but are not limited to: magnetic signals (magnetic strips, permanent magnets, magnetic rings, etc.), wireless beacons (RFID, acoustic magnetic, RF beacon, etc.), optical signals (laser, infrared, visual icons, two-dimensional Code, etc.), electrical signals (short circuit signals, special frequency signals, special coded signals), sound signals (voice signals, ultrasonic signals).
  • magnetic signals magnetic strips, permanent magnets, magnetic rings, etc.
  • wireless beacons RFID, acoustic magnetic, RF beacon, etc.
  • optical signals laser, infrared, visual icons, two-dimensional Code, etc.
  • electrical signals short circuit signals, special frequency signals, special coded signals
  • sound signals voice signals, ultrasonic signals.
  • the calculation of the walking distance of the autonomous walking device includes the following steps:
  • S220 Calculate the traveling distance of the automatic traveling equipment according to the number of turns of the motor and the wheel diameter of the automatic traveling equipment.
  • the self-propelled equipment is provided with a motor, and the motor drives the movement of the self-propelled equipment. Knowing the wheel diameter of the automatic traveling equipment, one can know the distance traveled by the automatic traveling equipment when the motor rotates one circle. If you calculate the walking distance of the automatic traveling equipment, you need to know the number of turns of the automatic traveling equipment motor. You can record the number of revolutions of the motor of the automatic traveling equipment when the automatic traveling equipment starts to move from the docking station and returns to the docking station. It is also possible to record the number of turns of the motor of the automatic traveling equipment during the process of receiving the preset signal twice. Thus, the number of turns of the motor, the gear speed ratio of the motor, and the wheel diameter of the autonomous vehicle can be used to calculate the travel distance of the autonomous vehicle.
  • determining the length of the boundary line of the working area where the autonomous vehicle is located includes: the autonomous device works along the boundary of the working area for multiple times, calculating the walking distance of the autonomous device for multiple jobs; moving multiple times The average of the walking distance is determined as the length of the boundary line of the working area.
  • the automatic traveling equipment is made to work multiple times along the boundary line of the working area, so that multiple corresponding walking distances can be obtained through these multiple movements, and then the average walking distance of multiple movements is calculated, and the walking distances
  • the average value of the distance is determined as the length of the boundary line of the working area.
  • the walking distance is calculated multiple times, and the accuracy of the walking distance is improved by calculating the average value of the multiple calculation results.
  • the method before determining the average of the walking distance of multiple movements as the length of the boundary line of the working area, the method further includes:
  • S320 When the number of times of movement is less than or equal to the preset threshold, determine the average value of the walking distance of multiple movements as the length of the boundary line of the working area.
  • the number of movement of the autonomous vehicle along the boundary line of the working area is counted. Compare the counted number of movements with the preset threshold. When the number of movements is less than or equal to the preset threshold, calculate the average of the walking distance of multiple jobs, and determine the average of the walking distance of multiple movements as the working area. The length of the boundary line.
  • this embodiment presets a threshold corresponding to the number of moves.
  • This embodiment does not limit the preset threshold value, and can be set according to actual working conditions.
  • the preset threshold value may be 5 times, 8 times, 10 times or more.
  • the method further includes the following steps:
  • Get the length of the boundary line of the working area of the automatic walking equipment including:
  • the number of movement of the automatic traveling equipment along the boundary line of the working area is counted. Compare the counted number of movements with the preset threshold.
  • the number of work is greater than the preset threshold, in order to improve the accuracy of the calculation results and the intelligence of the automatic walking equipment, it is not only necessary to calculate the length of the boundary line of the working area.
  • the walking distance of the current movement of the automatic walking device it is also necessary to consider the walking distance of the previous preset threshold movement.
  • the automatic walking device moves along the boundary line of the working area, and calculates The walking distance of the current movement of the automatic walking equipment; finally, the average of the walking distance of the preset threshold movement and the average of the walking distance of the current movement is determined as the boundary line length of the working area.
  • the preset threshold value is 10
  • the calculation method of the boundary line length of the working area of the 11th movement is: calculating the average walking distance of the previous 10 movements as 100m; the walking distance of the 11th working is 120m; Then the length of the boundary line of the working area where the automatic traveling equipment is located is 110m.
  • the preset threshold value is 10
  • the calculation method of the boundary line length of the working area of the 15th movement is: calculating the average walking distance of the previous 10 movements as 100m; the walking distance of the 15th working is 136m; Then the length of the boundary line of the working area where the autonomous vehicle is located is 118m.
  • the walking distance in this embodiment is set according to the actual working conditions of the autonomous vehicle, and its purpose is to improve the degree of intelligence of the autonomous vehicle so that the autonomous vehicle can automatically adapt to changes in the working area.
  • determining the length of the boundary line of the working area where the autonomous vehicle is located includes:
  • S520 According to the moving speed and the moving time, determine the length of the boundary line of the working area where the automatic traveling equipment is located.
  • the moving speed of the autonomous vehicle can be set in advance, and the movement time of the autonomous vehicle during one week of walking along the boundary line can be counted by the timer in the autonomous vehicle.
  • the moving speed and moving time of the automatic traveling equipment are obtained. According to the product of time and speed equal to the distance, the moving speed and moving Multiply the time to get the length of the boundary line of the working area where the automatic walking equipment is located.
  • the method further includes the following steps:
  • the battery includes but is not limited to lithium batteries.
  • the storage battery needs to provide electric energy to the working motor and the walking motor of the automatic traveling equipment.
  • the current voltage of the battery can be detected in real time, and the detected current voltage is compared with the set return voltage. When the current voltage is less than or equal to the return voltage, it indicates that the battery power of the automatic traveling equipment has been When it is nearly used up, it is necessary to control the automatic walking equipment to stop working and return to charging. It is understandable that when the current voltage is greater than the return voltage, the automatic walking device is kept working.
  • the automatic walking device by detecting the current voltage of the battery installed on the autonomous walking device, when the current voltage is less than or equal to the return voltage, the automatic walking device is controlled to stop working and return to charging, which solves the problem that the smart lawn mower in the traditional technology returns to the charging station The technical problem of abnormal shutdown occurred on the way.
  • the working area where the autonomous device is located is provided with a boundary line
  • the boundary line is provided with a stop for the autonomous device.
  • S704 Calculate the walking distance of the automatic traveling equipment each time it moves according to the number of turns of the motor and the wheel diameter of the automatic traveling equipment;
  • S712 Determine the walking distance of the current movement of the automatic walking equipment
  • S714. Determine the average value of the walking distance of the preset threshold value movement and the average value of the walking distance of the current movement as the length of the boundary line of the working area.
  • S716 Set a corresponding return voltage according to the length of the boundary line of the working area where the automatic traveling equipment is located;
  • the smart lawn mower has an edge cutting mode, and the intelligent lawn mower can count the length of the boundary line in the edge cutting mode.
  • the regression voltage parameter list Table 1
  • different regression voltages can be set according to different boundary line lengths.
  • Border line length Return voltage 0-100m 16.9V 101m-150m 17.0V 151m-200m 17.1V 201m-250m 17.2V 251m-300m 17.3V 301m-350m 17.4V 351m-400m 17.5V More than 400m 17.6V
  • the previous return voltage setting can be retained, such as 17.2V or 17.4V.
  • the autonomous walking device is used as an example of a lawn mower, and only a physical boundary line exists in the working area as an example.
  • the lawn mower passes through the navigation device provided on it. Automatically move and work in the work area.
  • the user can input the area of the work area in the mobile phone or other clients, or directly input the area of the work area in the lawn mower, so that the lawn mower determines the return time according to the received work area area
  • the preset energy level threshold is During the work process, the lawn mower detects the energy level of the power module, and when the energy level of the power module is less than or equal to the preset energy level threshold, the lawn mower is controlled to return to the docking station.
  • the present application provides an autonomous walking device, including: a housing, a mobile module, a task execution module, and a controller; the mobile module and the task execution module are installed in the housing; the controller is respectively connected to the mobile module and the task execution module.
  • the modules are electrically connected, and the controller includes a memory, a processor, and a computer program that is stored on the memory and can run on the processor.
  • the computer program is executed by the processor to implement the method steps in the foregoing embodiments.
  • the task execution module is the lawn mower cutter head
  • the movement module is the front wheel and the rear wheel.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Abstract

一种自动行走设备回归停靠站的控制方法及自动行走设备，通过获取自动行走设备工作区域的尺寸参数；根据尺寸参数设定电源模块的一预设能量水平阈值；检测电源模块的能量水平，当电源模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备回归停靠站。实现了根据工作区域的尺寸参数灵活设置自动行走设备的能量水平阈值，解决了传统技术中智能割草机在回归充电站的途中发生异常停机的技术问题。

Description

自动行走设备回归停靠站的控制方法及自动行走设备
本申请要求了申请日为2019年07月24日，申请号为201910672876.3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。
技术领域
本发明涉及园林工艺领域，特别一种自动行走设备回归停靠站的控制方法及自动行走设备。
背景技术
智能割草机具备自动行走功能，且能够自主完成修剪草坪的工作，无须人为直接控制和操作，大幅度降低人工操作，是一种适合家庭庭院、公共绿地等场所进行草坪修剪维护的工具。
通常智能割草机安装有蓄电池，检测蓄电池的剩余能量，当剩余能量小于或者等于预设能量值，控制割草机回归充电站进行充电。
但是，在传统技术中，在回归充电站的途中，智能割草机容易发生异常停机的技术问题。
发明内容
基于此，有必要针对传统技术中智能割草机在回归充电站的途中发生异常停机的技术问题，提供一种自动行走设备回归停靠站的控制方法及自动行走设备。
一种自动行走设备回归停靠站的控制方法，所述自动行走设备在边界线限定的工作区域内移动和工作，所述自动行走设备包括提供能量的电源模块，所述控制方法包括：获取所述自动行走设备工作区域的尺寸参数；根据所述尺寸参数设定电源模块的一预设能量水平阈值；检测电源模块的能量水平，当电源 模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备回归停靠站。
在其中一个实施例中，所述工作区域的尺寸参数包括：所述工作区域的边界线长度和/或所述工作区域的面积。
在其中一个实施例中，所述获取自动行走设备工作区域的尺寸参数，包括：接收用户输入的面积参数。
在其中一个实施例中，所述控制方法包括：获取自动行走设备工作区域的边界线长度；根据所述边界线长度设定电源模块的一预设能量水平阈值；检测电源模块的能量水平，当电源模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备沿边界线回归停靠站。
在其中一个实施例中，所述电源模块的能量水平以电源模块的电压或/和放电电流表示。
在其中一个实施例中，所述预设能量水平阈值与边界线长度呈正相关，当边界线长度增大时，预设能量水平阈值随之增大，和/或，当边界线长度减小时，预设能量水平阈值随之减小。在其中一个实施例中，所述获取自动行走设备工作区域的边界线长度包括获取自动行走设备工作区域的外边界线长度，根据所述外边界线的长度设定电源模块的预设能量水平阈值。
在其中一个实施例中，所述获取自动行走设备工作区域的边界线长度包括接收用户输入的参数，根据用户输入的参数确定自动行走设备工作区域的边界线长度。
在其中一个实施例中，所述接收用户输入的参数包括接收用户通过自动行走设备控制面板和/或远程终端发送的参数信息。
在其中一个实施例中，所述获取自动行走设备工作区域的边界线长度包括 控制所述自动行走设备沿着工作区域的边界线移动一圈，计算所述自动行走设备的行走距离；根据所述自动行走设备的行走距离确定所在的工作区域的边界线长度。
在其中一个实施例中，所述控制所述自动行走设备沿着工作区域的边界线移动一圈，包括：控制自动行走设备以所述停靠站为起点开始移动，当自动行走设备沿边界线回归至停靠站时，判定为自动行走设备沿着工作区域的边界线移动了一圈。
在其中一个实施例中，所述控制所述自动行走设备沿着工作区域的边界线移动一圈，包括：控制自动行走设备沿着工作区域的边界线移动，检测所述自动行走设备是否接收到预设信号，自动行走设备接收到预设信号后将当前位置确定为起点，当自动行走设备下一次接收到预设信号时，判定为自动行走设备沿着工作区域的边界线移动了一圈。
在其中一个实施例中，所述计算所述自动行走设备的行走距离包括：在所述自动行走设备沿着所述工作区域的边界线移动的过程中，记录所述自动行走设备驱动电机所转的圈数；根据所述驱动电机所转的圈数和所述自动行走设备的驱动轮直径，计算所述自动行走设备的行走距离。
在其中一个实施例中，所述确定所述自动行走设备所在的工作区域的边界线长度，包括：所述自动行走设备沿着所述工作区域的边界线多次移动，计算所述自动行走设备多次移动的行走距离；将多次移动的行走距离的平均值确定为自动行走设备工作区域的边界线长度。
在其中一个实施例中，所述将多次移动的行走距离的平均值确定为自动行走设备工作区域的边界线长度，包括：统计所述自动行走设备沿着所述工作区域的边界线的移动次数；当所述移动次数小于或者等于预设阈值时，将多次移 动的行走距离的平均值确定为所在的工作区域的边界线长度。
在其中一个实施例中，所述控制方法还包括：当所述移动次数超过预设阈值时，计算预设阈值次内移动的行走距离的平均值；确定所述自动行走设备当前次移动的行走距离；所述获取所述自动行走设备工作区域的边界线长度，包括：将所述预设阈值次移动的行走距离的平均值和所述当前次移动的行走距离两者做平均值，并将该平均值确定为自动行走设备工作区域的边界线长度。
在其中一个实施例中，所述确定所述自动行走设备工作区域的边界线长度，包括：控制所述自动行走设备沿着所述工作区域的边界线移动一圈，获取所述自动行走设备的移动速度和移动时间；根据所述移动速度和所述移动时间，确定所述自动行走设备作区域的边界线长度。
一种自动行走设备，包括：壳体、移动模块、任务执行模块和控制器；所述移动模块和所述任务执行模块安装于所述壳体内；所述控制器分别与所述移动模块、所述任务执行模块电连接，所述控制器包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，所述计算机程序被处理器执行时上述任一实施例所述方法中的步骤。
上述自动行走设备回归停靠站的控制方法及自动行走设备，通过获取自动行走设备工作区域的尺寸参数；根据尺寸参数设定电源模块的一预设能量水平阈值；检测电源模块的能量水平，当电源模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备回归停靠站。实现了根据工作区域的尺寸参数灵活设置自动行走设备的预设能量水平阈值，解决了传统技术中不能灵活设置电源模块的预设能量水平阈值，由此引起的自动行走设备在回归充电站的途中发生异常停机的技术问题。
附图说明
图1为一个实施例中自动行走设备回归停靠站的控制方法的流程示意图；
图2为一个实施例中自动行走设备回归停靠站的控制方法的流程示意图；
图3为一个实施例中自动行走设备回归停靠站的控制方法的流程示意图；
图4为一个实施例中自动行走设备回归停靠站的控制方法的流程示意图；
图5为一个实施例中自动行走设备回归停靠站的控制方法的流程示意图；
图6为一个实施例中自动行走设备回归停靠站的控制方法的流程示意图；
图7为一个实施例中自动行走设备回归停靠站的控制方法的流程示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
在一个实施例中，自动行走设备在边界线限定的工作区域内移动和工作，自动行走设备包括提供能量的电源模块。请参见图1，本申请提供一种自动行走设备回归停靠站的控制方法，包括以下步骤：
S110、获取自动行走设备工作区域的尺寸参数。
自动行走设备可以是智能割草机、智能扫雪机、智能扫地车、智能洗地车、机器人清洁器等类似的具有自动行走功能的智能设备。
边界线可以是工作区域外围的边界线和工作区域内部障碍形成的边界线的统称，指的是用于划分自动行走设备的工作区域与非工作区域的界线，边界线所界定的区域即为自动行走设备的工作区域。工作区域外围的边界线通常是在工作区域的外围首尾相连，将工作区域封闭。边界线可以是电子的，电子的边界线可以是由边界信号发生装置发出的边界信号，例如：电磁信号、声信号或光信号等；边界线也可以是实体的，草与非草的分界线。障碍可以是花坛、水 池等，工作区域内部障碍形成的边界线也可以和上述外围的边界线类似，可以是电子的，也可以是实体的，例如：花坛、水池等与草的分界线。自动行走设备在边界线限定的工作区域内移动和工作，当其能源不足时，可以回归停靠站补充能量。
在本申请的一个实施例中，工作区域的尺寸参数可以包括：工作区域的边界线长度和/或工作区域的面积。
边界线长度是位于自动行走设备所在的工作区域的边缘四周的长度，也就是工作区域的周长。具体地，当自动行走设备沿着所在的工作区域的边界线工作时，工作区域的边界线长度可以通过多种方式确定，比如，人工测量自动行走设备所在的工作区域的边界线长度，或者对工作区域进行地图绘制，利用绘制的地图获取工作区域的边界线长度，或者自动行走设备沿着工作区域的边界线工作的过程获取工作区域的边界线长度，或者自动行走设备沿着边界线行走建图等过程中获取边界线长度。
面积可以是自动行走设备所在的工作区域的面积，可以采用和边界线长度类似的方式确认。例如：人工测量边界线长度后用户计算得到；或者割草机对工作区域进行建图或用户绘制地图或割草机沿着边界线行走后，割草机通过内部程序计算得到；或者一般情况下用户购入草坪时已经获知草坪面积，因而用户可以根据产证上所写面积得到工作区域的面积。
S120、根据尺寸参数设定电源模块的一预设能量水平阈值；
S130、检测电源模块的能量水平，当电源模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备回归停靠站。
在本申请的实施例中，通过获取自动行走设备工作区域的尺寸参数；根据尺寸参数设定电源模块的一预设能量水平阈值；检测电源模块的能量水平，当 电源模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备回归停靠站。实现了根据工作区域的尺寸参数灵活设置自动行走设备的预设能量水平阈值，解决了传统技术中不能灵活设置电源模块的预设能量水平阈值，由此引起的自动行走设备在回归充电站的途中发生异常停机的技术问题。
在本申请的一个实施例中，自动行走设备包括：导航装置，导航装置可以用于获取自动行走设备当前的位置信息，自动行走设备中的控制装置可以根据该位置信息控制自动行走设备移动和工作。具体的，导航装置可以是卫星定位装置(如GPS或RTK-GPS等)或者视觉等。通过导航装置可以实现在工作区域中仅存在实体边界线的情况下，自动行走设备的自动行走，从而当自动行走设备中电源模块的能量水平小于或等于预设能量水平阈值时，自动行走设备可以根据卫星定位装置建立的地图或视觉装置直接控制自动行走设备回归停靠站。
在本申请的另一个实施例中，自动行走设备中可以包括：磁感应装置，自动行走设备中的控制装置可以根据磁感应装置感应到的电子信号控制自动行走设备移动和工作。即，磁感应装置适用于工作区域中存在电子边界线的场景。当自动行走设备中电源模块的能量水平小于或等于预设能量水平阈值时，自动行走设备可以根据磁感应装置感应到的边界信号控制自动行走设备沿着边界线回归停靠站。
在本申请的实施例中，工作区域的尺寸参数(边界线长度或面积)与预设能量水平阈值的对应关系是事先存储在自动行走设备内的存储单元单元。在本申请下面的实施例中仅从工作区域的尺寸参数为边界线长度以及沿着边界线回归停靠站的角度来进行说明。值得注意的是，虽然下面的实施例中仅涉及边界线长度以及沿着边界线回归停靠站，但同样也适用于工作区域的尺寸参数为工作区域的面积等其他尺寸参数以及自动行走设备自动回归停靠站的情况，本申 请不再赘述。
边界线长度与预设能量水平阈值的对应关系可以以预设能量水平阈值列表的形式存储在自动行走设备内的存储单元，预设能量水平阈值列表内预存有边界线长度与预设能量水平阈值的对应数据。预设能量水平阈值是指确保自动行走设备在工作区域内工作时且能够回归停靠站或者充电站的电压或者放电电流。一般情况下，预设能量水平阈值是根据实际情况设定的，与自动行走设备上安装的电源模块的电池容量有关。具体地，由于边界线长度与预设能量水平阈值的对应关系反映的是边界线长度与预设能量水平阈值的对应数据，确定自动行走设备所在的工作区域的边界线长度后，可以根据工作区域的边界线长度设定自动行走设备所需设置的预设能量水平阈值，比如，将预设能量水平阈值设置为自动行走设备的回归电压。以智能割草机为例，回归电压的取值范围可以是为16.9V至17.6V。
在传统技术中，自动行走设备的预设能量水平阈值是固定不变的，但是自动行走设备的工作区域不同的，不同的工作区域自动行走设备在回归停靠站时需要经过不同的距离，因此不同的工作区域对预设能量水平阈值有不同的需求，传统技术中固定不变的预设能量水平阈值不能满足多数工况场景所要求的回归电压。特别是对于一些面积较大的工作区域，或者工作区域的边界线比较曲折，如果不能合理设置自动行走设备的预设能量水平阈值，在自动行走设备回归的过程，容易发生异常停机。而本实施例中，通过去获取自动行走设备工作区域的边界线长度；根据边界线长度设定电源模块的一预设能量水平阈值；检测电源模块的能量水平，当电源模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备沿边界线回归停靠站。实现了根据工作区域的边界线长度灵活设置自动行走设备的预设能量水平阈值，解决了传统技术中不能灵活设置电 源模块的预设能量水平阈值，由此引起的自动行走设备在回归充电站的途中发生异常停机的技术问题。
在一个实施例中，电源模块的能量水平以电源模块的电压或/和放电电流表示。具体的，自动行走设备在边界线限定的工作区域内移动时，实时的检测电源模块的能量水平，通常，可以通过检测电源模块的电压和/或放电电流来确定电源模块的能量水平，将电源模块的电压和/或放电电流与预设能量水平阈值比较，当电源模块的电压和/或放电电流小于或等于预设能量水平阈值时，判断为自动行走设备应该回归停靠站进行能量补充。具体的，以智能割草机为例，停靠站包括充电站，智能割草机沿边界线回归充电站以进行能量补充。
在一个实施例中，预设能量水平阈值与边界线长度呈正相关，当边界线长度增大时，预设能量水平阈值随之增大，和/或，当边界线长度减小时，预设能量水平阈值随之减小。具体的，自动行走设备包括存储单元，存储单元内包括预设能量水平阈值与边界线长度的对应关系，具体的，边界线长度越长，自动行走设备回归充电站时所需要经过的距离越长，因此需要设置较大的预设能量水平阈值，反之，边界线长度越小，自动行走设备回归充电站时所需要经过的距离越短，因此需要设置较小的预设能量水平值。具体的，边界线长度和预设能量水平阈值之间呈区间变化，当边界线长度处于一定的区间内时，对应一个预设能量水平阈值，也就是说，边界线长度增大时，预设能量水平阈值并不一定必须增大，而是，当边界线长度增大到一定程度，预设能量水平阈值才增大，但预设能量水平阈值和边界线长度整体呈现正相关，即边界线长度增大一定值，预设能量水平阈值相应增大，同理，边界线长度减小时，预设能量水平阈值并不一定必须减小，而是，当边界线长度减小到一定程度，预设能量水平才减小，但预设能量水平和边界线长度整体呈现正相关，即边界线长度减小一定值，预 设能量水平阈值相应减小。通过使得预设能量水平跟随边界线的长度增大而增大，使得预设能量水平跟随边界线的长度减小而减小，实现了根据边界线的长度可变的设置预设能量水平，能够保证自动行走设备的能量水平足够支撑其返回充电站，同时增加单次充电可持续工作时长。
在一个实施例中，获取自动行走设备工作区域的边界线长度包括获取自动行走设备工作区域的外边界线长度，根据外边界线的长度设定电源模块的预设能量水平阈值。具体的，自动行走设备在工作区域内移动并工作，工作区域由边界线限定，具体的，边界线包括外边界线以及内边界线。外边界线处于工作区域的外围，界定自动行走设备可以移动并行走的区域，以及，内边界线位于工作区域的内部，界定工作区域中自动行走设备不需要处理的区域，自动行走设备移动至内边界线时，避开处理由内边界线围成的区域，在其他的实施例中，内边界线还包括内部的引导线，用于引导自动行走设备回归停靠站。自动行走设备的电源模块的能量水平小于或等于预设能量水平阈值时，自动行走设备沿外边界线移动以回归停靠站。其中，工作区域的边界线长度可以是工作区域的外边界线长度。具体地，由于外边界线长度与预设能量水平阈值的对应关系获取自动行走设备所在的工作区域的边界线长度后，可以根据工作区域的外边界线长度设定自动行走设备电源模块的电压或/和放电电流。
在一个实施例中，获取自动行走设备工作区域的边界线长度包括接收用户输入的参数，根据用户输入的参数确定自动行走设备工作区域的边界线长度。
具体地，边界线长度可以通过接收用户输入的参数而获取到，用户输入的参数可以直接是边界线长度，也可以是边界线的参数，比如，边界线形状和尺寸。比如，用户输入的参数为圆和半径，则根据用户输入的圆形状和圆半径计算自动行走设备工作区域的边界线长度。本申请对用户输入的参数的不做限定。 比如用户输入的参数还可以是矩形及矩形的长和宽。
在一个实施例中，接收用户输入的参数包括接收用户通过自动行走设备控制面板和/或远程终端发送的参数信息。具体地，自动行走设备可以设有控制面板，通过控制面板接收用户输入的参数。或者自动行走设备可以设有通信模块和远程终端，用户通过远程终端输入的参数信息，远程终端将参数信息发送至自动行走设备的通信模块。
在一个实施例中，获取自动行走设备工作区域的边界线长度包括控制自动行走设备沿着工作区域的边界线移动一圈，计算自动行走设备的行走距离；根据自动行走设备的行走距离确定所在的工作区域的边界线长度。
具体地，为了确定边界线长度，指示自动行走设备沿着工作区域的边界线顺时针或者逆时针行走一圈，计算自动行走设备在边界线一圈所行走的行走距离。自动行走设备在边界线一圈所行走的行走距离即为自动行走设备所在的工作区域的边界线圈，则将自动行走设备的行走距离确定为所在的工作区域的边界线长度。
进一步地，为了节省时间并提高自动行走设备的工作效率，可以指示自动行走设备沿着工作区域的边界线进行工作。在工作的同时，沿着工作区域的边界线行走一圈，在边界线区域执行完工作的同时，也完成了行走距离的测量和计算，同样将自动行走设备的行走距离确定为所在的工作区域的边界线长度。
本实施例中，通过当自动行走设备沿着工作区域的边界线移动一周时，计算自动行走设备的行走距离，并将自动行走设备的行走距离确定为所在的工作区域的边界线长度。实现了在边界线移动的同时完成边界线长度的计算，在确定边界线长度时并没有增加的额外工作量。
在一个实施例中，控制自动行走设备沿着工作区域的边界线移动一圈，包 括：控制自动行走设备以停靠站为起点开始移动，当自动行走设备沿边界线回归至停靠站时，判定为自动行走设备沿着工作区域的边界线移动了一圈。
其中，停靠站可以是非工作状态的自动行走设备所处的设备，停靠站也可以为自动行走设备的蓄电池提供电能，停靠站也可以称作充电站。本实施例中的边界线可以是一种通电后形成回路的导线，边界线用于划分自行走设备的工作区域。停靠站与边界线电性连接。停靠站可以用于为边界线提供电流，从而在边界线周围产生环绕边界线的恒定磁场，该恒定磁场即为边界信号。自行走设备工作行走过程中，可以识别该恒定磁场的磁场强度、方向等信息，从而根据该恒定磁场确定工作区域。具体地，以停靠站为起点，控制自动行走设备开始移动，当自动行走设备沿边界线回归至停靠站时，判定自动行走设备沿着工作区域的边界线移动了一圈。
进一步地，自动行走设备可以设有沿边工作模式，沿边工作模式是指自动行走设备沿着工作区域的边界线进行工作。当自动行走设备处于沿边工作模式，即自动行走设备沿着工作区域的边界线工作。由于停靠站设置在边界线上，且停靠站用于为边界线提供电流，则可以以停靠站为起点开始移动，并以停靠站为终点，即自动行走设备回归至停靠站，则处于沿边工作模式的自动行走设备沿着边界线行走一圈。需要说明的是，本实施例中作为起点和终点的停靠站可以采用充电站的形式，也可以采用其他形式，比如自动行走设备初次接收一特殊信号时，确定自动行走设备位于起点，当自动行走设备绕边界线行走一圈后，再次接收该特殊信号时确定自动行走设备回到起点。
本实施例中，通过指示自动行走设备沿着工作区域的边界线工作，从停靠站出发并回归至停靠站，自动行走设备完成工作区域的边界线一圈的移动，并将自动行走设备在边界线一圈的行走距离确定为所在的工作区域的边界线长 度。
在一个实施例中，控制自动行走设备沿着工作区域的边界线移动一圈，包括：控制自动行走设备沿着工作区域的边界线移动，检测自动行走设备是否接收到预设信号，自动行走设备接收到预设信号后将当前位置确定为起点，当自动行走设备下一次接收到预设信号时，判定为自动行走设备沿着工作区域的边界线移动了一圈。
其中，预设信号包括但不限于：磁信号(磁条、永磁体、磁环等)、无线信标(RFID、声磁、RF beacon等)、光信号(激光、红外、视觉图标、二维码等)、电信号(短路信号、特殊频率信号、特殊编码信号)、声音信号(语音信号、超声波信号)。具体地，当自动行走设备沿着工作区域的边界线工作，检测自动行走设备是否接收到预设信号。自动行走设备检测到预设信号后，将当前位置确定为起点，继续沿边界线工作，当自动行走设备下一次接收到预设信号时，即再次检测到该预设信号时判定自动行走设备沿着边界线行走一圈。
在一个实施例中，请参见图2，自动行走设备的行走距离的计算，包括以下步骤：
S210、在自动行走设备沿着工作区域的边界线工作的过程中，记录自动行走设备电机所转的圈数；
S220、根据电机所转的圈数和自动行走设备的车轮直径，计算自动行走设备的行走距离。
具体地，自动行走设备设有电机，电机带动自动行走设备的移动。已知自动行走设备的车轮直径，可以知道电机转一圈，自动行走设备所行走的距离。若计算自动行走设备的行走距离，需要知道自动行走设备电机所转的圈数。则可以在自动行走设备以停靠站为起点开始移动并回归至停靠站的过程中，记录 自动行走设备电机所转的圈数。也可以在相邻两次接收到预设信号过程中记录自动行走设备电机所转的圈数。从而可以电机所转的圈数、电机的齿轮转速比和自动行走设备的车轮直径，计算自动行走设备的行走距离。
在一个实施例中，确定自动行走设备所在的工作区域的边界线长度，包括：自动行走设备沿着工作区域的边界线多次工作，计算自动行走设备多次工作的行走距离；将多次移动的行走距离的平均值确定为所在的工作区域的边界线长度。
具体地，考虑到自动行走设备工况的复杂性导致计算的行走距离是不准确的，比如自动行走设备在工作时发生车轮打滑或者遇到障碍物等情况。因此，使自动行走设备沿着工作区域的边界线多次工作，从而可以通过这多次移动得到多个对应的行走距离，进而对多次移动的行走距离求平均值，将多次移动的行走距离的平均值确定为所在的工作区域的边界线长度。本实施例中通过多次计算行走距离，并通过计算多次计算结果的平均值提升行走距离的准确性。
在一个实施例中，请参见图3，在将多次移动的行走距离的平均值确定为所在的工作区域的边界线长度之前，该方法还包括：
S310、统计自动行走设备沿着工作区域的边界线的移动次数；
S320、当移动次数小于或者等于预设阈值时，将多次移动的行走距离的平均值确定为所在的工作区域的边界线长度。
具体地，在自动行走设备沿着工作区域的边界线工作时，统计自动行走设备沿着工作区域的边界线的移动次数。将统计的移动次数与预设阈值进行比较，移动次数小于或者等于预设阈值时，则计算多次工作的行走距离的平均值，并多次移动的行走距离的平均值确定为所在的工作区域的边界线长度。
本实施例中，考虑到自动行走设备沿着边界线多次移动时，可能存在更换 工作区域的情况。不同的工作区域可能对应着不同的边界线长度，即在自动行走设备工作时边界线的长度也处于动态变化的状态。为了提高自动行走设备的智能性，本实施例预设了移动次数对应的阈值。本实施例对预设阈值不做限定，可以根据实际的工况而设置，比如，预设阈值可以是5次、8次、10次甚至更多。
在一个实施例中，请参见图4，该方法还包括以下步骤：
S410、当移动次数超过预设阈值时，计算预设阈值次工作的行走距离的平均值；
S420、确定自动行走设备当前次移动的行走距离；
获取自动行走设备工作区域的边界线长度，包括：
S430、将预设阈值次移动的行走距离的平均值和当前次移动的行走距离两者做平均值，并将该平均值确定为自动行走设备工作区域的边界线长度。
其中，在自动行走设备沿着工作区域的边界线工作时，统计自动行走设备沿着工作区域的边界线的移动次数。将统计的移动次数与预设阈值进行比较，工作次数大于预设阈值时，为了提升计算结果的准确性和自动行走设备的智能化程度，在计算所在的工作区域的边界线长度时，不仅需要考虑自动行走设备当前次移动的行走距离，也需要考虑之前的预设阈值次移动的行走距离。
具体地，当统计的移动次数超过预设阈值时，首先，计算预设阈值次移动的行走距离的平均值；其次，在当前次移动中，自动行走设备沿着工作区域的边界线移动，计算自动行走设备当前次移动的行走距离；最后，将预设阈值次移动的行走距离的平均值与当前次移动的行走距离的平均值确定为所在的工作区域的边界线长度。
示例性地，预设阈值为10，第11次移动的工作区域的边界线长度的计算方 式为：计算前10次移动的行走距离的平均值为100m；第11次工作的行走距离为120m；则自动行走设备所在的工作区域的边界线长度为110m。计算公式如下：(100+120)÷2＝110。
示例性地，预设阈值为10，第15次移动的工作区域的边界线长度的计算方式为：计算前10次移动的行走距离的平均值为100m；第15次工作的行走距离为136m；则自动行走设备所在的工作区域的边界线长度为118m。计算公式如下：(100+136)÷2＝118。
本实施例中，考虑到工作区域的变化，在计算所在的工作区域的边界线长度时，不仅需要考虑自动行走设备当前次移动的行走距离，也需要考虑之前的预设阈值次移动的行走距离，从而提升计算结果的准确性和自动行走设备的智能化程度。可以理解的是，本实施中的行走距离是根据自动行走设备的实际工况而设定的，其目的是为了提升自动行走设备的智能化程度，使得自动行走设备可以自动适应工作区域变化。
在一个实施例中，请参见图5，确定自动行走设备所在的工作区域的边界线长度，包括：
S510、当自动行走设备沿着工作区域的边界线移动一圈时，获取自动行走设备的移动速度和移动时间；
S520、根据移动速度和移动时间，确定自动行走设备所在的工作区域的边界线长度。
具体地，可以事先设置好自动行走设备的移动速度，通过自动行走设备内的计时器计时自动行走设备在沿边界线行走一周的移动时间。为了计算工作区域的边界线长度，当自动行走设备沿着工作区域的边界线移动一周时，获取自动行走设备的移动速度和移动时间，根据时间与速度的乘积等于距离可知，将 移动速度与移动时间相乘，得到自动行走设备所在的工作区域的边界线长度。
在一个实施例中，请参见图6，该方法还包括以下步骤：
S610、检测自动行走设备上安装的蓄电池的当前电压；
S620、当当前电压小于或者等于回归电压时，控制自动行走设备停止工作并回归充电。
其中，蓄电池包括但不限于锂电池。蓄电池需要向自动行走设备的工作电机和行走电机提供电能。在自动行走设备工作的过程中可以是实时检测蓄电池的当前电压，将检测到的当前电压与设置的回归电压进行比较，当当前电压小于或者等于回归电压时，表明自动行走设备的蓄电池的电量已经接近用完，需要控制自动行走设备停止工作并回归充电。可以理解的是，当当前电压大于回归电压时，保持自动行走设备继续工作。
本实施例中，通过检测自动行走设备上安装的蓄电池的当前电压，当当前电压小于或者等于回归电压时，控制自动行走设备停止工作并回归充电，解决传统技术中智能割草机在回归充电站的途中发生异常停机的技术问题。
在一个实施例中，自动行走设备所在的工作区域设有边界线，且边界线上设有自动行走设备的停靠站。当自动行走设备沿着工作区域的边界线工作，以停靠站为起点开始移动，并回归至停靠站。自动行走设备沿着工作区域的边界线执行多次工作。请参见图7，本申请提供一种自动行走设备回归停靠站的控制方法，包括以下步骤：
S702、在自动行走设备以停靠站为起点开始移动并回归至停靠站的过程中，记录自动行走设备在每次工作时电机所转的圈数；
S704、根据电机所转的圈数和自动行走设备的车轮直径，计算自动行走设备在每次移动时的行走距离；
S706、统计自动行走设备沿着工作区域的边界线的移动次数；
S708、当移动次数小于或者等于预设阈值时，将多次移动的行走距离的平均值确定为所在的工作区域的边界线长度。
S710、当移动次数超过预设阈值时，计算预设阈值次移动的行走距离的平均值；
S712、确定自动行走设备当前次移动的行走距离；
S714、将预设阈值次移动的行走距离的平均值与当前次移动的行走距离的平均值确定为所在的工作区域的边界线长度；
S716、根据自动行走设备所在的工作区域的边界线长度设置对应的回归电压；
示例性地，以智能割草机为例，智能割草机设有沿边切割模式，智能割草机可以在沿边切割模式下统计边界线长度。结合回归电压参数列表(表1)根据不同的边界线长度设置不同的回归电压。
表1
边界线长度 回归电压
0-100m 16.9V
101m-150m 17.0V
151m-200m 17.1V
201m-250m 17.2V
251m-300m 17.3V
301m-350m 17.4V
351m-400m 17.5V
大于400m 17.6V
需要说明的是，如果智能割草机没有进行过沿边切割，可以保留之前的回归电压设置，比如是17.2V或者17.4V。
S718、检测自动行走设备上安装的蓄电池的当前电压；
S720、当当前电压小于或者等于回归电压时，控制自动行走设备停止工作 并回归充电。
应该理解的是，虽然上述流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，上述流程图中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
下面以一个具体的应用场景对本申请进行说明，在该应用场景中以自动行走设备为割草机为例，以工作区域中仅存在实体边界线为例，割草机通过其上设置的导航装置自动在工作区域中移动和工作。在割草机工作的过程中，用户可以在手机等客户端中输入工作区域面积，或，直接在割草机中输入工作区域面积，从而割草机根据所接收到的工作区域面积确定回归时的预设能量水平阈值。在工作过程中割草机检测电源模块的能量水平，当电源模块的能量水平小于或等于预设能量水平阈值时，控制割草机回归停靠站。
在一个实施例中，本申请提供一种自动行走设备，包括：壳体、移动模块、任务执行模块和控制器；移动模块和任务执行模块安装于壳体内；控制器分别与移动模块、任务执行模块电连接，控制器包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，计算机程序被处理器执行时实现上述实施例中的方法步骤。以智能割草机为例进行说明，任务执行模块即为割草刀盘，移动模块即为前轮和后轮。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于 一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (18)

  1. 一种自动行走设备回归停靠站的控制方法，所述自动行走设备在边界线限定的工作区域内移动和工作，所述自动行走设备包括提供能量的电源模块，其特征在于，所述控制方法包括：
    获取所述自动行走设备工作区域的尺寸参数；
    根据所述尺寸参数设定电源模块的一预设能量水平阈值；
    检测电源模块的能量水平，当电源模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备回归停靠站。
  2. 根据权利要求1所述的控制方法，其特征在于，所述工作区域的尺寸参数包括：所述工作区域的边界线长度和/或所述工作区域的面积。
  3. 根据权利要求1所述的控制方法，其特征在于，所述获取自动行走设备工作区域的尺寸参数，包括：接收用户输入的面积参数。
  4. 根据权利要求1所述的控制方法，其特征在于，所述控制方法包括：
    获取自动行走设备工作区域的边界线长度；
    根据所述边界线长度设定电源模块的一预设能量水平阈值；
    检测电源模块的能量水平，当电源模块的能量水平小于或等于预设能量水平阈值时，控制自动行走设备沿边界线回归停靠站。
  5. 根据权利要求1所述的控制方法，其特征在于，所述电源模块的能量水平以电源模块的电压或/和放电电流表示。
  6. 根据权利要求1所述的控制方法，其特征在于，所述预设能量水平阈值与边界线长度呈正相关，当边界线长度增大时，预设能量水平阈值随之增大，和/或，当边界线长度减小时，预设能量水平阈值随之减小。
  7. 根据权利要求1所述的控制方法，其特征在于，所述获取自动行走设备工作区域的边界线长度包括获取自动行走设备工作区域的外边界线长度，根据 所述外边界线的长度设定电源模块的预设能量水平阈值。
  8. 根据权利要求1所述的控制方法，其特征在于，所述获取自动行走设备工作区域的边界线长度包括接收用户输入的参数，根据用户输入的参数确定自动行走设备工作区域的边界线长度。
  9. 根据权利要求8所述的控制方法，其特征在于，所述接收用户输入的参数包括接收用户通过自动行走设备控制面板和/或远程终端发送的参数信息。
  10. 根据权利要求1所述的控制方法，其特征在于，所述获取自动行走设备工作区域的边界线长度包括控制所述自动行走设备沿着工作区域的边界线移动一圈，计算所述自动行走设备的行走距离；
    根据所述自动行走设备的行走距离确定所在的工作区域的边界线长度。
  11. 根据权利要求10所述的控制方法，其特征在于，所述控制所述自动行走设备沿着工作区域的边界线移动一圈，包括：控制自动行走设备以所述停靠站为起点开始移动，当自动行走设备沿边界线回归至停靠站时，判定为自动行走设备沿着工作区域的边界线移动了一圈。
  12. 根据权利要求10所述的控制方法，其特征在于，所述控制所述自动行走设备沿着工作区域的边界线移动一圈，包括：控制自动行走设备沿着工作区域的边界线移动，检测所述自动行走设备是否接收到预设信号，自动行走设备接收到预设信号后将当前位置确定为起点，当自动行走设备下一次接收到预设信号时，判定为自动行走设备沿着工作区域的边界线移动了一圈。
  13. 根据权利要求10所述的控制方法，其特征在于，所述计算所述自动行走设备的行走距离包括：
    在所述自动行走设备沿着所述工作区域的边界线移动的过程中，记录所述自动行走设备驱动电机所转的圈数；
    根据所述驱动电机所转的圈数和所述自动行走设备的驱动轮直径，计算所述自动行走设备的行走距离。
  14. 根据权利要求10所述的控制方法，其特征在于，所述确定所述自动行走设备所在的工作区域的边界线长度，包括：
    所述自动行走设备沿着所述工作区域的边界线多次移动，计算所述自动行走设备多次移动的行走距离；
    将多次移动的行走距离的平均值确定为自动行走设备工作区域的边界线长度。
  15. 根据权利要求14所述的控制方法，其特征在于，所述将多次移动的行走距离的平均值确定为自动行走设备工作区域的边界线长度，包括：
    统计所述自动行走设备沿着所述工作区域的边界线的移动次数；
    当所述移动次数小于或者等于预设阈值时，将多次移动的行走距离的平均值确定为所在的工作区域的边界线长度。
  16. 根据权利要求15所述的控制方法，其特征在于，所述控制方法还包括：
    当所述移动次数超过预设阈值时，计算预设阈值次内移动的行走距离的平均值；
    确定所述自动行走设备当前次移动的行走距离；
    所述获取所述自动行走设备工作区域的边界线长度，包括：
    将所述预设阈值次移动的行走距离的平均值和所述当前次移动的行走距离两者做平均值，并将该平均值确定为自动行走设备工作区域的边界线长度。
  17. 根据权利要求10所述的控制方法，其特征在于，所述确定所述自动行走设备工作区域的边界线长度，包括：
    控制所述自动行走设备沿着所述工作区域的边界线移动一圈，获取所述自 动行走设备的移动速度和移动时间；
    根据所述移动速度和所述移动时间，确定所述工作区域的边界线长度。
  18. 一种自动行走设备，其特征在于，包括：壳体、移动模块、任务执行模块和控制器；
    所述移动模块和所述任务执行模块安装于所述壳体内；
    所述控制器分别与所述移动模块、所述任务执行模块电连接，所述控制器包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，所述计算机程序被处理器执行时实现权利要求1至17中任一项所述方法中的步骤。
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