WO2021114988A1

WO2021114988A1 - Autonomous robot and control method therefor, and computer storage medium

Info

Publication number: WO2021114988A1
Application number: PCT/CN2020/127528
Authority: WO
Inventors: 陈亚扣; 郭富安
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2019-12-11
Filing date: 2020-11-09
Publication date: 2021-06-17

Abstract

An autonomous robot (100) and a control method therefor, and a computer storage medium. The autonomous robot (100) comprises a walking mechanism and a control apparatus, and the autonomous robot (100) is further provided with at least two border sensors having different detection directions, wherein the border sensors are used for outputting border signals to the control apparatus when detecting that the autonomous robot (100) reaches the border of a working area (200); and the control apparatus is used for controlling the walking mechanism of the autonomous robot (100) according to the border signals, so as to limit the movement of the autonomous robot (100) within the working area (200) (S152). The movement range of the autonomous robot (100) is limited to within the working area (200) without the need to install a border line.

Description

Autonomous robot, its control method, and computer storage medium

This application claims the priority of the Chinese patent applications whose application date is December 11, 2019, and the application numbers are 201922233295.8 and 201911267665.8, the entire contents of which are incorporated into this application by reference.

Technical field

This specification relates to the field of robotics, in particular to an autonomous robot, its control method, and computer storage medium.

Background technique

Some autonomous robots can use random walking to perform tasks. Therefore, in order to prevent autonomous robots from moving outside the working area, there is generally a closed boundary line at the boundary of the working area, which will continuously output boundary signals; Boundary signal, the autonomous robot can recognize its position relative to the boundary of the working area, and control the walking direction of the autonomous robot accordingly, so as to limit the moving range of the autonomous robot within the working area.

However, for users, it is a troublesome operation to install and route boundary lines at the boundary of the work area, thereby reducing the user's experience of using autonomous robots.

Summary of the invention

The purpose of the embodiments of this specification is to provide an autonomous robot and its control method and computer storage medium, so as to limit the moving range of the autonomous robot within the working area without installing the boundary line.

In order to achieve the above objective, on the one hand, an embodiment of this specification provides an autonomous robot, including a walking mechanism and a control device. The autonomous robot is also provided with at least two boundary sensors with different detection directions for detecting the When the autonomous robot reaches the boundary of the working area, it outputs a boundary signal to the control device; the control device is used to control the walking mechanism according to the boundary signal to limit the movement of the autonomous robot within the working area; The boundary sensor is a grass recognition sensor; the autonomous robot is also equipped with an obstacle avoidance sensor, which is used to provide the obstacle signal to the control device when an obstacle signal is detected; the control device is also used for : When the autonomous robot is in the random walking mode, the walking mechanism is controlled according to the obstacle signal so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in the return mode, according to the obstacle The signal controls the walking mechanism so that the autonomous robot performs walking along the obstacle; the autonomous robot is also equipped with a docking guide sensor for detecting the docking guide signal output by the docking guide device to connect the docking The guide signal is provided to the control device; the control device is also used to: when the docking guide device is installed on the boundary of the work area, when the autonomous robot is in the random walking mode, control the station according to the docking guide signal The walking mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the docking guide device is installed in the work area, when the autonomous robot is in a random walking mode, the walking mechanism is controlled according to the docking guide signal , So that the autonomous robot ignores the docking guide signal; when the autonomous robot is in the return mode, the walking mechanism is controlled according to the docking guide signal so that the autonomous robot performs docking actions; the autonomous robot There is also a cross-zone guidance sensor, which is used to provide the cross-zone guidance signal to the control device when the cross-zone guidance signal output by the cross-zone guidance device is detected; the control device is also used to: The autonomous robot is in a regression mode or a cross-region random walking mode, and the walking mechanism is controlled according to the cross-region guidance signal so that the autonomous robot performs a cross-region guidance action; when the autonomous robot is in a single-region random walking mode Next, control the walking mechanism according to the cross-area guidance signal so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in the random walking mode, the control device has a processing priority of the boundary signal , Higher than the processing priority of the cross-area guidance signal, and lower than the processing priority of the obstacle signal; when the autonomous robot is in the regression mode, the control device performs the processing of the cross-area guidance signal The processing priority of the docking guide signal is higher than the processing priority of the boundary signal and lower than the processing priority of the obstacle signal.

On the other hand, the embodiment of this specification also provides a control method of an autonomous robot, the control method includes:

Receiving a boundary signal output by a boundary sensor when detecting that the autonomous robot reaches the boundary of a working area; the boundary sensor is one of at least two boundary sensors with different detection directions arranged on the autonomous robot;

The walking mechanism of the autonomous robot is controlled according to the boundary signal to restrict the movement of the autonomous robot within a working area.

On the other hand, the embodiments of this specification also provide a computer storage medium on which a computer program is stored, and when the computer program is run by a processor, the following steps are executed:

Receive the boundary signal output by the boundary sensor when it detects that the autonomous robot reaches the boundary of the work area; the boundary sensor is one of at least two boundary sensors with different detection directions arranged on the autonomous robot; the boundary sensor is grass recognition Sensors; control the walking mechanism of the autonomous robot according to the boundary signal to limit the movement of the autonomous robot within the working area;

Receive obstacle signals output by obstacle avoidance sensors; when the autonomous robot is in random walking mode, control the walking mechanism according to the obstacle signals so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in In the regression mode, control the walking mechanism according to the obstacle signal, so that the autonomous robot performs a walking motion along the obstacle;

When the docking guide sensor detects the docking guide signal output by the docking guide device; when the docking guide device is installed on the boundary of the work area, when the autonomous robot is in the random walking mode, the docking guide signal is controlled according to the docking guide signal. A walking mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the docking guide device is installed in the work area, when the autonomous robot is in a random walking mode, the walking mechanism is controlled according to the docking guide signal, So that the autonomous robot ignores the docking guide signal; when the autonomous robot is in the return mode, controlling the walking mechanism according to the docking guide signal, so that the autonomous robot performs a docking action;

Receive the cross-zone guidance signal output by the cross-zone guidance device when the cross-zone guidance sensor detects; when the autonomous robot is in the regression mode or the cross-zone random walking mode, control the walking mechanism according to the cross-zone guidance signal to make The autonomous robot performs a cross-area guidance action; when the autonomous robot is in a single-zone random walking mode, the walking mechanism is controlled according to the cross-area guidance signal so that the autonomous robot performs an obstacle avoidance action;

When the autonomous robot is in the random walking mode, the processing priority of the boundary signal is higher than the processing priority of the cross-zone guidance signal, and is lower than the processing priority of the obstacle signal;

When the autonomous robot is in the regression mode, the processing priority of the cross-zone guidance signal and the docking guidance signal is higher than the processing priority of the boundary signal and lower than the processing priority of the obstacle signal Processing priority.

It can be seen from the technical solutions provided by the above embodiments of this specification that, in the embodiments of this specification, when the boundary sensor detects that the autonomous robot reaches the boundary of the working area, it can output boundary signals to the control device, so that the control device can control the walking mechanism accordingly. In order to limit the movement of the autonomous robot within the working area, that is, the walking range of the autonomous robot is controlled not to exceed the boundary of the working area. Therefore, the embodiments of the present specification can realize that the walking range of the autonomous robot does not exceed the boundary of the working area without installing the boundary of the working area, thereby improving the user experience.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of this specification or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some of the embodiments described in the embodiments of this specification. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor. In the attached picture:

Figure 1 is a schematic diagram of an autonomous robot in some embodiments of this specification;

Figure 2 is a structural block diagram of an autonomous robot in some embodiments of this specification;

FIG. 3 is a schematic diagram of the installation position of the boundary sensor in some embodiments of this specification;

FIG. 4 is a schematic diagram of the installation angle of the boundary sensor in some embodiments of this specification;

FIG. 5 is a schematic diagram of the installation position of the boundary sensor in some other embodiments of the specification;

FIG. 6 is a schematic diagram of the installation position of the boundary sensor in some other embodiments of the specification;

FIG. 7 is a schematic diagram of the installation position of the boundary sensor in some other embodiments of this specification;

FIG. 8 is a schematic diagram of the installation positions of boundary sensors and obstacle avoidance sensors in some embodiments of this specification;

FIG. 9 is a schematic diagram of the installation positions of boundary sensors, obstacle avoidance sensors, and guidance sensors in some embodiments of this specification;

10 is a schematic diagram of the installation positions of boundary sensors, obstacle avoidance sensors, guidance sensors, and safety sensors in some embodiments of this specification;

Fig. 11 is a schematic diagram of random walking of an autonomous robot in some embodiments of this specification;

FIG. 12 is a schematic diagram of the regression of the autonomous robot in some embodiments of this specification;

FIG. 13 is a schematic diagram of processing logic of the control device in a random walking mode in an embodiment of this specification;

14 is a schematic diagram of processing logic of the control device in the regression mode in an embodiment of this specification;

Fig. 15 is a flowchart of a control method of an autonomous robot in some embodiments of this specification.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in the embodiments of this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, The described embodiments are only a part of the embodiments in this specification, rather than all the embodiments. Based on the embodiments in the embodiments of this specification, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this specification.

As shown in Fig. 1, the autonomous robot 100 (or self-moving robot) in the embodiment of this specification is equipped with various necessary sensors and controllers in its body. During operation, there is no external human information input and control conditions. , A robot that can independently complete certain tasks, that is, the autonomous robot 100 can autonomously move in the work area 200 and perform work tasks. In some embodiments of this specification, the autonomous robot 100 may include, for example, a smart lawn mower, an automatic cleaning device, an automatic watering device, or an automatic snow sweeper.

The random walking mode in the embodiment of this specification refers to: when the power is sufficient, the autonomous robot performs the task in a random linear walking manner, for example, as shown in FIG. 11. In some embodiments of the present specification, the random walking mode may include a single-zone random walking mode and a cross-zone random walking mode.

The single-zone random walking mode can mean: when the work area is divided into multiple sub-areas, the autonomous robot can walk randomly in one sub-area until it finishes the task of the sub-area or returns to the charging station after the battery is insufficient, and waits for it to be fully charged , Walk along the edge to another sub-area to perform tasks, and then recursively. For example, when the work area is divided into three sub-areas A, B and C, in the single-zone random walking mode, the autonomous robot can perform the task in the A area first, until the task in the A area is completed or the battery is insufficient and then return to charging Station, after fully charged, walk along to area B for work tasks, until the work tasks in area B are completed or when the battery is insufficient, return to the charging station, after fully charged, walk along to area C for work tasks, until the work tasks in area C are completed Or return to the charging station when the battery is low.

The cross-area random walking mode can refer to: when the work area is divided into multiple sub-areas, if the autonomous robot encounters a cross-area guidance signal during the random walking operation, it can start from one cross-area guidance signal under the guidance of the cross-area guidance signal. Sub-regions (regardless of whether the sub-regional tasks are completed or not) go to another sub-region to perform tasks. For example, in the embodiment shown in Figure 11, the work area is divided into three sub-areas A, B and C. In the cross-area random walking mode, when the autonomous robot is performing a task in the B area, the cross-area guidance is detected. Line 53, the autonomous robot can enter the area A along the cross-zone guide line 53 to perform work tasks, regardless of whether the work tasks in the B area have been completed.

The return mode in the embodiments of this specification refers to: in the case of insufficient power (or completed tasks), the autonomous robot can return to the charging station for charging; since the charging station is generally located on the boundary of the working area, the autonomous robot works along The area boundary regression can easily find the charging station, for example, as shown in Figure 12.

As shown in FIG. 2, in addition to the walking mechanism and the control device, the autonomous robot of some embodiments of this specification may also be provided with at least two boundary sensors with different detection directions. These boundary sensors can identify the boundary between the working area and the non-working area (for example, in the case of a smart lawn mower, these boundary sensors can be used to identify the boundary between grass and non-grass); when the autonomous robot reaches the boundary of the working area, the boundary The sensor can output boundary signals to the control device. Correspondingly, the control device may output a control signal to the walking mechanism according to the boundary signal, so as to restrict the movement of the autonomous robot within the working area.

It can be seen that, in the embodiment of this specification, when the boundary sensor detects that the autonomous robot reaches the boundary of the working area, it can output a boundary signal to the control device, so that the control device can control the walking mechanism accordingly to limit the movement of the autonomous robot to In the work area, that is, the walking range of the control autonomous robot does not exceed the boundary of the work area. Therefore, the embodiment of the present specification can realize that the walking range of the autonomous robot does not exceed the boundary of the working area without installing the boundary of the working area, thereby improving the user experience.

Not only that, because the embodiment of this specification adopts at least two boundary sensors with different detection directions, when the autonomous robot moves to the corner of the working area (that is, the intersection of the two boundaries of the working area), it passes through at least two different detection directions. The output of the boundary sensor can enable the control device to better confirm which directions are away from the boundary of the work area, so that the control device can more accurately control the traveling direction of the autonomous robot after avoiding the boundary of the work area, without avoiding the boundary of the work area. After opening the working area boundary, it quickly reached another working area boundary.

In some embodiments of this specification, the walking range of the autonomous robot not exceeding the boundary of the work area may include, but is not limited to, random walking not exceeding the boundary and/or walking along the edge not exceeding the boundary, and the like.

In some embodiments of this specification, the control device may include, for example, a central processing unit (CPU) single-chip microcomputer, a microprocessor (MCU), or a digital signal processor (DSP).

In some exemplary embodiments of this specification, taking a smart lawn mower as an example, the boundary sensor may be a grass recognition sensor. The grass recognition sensor may include, for example, one or more of capacitive proximity sensors, vision sensors, and multispectral sensors. To facilitate understanding, the working principle of the grass recognition sensor described above is described below. However, those skilled in the art should understand that the description here is only an example of a smart lawn mower, and should not be regarded as a limitation to the embodiments of this specification.

Capacitive proximity sensor is a water content detection technology. In general, since the water content of grass is much greater than the water content of the surrounding environment (such as roads, fences, buildings, etc.) of the grass, when the capacitive proximity sensor is close to the grass, the capacitance value output by the capacitive proximity sensor is relatively high . Therefore, by using the characteristic that the capacitance value of the grass is higher than the capacitance value of the surrounding environment, grass and non-grass can be identified, that is, the boundary of the grass can be identified.

Vision sensor is a visual recognition detection technology. Since the texture characteristics of grass (such as contours, etc.) are usually quite different from the texture characteristics of the surrounding environment (such as roads, fences, buildings, etc.) of the grass, the vision sensor can collect the surface images of the grass and non-grass through the image acquisition device in advance. , And build a grass recognition model through machine learning methods, and then can identify grass and non-grass based on the grass recognition model, that is, the boundary of the grass can be identified.

Since grasses contain chlorophyll, the surrounding environment of grasses (such as roads, fences, buildings, etc.) often does not contain chlorophyll; the reflectivity of grasses containing chlorophyll and surrounding environments without chlorophyll in the red light band and near-infrared band There is a huge difference. According to this principle, the use of multi-spectral sensors can identify grass and non-grass, that is, the boundary of grass can be identified. Of course, in order to achieve a better detection effect, the light emitted by the multispectral sensor can include at least three wavebands (that is, in addition to the red light waveband and the near-infrared waveband, it can also include other wavebands). For example, in an exemplary embodiment, the light emitted by the multi-spectral sensor may include three wavelength bands of 620 nm, 730 nm, and 850 nm.

Of course, in other embodiments of this specification, other sensors can also be selected for implementation as needed, as long as these sensors can identify the boundary of the autonomous robot's working area as long as the boundary of the working area is not laid.

The inventor of the present application found that when there are three boundary sensors and are installed in the manner shown in Figure 3, it is possible to reduce the swing amplitude of the autonomous robot’s walking trajectory at a lower cost during the return of the autonomous robot. Purpose, which is conducive to improving the efficiency of regression. For ease of description, the three boundary sensors may be referred to as the first boundary sensor 10, the second boundary sensor 11, and the third boundary sensor 12 in the embodiment of this specification, respectively. The center line of the detection direction of the first boundary sensor 10 faces the side of the first side of the autonomous robot (the front side is preferred, but not limited to the front side); the center line of the detection direction of the second boundary sensor 11 Toward the front of the first side of the autonomous robot (right front is preferred, but not limited to the front); the detection direction centerline of the third boundary sensor 12 faces the side front of the second side of the autonomous robot (preferably Yes, the angle between the center line of the detection direction of the third boundary sensor 12 and the immediate front of the second side of the autonomous robot is any value in the range of 15° to 75°, for example, it may be 45°). It should be pointed out that the default autonomous robot here is to return on the right side (for example, as shown in Figure 12). When the autonomous robot returns to the left side by default, the placement positions of the three boundary sensors can be set relative to the mirror image shown in FIG. 3.

Of course, in other embodiments of this specification, the number and installation positions of the boundary sensors can also be adjusted according to actual needs. For example, in some other embodiments of this specification, a larger or smaller number of boundary sensors may be used, and they may be symmetrically distributed along the circumference of the autonomous robot, as shown in Figs. 5-7, for example.

The inventor of the present application has further researched and found that when the center line of the detection direction of the boundary sensor is inclined downward by a specific angle, it can help the autonomous robot to better recognize the boundary of the working area and have sufficient time to respond to the recognition result of the boundary sensor. Therefore, the center line of the detection direction of the first boundary sensor 10 may be inclined downward by a first angle, the center line of the detection direction of the second boundary sensor 11 may be inclined downward by a second angle, and the center line of the detection direction of the third boundary sensor 12 may be inclined downward. Tilt down a third angle. In some exemplary embodiments, the first angle, the second angle, and the third angle may be the same. In other exemplary embodiments, the first angle, the second angle, and the third angle may also be different. Need to be determined.

For example, as shown in Fig. 4, taking the second boundary sensor as an example, the second angle α can be based on the installation height H of the second boundary sensor (shown by the black circle in Fig. 4) and the pre-judgment distance of the autonomous robot. L is OK. specific,

Among them, the prediction distance L satisfies L≥V×T+L′, where V is the walking speed of the autonomous robot, T is the response time of the second boundary sensor, and L′ is the speed of the autonomous robot walking in the working area at V Braking distance.

In some embodiments of this specification, the autonomous robot may also be provided with one or more obstacle avoidance sensors, and these obstacle avoidance sensors may be used to provide the obstacle signal to the control device when the obstacle signal is detected. For example, in the exemplary embodiment shown in FIG. 8, two first obstacle avoidance sensors 20 may be installed on the front of the autonomous robot, and one second obstacle avoidance sensor 21 may be installed on the first side of the autonomous robot. Wherein, the detection direction centerline of the first obstacle avoidance sensor 20 faces the front of the autonomous robot; the detection direction centerline of the second obstacle avoidance sensor 21 faces the first side of the autonomous robot. In this way, the autonomous robot can sense both front obstacles and side obstacles during walking, which can further reduce the swing amplitude of the moving trajectory of the autonomous robot during the return process and improve the return efficiency.

Correspondingly, in some embodiments of this specification, when the autonomous robot is in the random walking mode, when an obstacle signal is received, the control device may also control the walking mechanism according to the obstacle signal, so that the autonomous robot Perform obstacle avoidance actions to avoid obstacles. When the autonomous robot is in the return mode, when an obstacle signal is received, the control device may also control the walking mechanism according to the obstacle signal, so that the autonomous robot performs walking along the obstacle, thereby returning to charging station.

Of course, when the autonomous robot is in the return mode, if the obstacle is an independent obstacle in the working area (or called an island in the working area), in order to prevent the autonomous robot from continuously surrounding the independent obstacle in the working area This leads to an infinite loop. When the autonomous robot has not located the charging station in a circle around the obstacle, it can search for the boundary of the working area by walking in a random straight line, and then return along the boundary of the found working area.

The embodiment of this specification does not limit the obstacle avoidance action, that is, the obstacle avoidance action may be any suitable obstacle avoidance action. For example, in an exemplary embodiment, the autonomous robot may perform the obstacle avoidance action as shown in area B in FIG. 11. Similarly, the embodiments of the present specification do not limit the walking along the obstacle, that is, the walking along the obstacle can be any suitable walking along the obstacle, as long as the general tendency is to walk along the obstacle. For example, in an exemplary embodiment, the autonomous robot may perform a walking motion along an obstacle as shown in area A in FIG. 12.

In some embodiments of this specification, the obstacle avoidance sensor may be any suitable contact obstacle avoidance sensor and/or non-contact obstacle avoidance sensor. For example, in an exemplary embodiment, the contact obstacle avoidance sensor may include, but is not limited to, a Hall-type collision sensor or a capacitance sensor, for example. In another exemplary embodiment, the non-contact obstacle avoidance sensor may include, but is not limited to, an ultrasonic sensor, a magnetic sensor, or a radar sensor, for example.

In other embodiments of this specification, in some cases, when there is a dangerous area (such as the pond in Figure 11 and Figure 12) within or at the boundary of the work area, in order to prevent autonomous robots from entering the dangerous area, you can Obstacle guide lines are provided on the outer periphery of the dangerous area (for example, as shown in 52 in Figs. 11 and 12). The obstacle guide line can also output obstacle signals. The obstacle avoidance sensor can detect the obstacle signal and provide it to the control device for processing.

In some cases, the work area of the autonomous robot may be divided into multiple sub-work areas (for example, areas A, B, and C in FIGS. 11 and 12). When an autonomous robot performs a task in a cross-zone random walking mode, if the passage between adjacent sub-work areas is relatively narrow, it is difficult for the autonomous robot to quickly cross from one sub-work area to another sub-work area. Therefore, in order to improve the cross-zone efficiency of the random walking mode, a cross-zone guide device can be provided at the passage between adjacent sub-work zones.

Correspondingly, the autonomous robot may also be provided with a cross-zone guidance sensor. The cross-zone guidance sensor may be used to provide the cross-zone guidance signal to the control device when the cross-zone guidance signal output by the cross-zone guidance device is detected. Correspondingly, the control device can also be used to control the walking mechanism according to the cross-area guidance signal when the autonomous robot is in the regression mode or the cross-area random walking mode, so that the autonomous robot executes the cross-area Guide action; when the autonomous robot is in a single-zone random walking mode, the walking mechanism is controlled according to the cross-zone guidance signal so that the autonomous robot performs obstacle avoidance actions. Among them, the execution of the cross-zone guidance action refers to that the autonomous robot, under the guidance of the cross-zone guidance signal, enters another sub-work area from one sub-work area (regardless of whether the task in the sub-work area is completed or not).

In some exemplary embodiments of this specification, the straddle guide sensor may include a magnetic sensor, and correspondingly, the straddle guide device may include a straddle guide wire (for example, as shown in 53 in Figs. 11 and 12). In other exemplary embodiments of the present specification, the cross-zone guidance sensor may include an ultrasonic receiver, and correspondingly, the cross-zone guidance device may include an ultrasonic transmitter. Wait.

In order to facilitate precise docking, in some embodiments of this specification, the charging station may be provided with a docking guide device, which can transmit docking guide signals to the outside to guide the autonomous robot to return to docking. Correspondingly, the autonomous robot may also be provided with a docking guidance sensor. The docking guide sensor can provide the docking guide signal to the control device when the docking guide signal output by the docking guide device is detected.

Correspondingly, the control device may also be used to control the walking mechanism according to the docking guide signal when the docking guide device is installed on the boundary of the work area when the autonomous robot is in a random walking mode, So that the autonomous robot performs obstacle avoidance actions. When the docking guide device is installed in the work area, when the autonomous robot is in a random walking mode, the walking mechanism can be controlled according to the docking guide signal, so that the autonomous robot ignores the docking guide signal. When the autonomous robot is in the return mode, the walking mechanism can be controlled according to the docking guide signal, so that the autonomous robot performs a docking action. Among them, the execution of the docking action means that the autonomous robot accurately returns to the charging station under the guidance of the docking guide signal, and performs charging and docking with the charging station. The docking guide signal is ignored, that is, the docking guide signal is not responded to, and charging and docking are not performed.

In some exemplary embodiments of this specification, the docking guide sensor may include a magnetic sensor, and correspondingly, the docking guide device may include a docking guide wire, for example, as shown in 51 in FIG. 11 and FIG. 12.

For autonomous robots that use wired charging, it is more appropriate for the docking guide device to use a docking guide wire. For autonomous robots that adopt wired charging methods, the docking path is generally fixed due to the need to accurately dock the charging station. Therefore, in this case, the return of the autonomous robot can be called a return with a fixed path. Among them, a fixed path regression can be divided into two stages: coarse guidance + precise guidance. Coarse guidance stage: the boundary of the work area is regarded as the guide line, and the boundary sensor is used for rough guidance; the obstacle boundary is regarded as the guide line, and the obstacle avoidance sensor is used to walk along the obstacle. Precise guidance stage: During the cross-zone and charging docking stage, precise guidance can be carried out through the corresponding sensors.

In other exemplary embodiments of this specification, the docking guide sensor may include an ultrasonic receiver, and correspondingly, the docking guide device may include an ultrasonic transmitter located at a charging station.

When the autonomous robot adopts the wireless charging method, since there is no need for docking, the autonomous robot can return to the charging station from any direction. Since the path of returning to the charging station is not fixed, in this case, the return of the autonomous robot can also be called return without a fixed path. Therefore, for autonomous robot scenarios that use wireless charging, it is more appropriate to use ultrasonic sensors as the docking guide device.

Correspondingly, in a wireless charging scenario, the control device may also perform wireless communication with the charging station through a wireless communication module. For example, the control device may send a trigger signal to the charging station through the wireless communication module to trigger the docking guide device to transmit the docking guide signal. Correspondingly, when the autonomous robot is in the return mode, the control device may control the walking mechanism according to the signal strength of the docking guide signal, so that the autonomous robot returns to the charging station for charging. Among them, controlling the walking mechanism according to the signal strength of the docking guide signal refers to: controlling the autonomous robot to move in a direction where the signal strength of the docking guide signal increases, so that the autonomous robot can return to the point where the signal strength of the docking guide signal reaches a certain intensity threshold. Area (for example, near the center of the wireless charging coil of the charging station) to improve the charging efficiency.

In addition, in a wireless charging scenario, when the autonomous robot is in a random walking mode or a charging mode, the control device may also send a shutdown signal to the charging station through the wireless communication module to prohibit the docking guide device from transmitting a docking guide signal . Since the autonomous robot does not need to guide the return to docking in the random walking mode and the charging mode, turning off the docking guide signal can not only save costs, but also help prevent the docking guide signal from causing interference to the autonomous robot. Among them, the charging mode in the embodiment of this specification means that the autonomous robot is in a charging state.

In the following embodiments of this specification, the concepts of a first marking signal providing module, a second marking signal providing module, and a marking signal acquiring module may be involved. Wherein, the first marking signal providing module, the second marking signal providing module, and the marking signal acquiring module may be wireless communication modules. The wireless communication module may include, but is not limited to, a Bluetooth module, a WIFI module, or an active radio frequency (RF) module, for example. Of course, in other embodiments of this specification, the wireless communication module may also include a passive radio frequency module as required. For example, when the first marking signal providing module and/or the second marking signal providing module are passive RFID tags, the marking signal acquiring module may be an RFID reader.

In some embodiments of this specification, the obstacle avoidance sensor, cross-zone guidance sensor, and docking guidance sensor of the autonomous robot described above can be multiplexed, that is, one sensor is used to achieve two or more functions (hereinafter, such sensors are referred to as The multiplexed sensor), in order to simplify the structure and reduce the cost, the following detailed descriptions are divided.

(1) The obstacle avoidance sensor, the cross-zone guidance sensor and the docking guidance sensor are multiplexed into one sensor, and the docking guidance device is installed on the boundary of the working area.

When the obstacle avoidance sensor, the cross-zone guidance sensor and the docking guidance sensor are multiplexed by one sensor, and the docking guide device is installed on the boundary of the working area, in order to effectively distinguish the obstacle signal, the cross-zone guidance signal and the docking guidance signal, the cross-zone guidance signal The guiding device may be provided with a first marking signal providing module for providing the first marking signal; the docking guiding device may be provided with a second marking signal providing module for providing the second marking signal. Correspondingly, the autonomous robot may also be provided with a marking signal acquisition module for receiving the first marking signal and the second marking signal and providing them to the control device.

Correspondingly, the control device can also be used for:

When the autonomous robot is in the random walking mode, when only the detection signal provided by the multiplexed sensor is received, it indicates that an obstacle is currently detected. Since the autonomous robot is in a random walking mode and does not need to return along the edge, the walking mechanism can be controlled according to the detection signal to make the autonomous robot perform obstacle avoidance actions.

When the autonomous robot is in the single-zone random walking mode, when the first marker signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the cross-zone guidance device is currently detected. Since the autonomous robot is in a single-zone random walking mode, there is no need to cross-zone, and the location of the cross-zone guidance device is generally a non-working area, and no work is required. For example, take a smart lawn mower as an example, where the cross-zone guidance device is located Generally, it is a non-grass area and does not require cutting operations. Therefore, the walking mechanism can be controlled according to the first marking signal and the detection signal, so that the autonomous robot performs an obstacle avoidance action, that is, the currently detected cross-zone guidance device is regarded as an obstacle and avoided.

When the autonomous robot is in the regression mode or the cross-zone random walking mode, when the first marker signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the cross-zone guidance device is currently detected. Since the autonomous robot is in the regression mode or the cross-region random walking mode, it needs to perform edge-side regression or cross-region work. Therefore, the walking mechanism can be controlled according to the first marker signal and the detection signal to make the autonomous robot execute Guide actions across zones.

When the autonomous robot is in the random walking mode, when the second marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in random walking mode, there is no need for docking and charging, and the docking guide device is located on the boundary of the working area, and generally does not need to be operated. Therefore, the walking can be controlled according to the second marking signal and the detection signal Mechanism, so that the autonomous robot performs obstacle avoidance actions, that is, the currently detected docking guide device is regarded as an obstacle and avoided.

When the autonomous robot is in the regression mode, when only the detection signal provided by the multiplexed sensor is received, it indicates that an obstacle is currently detected. Since the autonomous robot is in the return mode, in this mode, the autonomous robot needs to return along the edge, so the walking mechanism can be controlled according to the detection signal, so that the autonomous robot executes the action of walking along the obstacle.

When the autonomous robot is in the regression mode, when the second marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in the return mode and needs to be docked and charged, the walking mechanism can be controlled according to the second marking signal and the detection signal, so that the autonomous robot performs a docking action.

For example, in an exemplary embodiment, taking a smart lawn mower as an example, when the docking guide device and the cross-zone guide device are both magnetic guide lines (the docking guide line is installed on the boundary of the working area), and the obstacle is laid out on the periphery When the obstacle guide line of is also a magnetic guide line, the obstacle avoidance sensor, the cross-zone guide sensor, and the docking guide sensor can be multiplexed by a magnetic sensor (for example, shown as 40 in FIG. 10). The first marking signal providing module and the second marking signal providing module may be passive RFID tags (for example, the first marking signal providing module is an RFID tag 1, and the second marking signal providing module is an RFID tag 2); the marking signal acquiring module may be RFID reader. Among them, two passive RFID tags can save different identification information in advance (for example, the identification information of RFID tag 1 is 0001, and the identification information of RFID tag 2 is 0002) to distinguish; The identification information read by the source RFID tag identifies whether the magnetic guide wire corresponding to the passive RFID tag is a docking guide wire or a cross-zone guide wire. Among them, the magnetic guide wire may be, for example, a magnetic strip or a magnetic nail.

Correspondingly, the control device can also be used for:

When the smart lawn mower is in the random walking mode, when only the magnetic signal provided by the magnetic sensor is received, it indicates that an obstacle is currently detected. Since the smart lawn mower is in a random walking mode and does not need to return along the edge, the walking mechanism can be controlled according to the magnetic signal to make the smart lawn mower perform obstacle avoidance actions.

When the smart lawn mower is in the single-zone random walking mode, when the identification information of the RFID tag 1 and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the cross-zone guide line is currently detected. Since the intelligent lawn mower is in a single-zone random walking mode, it does not need to cross-zone, and the location of the cross-zone guide line is generally a non-grass area, and no cutting operation is required. Therefore, the walking mechanism can be controlled according to the identification information of the RFID tag 1 and the magnetic signal, so that the smart lawn mower performs obstacle avoidance actions, that is, the currently detected cross-zone guide line is regarded as an obstacle and avoided .

When the smart lawn mower is in the regression mode or the cross-zone random walking mode, when the identification information of the RFID tag 1 and the magnetic signal provided by the magnetic sensor are received at the same time, it indicates that the cross-zone guide line is currently detected. Since the smart lawn mower is in the regression mode or the cross-region random walking mode, it needs to perform edge-side regression or cross-region work. Therefore, the walking mechanism can be controlled according to the identification information of the RFID tag 1 and the magnetic signal, so that all The intelligent lawn mower performs a cross-zone guidance action.

When the smart lawn mower is in the random walking mode, when the identification information of the RFID tag 2 and the magnetic signal provided by the magnetic sensor are received at the same time, it indicates that the docking guide wire is currently detected. Since the smart lawn mower is in random walking mode, it does not need to be docked for charging, and the location of the docking guide line is on the boundary of the working area, and no cutting operation is required. Therefore, it can be based on the identification information of the RFID tag 2 and the magnetic signal The walking mechanism is controlled so that the smart lawn mower performs an obstacle avoidance action, that is, the currently detected docking guide line is regarded as an obstacle and avoided.

When the smart lawn mower is in the return mode, when only the magnetic signal provided by the magnetic sensor is received, it indicates that an obstacle is currently detected. Since the smart lawn mower is in the return mode, the smart lawn mower needs to return along the edge in this mode, so the walking mechanism can be controlled according to the magnetic signal, so that the smart lawn mower performs a walking action along an obstacle.

When the smart lawn mower is in the return mode, when the identification information of the RFID tag 2 and the magnetic signal provided by the magnetic sensor are received at the same time, it indicates that the docking guide wire is currently detected. Since the smart lawn mower is in the return mode and needs to be docked and charged, the walking mechanism can be controlled according to the identification information of the RFID tag 2 and the magnetic signal, so that the smart lawn mower performs a docking action.

(2) The obstacle avoidance sensor, the cross-zone guide sensor and the docking guide sensor are multiplexed into one sensor, and the docking guide device is installed in the working area.

When the obstacle avoidance sensor, the cross-zone guide sensor, and the docking guide sensor are multiplexed within the working area boundary of the docking guide sensor, and the docking guide device is installed in the working area, in order to effectively distinguish obstacle signals, Cross-zone guide signal and docking guide signal, the cross-zone guide device may be provided with a first marking signal providing module for providing the first marking signal; the docking guide device may be provided with a second marking signal providing module, Used to provide the second marking signal. Correspondingly, the autonomous robot may also be provided with a marking signal acquisition module for receiving the first marking signal and the second marking signal and providing them to the control device.

Correspondingly, the control device can also be used for:

When the autonomous robot is in the single-zone random walking mode, when the first marker signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the cross-zone guidance device is currently detected. Since the autonomous robot is in a single-zone random walking mode, there is no need to cross-zone, and the location of the cross-zone guidance device is generally a non-working area, and no work is required. Therefore, it can control the station according to the first marking signal and the detection signal. The walking mechanism is used to enable the autonomous robot to perform obstacle avoidance actions, that is, the currently detected cross-area guiding device is regarded as an obstacle and avoided.

When the autonomous robot is in the random walking mode, when the second marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in random walking mode, there is no need for docking and charging, but considering that the docking guide is located in the working area, it generally needs to be operated, so it cannot be avoided as an obstacle, otherwise it will affect the coverage of the autonomous robot. . Therefore, the walking mechanism can be controlled according to the second marking signal and the detection signal, so that the autonomous robot ignores the detected docking guide device, so that work coverage at the location of the docking guide device can be achieved.

When the autonomous robot is in the regression mode, when only the detection signal provided by the multiplexed sensor is received, it indicates that an obstacle is currently detected. Since the autonomous robot is in the return mode, the autonomous robot needs to return along the edge in this mode, so the walking mechanism can be controlled according to the detection signal to make the autonomous robot perform walking along the obstacle.

For example, in an exemplary embodiment, taking a smart lawn mower as an example, when the docking guide device and the cross-zone guide device are both magnetic guide wires (the docking guide wire is installed in the working area), and the obstacles are arranged around the periphery When the obstacle guide line is also a magnetic guide line, the obstacle avoidance sensor, the cross-zone guide sensor and the docking guide sensor can be multiplexed by a magnetic sensor. The first marking signal providing module and the second marking signal providing module may be passive RFID tags (for example, the first marking signal providing module is an RFID tag 1, and the second marking signal providing module is an RFID tag 2); the marking signal acquiring module may be RFID reader. Among them, two passive RFID tags can save different identification information in advance for distinguishing; the RFID reader can identify the magnetic guide corresponding to the passive RFID tag based on the identification information read from the passive RFID tag Whether the line is a butt guide line or a cross-zone guide line.

Correspondingly, the control device can also be used for:

When the smart lawn mower is in the single-zone random walking mode, when the identification information of the RFID tag 1 and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the cross-zone guide line is currently detected. Since the smart lawn mower is in a single-zone random walking mode, it does not need to cross-zone, and the location of the cross-zone guide line is generally a non-grass area, and no cutting operation is required. Therefore, it can be based on the identification information of the RFID tag 1 and the location. The magnetic signal controls the walking mechanism so that the intelligent lawn mower performs obstacle avoidance actions, that is, the currently detected cross-zone guide line is regarded as an obstacle and avoided.

When the smart lawn mower is in the random walking mode, when the identification information of the RFID tag 2 and the magnetic signal provided by the magnetic sensor are received at the same time, it indicates that the docking guide wire is currently detected. Since the smart lawn mower is in random walking mode, there is no need for docking charging, but considering that the docking guide line is located in the working area, cutting operations are generally required, so it cannot be avoided as an obstacle, otherwise it will affect smart mowing Machine’s job coverage. Therefore, the walking mechanism can be controlled according to the identification information of the RFID tag 2 and the magnetic signal, so that the smart lawn mower ignores the detected docking guide line, so that the cutting operation at the location of the docking guide line can be realized cover.

(3) The obstacle avoidance sensor and the cross-zone guidance sensor are multiplexed into one sensor, the docking guidance sensor is independent, and the docking guidance device is installed on the boundary of the working area.

When the obstacle avoidance sensor and the cross-zone guidance sensor are multiplexed by one sensor, and the docking guide device is installed on the boundary of the working area, in order to facilitate the distinction between the obstacle signal and the cross-zone guidance signal, the cross-zone guidance signal The guiding device may be provided with a first marking signal providing module for providing the first marking signal. Correspondingly, the autonomous robot may also be provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device.

Correspondingly, the control device can also be used for:

When the autonomous robot is in the random walking mode, when a docking guide signal or a detection signal provided by a multiplexed sensor is received, it correspondingly indicates that a docking guide device or an obstacle is currently detected. Since the autonomous robot is in a random walking mode, there is no need for docking charging and edge return, and the docking guide device is located on the boundary of the working area, and generally does not need to perform operations. Therefore, the walking mechanism can be controlled according to the docking guide signal or the detection signal, so that the autonomous robot performs obstacle avoidance actions.

When the autonomous robot is in the regression mode, when the detection signal provided by the multiplexed sensor is received, it indicates that an obstacle is currently detected. Since the autonomous robot is in the return mode, the autonomous robot needs to return along the edge in this mode, so the walking mechanism can be controlled according to the detection signal, so that the autonomous robot executes the action of walking along the obstacle;

When the autonomous robot is in the return mode, when the docking guide signal is received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in the return mode and needs to be docked for charging, the walking mechanism can be controlled according to the docking guide signal to make the autonomous robot perform a docking action.

For example, in an exemplary embodiment, taking a smart lawn mower as an example, the obstacle avoidance sensor and the cross-zone guidance sensor can be multiplexed by a magnetic sensor (correspondingly, the cross-zone guidance device can be a magnetic guide wire, and the obstacle The obstacle guide lines laid around the periphery can also be magnetic guide lines). The docking guide device can be implemented with an ultrasonic transmitter and installed on the boundary of the working area. In order to facilitate the distinction between obstacle signals and cross-zone guide signals, a Bluetooth module 1 can be provided at the cross-zone guide line to provide Bluetooth signals. Correspondingly, the smart lawn mower may also be provided with a Bluetooth module 2 for receiving the Bluetooth signal output by the Bluetooth module 1 and providing it to the control device.

Correspondingly, the control device can also be used for:

When the smart lawn mower is in the random walking mode, when an ultrasonic signal or a magnetic signal provided by a magnetic sensor is received, it correspondingly indicates that an ultrasonic transmitter (ie, a docking guide device) or an obstacle is currently detected. Since the smart lawn mower is in a random walking mode, it does not require docking charging and edge return, and the location of the ultrasonic transmitter is on the boundary of the working area, and no work is required. Therefore, the walking mechanism can be controlled according to the ultrasonic signal or the magnetic signal, so that the smart lawn mower performs an obstacle avoidance action.

When the smart lawn mower is in the single-zone random walking mode, when the Bluetooth signal and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the cross-zone guide line is currently detected. Because the smart lawn mower is in a single-zone random walking mode, it does not need to cross-zone, and the location of the cross-zone guide line is generally a non-grass area, and there is no need to perform operations. Therefore, it can control the station according to the Bluetooth signal and the magnetic signal. The walking mechanism is used to make the intelligent lawn mower perform obstacle avoidance actions, that is, the currently detected cross-zone guide line is regarded as an obstacle and avoided.

When the smart lawn mower is in the regression mode or the cross-zone random walking mode, when the Bluetooth signal and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the cross-zone guide line is currently detected. Since the smart lawn mower is in the regression mode or the cross-zone random walking mode, it needs to perform edge-side regression or cross-zone work. Therefore, the walking mechanism can be controlled according to the Bluetooth signal and the magnetic signal to make the smart lawn mower The machine executes the cross-zone guidance action.

When the smart lawn mower is in the return mode, when the magnetic signal provided by the magnetic sensor is received, it indicates that an obstacle is currently detected. Since the intelligent lawn mower is in the return mode, in this mode the intelligent lawn mower needs to return along the edge, so the walking mechanism can be controlled according to the magnetic signal, so that the intelligent lawn mower executes the action of walking along the obstacle;

When the smart lawn mower is in the return mode, when an ultrasonic signal is received, it indicates that an ultrasonic transmitter (that is, a docking guide device) is currently detected. Since the smart lawn mower is in the return mode and needs to be docked for charging, the walking mechanism can be controlled according to the ultrasonic signal to make the smart lawn mower perform a docking action.

(4) The obstacle avoidance sensor and the cross-zone guidance sensor are multiplexed into one sensor, the docking guiding sensor is independent, and the docking guiding device is installed in the working area.

When the obstacle avoidance sensor and the cross-zone guidance sensor are multiplexed by one sensor, and the docking guide device is installed in the work area, in order to facilitate the distinction between obstacle signals and cross-zone guidance signals, the cross-zone guidance The device may be provided with a first marking signal providing module for providing the first marking signal; correspondingly, the autonomous robot may also be provided with a marking signal acquiring module for receiving the first marking signal and providing it to the control Device.

Correspondingly, the control device can also be used for:

When the autonomous robot is in the random walking mode, when it receives the detection signal provided by the multiplexed sensor, it correspondingly indicates that the obstacle is currently detected. Since the autonomous robot is in a random walking mode and does not need to return along the edge, the walking mechanism can be controlled according to the detection signal to make the autonomous robot perform obstacle avoidance actions.

When the autonomous robot is in the random walking mode, when the docking guide signal is received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in random walking mode, there is no need for docking and charging, but considering that the docking guide is located in the working area, it generally needs to be operated, so it cannot be avoided as an obstacle, otherwise it will affect the coverage of the autonomous robot. . Therefore, the walking mechanism can be controlled according to the docking guide signal, so that the autonomous robot ignores the detected docking guide device, so that work coverage at the location of the docking guide device can be achieved.

When the autonomous robot is in the regression mode, when the detection signal provided by the multiplexed sensor is received, it indicates that an obstacle is currently detected. Since the autonomous robot is in the return mode, the autonomous robot needs to return along the edge in this mode, so the walking mechanism can be controlled according to the detection signal to make the autonomous robot perform walking along the obstacle.

For example, in an exemplary embodiment, taking a smart lawn mower as an example, the obstacle avoidance sensor and the cross-zone guidance sensor can be multiplexed by a magnetic sensor (correspondingly, the cross-zone guidance device can be a magnetic guide wire, and the obstacle The obstacle guide lines laid around the periphery can also be magnetic guide lines). The docking guide device can be implemented with an ultrasonic transmitter and installed in the work area. In order to facilitate the distinction between the obstacle signal and the cross-zone guide signal, the cross-zone guide line can be provided with a Bluetooth module 1 for providing Bluetooth signals. Correspondingly, the smart lawn mower may also be provided with a Bluetooth module 2 for receiving the Bluetooth signal output by the Bluetooth module 1 and providing it to the control device.

Correspondingly, the control device can also be used for:

When the smart lawn mower is in the random walking mode, when the magnetic signal provided by the magnetic sensor is received, it indicates that an obstacle is currently detected. Since the smart lawn mower is in a random walking mode and does not need to return along the edge, the walking mechanism can be controlled according to the magnetic signal to make the smart lawn mower perform obstacle avoidance actions.

When the smart lawn mower is in the random walking mode, when an ultrasonic signal is received, it indicates that an ultrasonic transmitter (that is, a docking guide device) is currently detected. Since the smart lawn mower is in random walking mode, it does not need to be docked and charged. However, considering that the ultrasonic transmitter is located in the working area, cutting operations are generally required, so it cannot be avoided as an obstacle, otherwise it will affect the smart mowing Machine’s job coverage. Therefore, the walking mechanism can be controlled according to the ultrasonic signal, so that the smart lawn mower ignores the detected ultrasonic transmitter, so that the work coverage at the location of the ultrasonic transmitter can be achieved.

When the smart lawn mower is in the return mode, when the magnetic signal provided by the magnetic sensor is received, it indicates that an obstacle is currently detected. Since the smart lawn mower is in the return mode, the smart lawn mower needs to return along the edge in this mode, so the walking mechanism can be controlled according to the magnetic signal, so that the smart lawn mower performs a walking action along an obstacle.

When the smart lawn mower is in the return mode, when an ultrasonic signal is received, it indicates that an ultrasonic transmitter (that is, a docking guide device) is currently detected. Since the smart lawn mower is in the return mode and needs to be docked and charged, the walking mechanism can be controlled according to the ultrasonic signal to make the smart lawn mower perform a docking action.

(5) The obstacle avoidance sensor and the docking guide sensor are multiplexed into one sensor, the cross-zone guide sensor is independent, and the docking guide device is installed on the working area.

When the obstacle avoidance sensor and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed on the boundary of the working area, in order to facilitate the distinction between the obstacle signal and the docking guide signal, the docking guide device is A first marking signal providing module may be provided for providing the first marking signal. Correspondingly, the autonomous robot may also be provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device;

Correspondingly, the control device can also be used for:

When the autonomous robot is in the random walking mode, when it receives the detection signal provided by the multiplexed sensor, it indicates that an obstacle is currently detected. Since the autonomous robot is in a random walking mode and does not need to return along the edge, the walking mechanism can be controlled according to the detection signal to make the autonomous robot perform obstacle avoidance actions.

When the autonomous robot is in the random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in a random walking mode, there is no need for docking charging, and the location of the docking guide device is on the boundary of the working area, and no work is required. Therefore, the walking mechanism can be controlled according to the first marking signal and the detection signal, so that the autonomous robot performs an obstacle avoidance action, that is, the currently detected docking guide device is regarded as an obstacle and avoided.

When the autonomous robot is in the single-zone random walking mode, when the cross-zone guidance signal is received, it indicates that the cross-zone guidance device is currently detected. Since the autonomous robot is in a single-zone random walking mode, there is no need to cross-zone, and the location of the cross-zone guidance device is generally a non-working area, and no operation is required. Therefore, the walking mechanism can be controlled according to the cross-zone guidance signal to The autonomous robot is made to perform an obstacle avoidance action, that is, the currently detected cross-zone guidance device is regarded as an obstacle and avoided.

When the autonomous robot is in the regression mode or the cross-area random walking mode, when the cross-area guidance signal is received, it indicates that the cross-area guidance device is currently detected. Since the autonomous robot is in the regression mode or the cross-area random walking mode, it needs to perform edge-side regression or cross-area work. Therefore, the walking mechanism can be controlled according to the cross-area guidance signal to make the autonomous robot perform a cross-area guidance action.

When the autonomous robot is in the regression mode, when the first marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in the return mode and needs to be docked and charged, the walking mechanism can be controlled according to the first marking signal and the detection signal, so that the autonomous robot performs a docking action.

For example, in an exemplary embodiment, taking a smart lawn mower as an example, the obstacle avoidance sensor and the docking guide sensor can be multiplexed by a magnetic sensor (correspondingly, the docking guide wire can be a magnetic guide wire and can be installed in the work area On the boundary, the obstacle guide line arranged on the outer periphery of the obstacle can also be a magnetic guide line). The cross-zone guide device can be implemented with an ultrasonic transmitter. In order to facilitate the distinction between the obstacle signal and the docking guide signal, the docking guide line may be provided with a Bluetooth module 1 for providing Bluetooth signals. Correspondingly, the smart lawn mower may also be provided with a Bluetooth module 2 for receiving the Bluetooth signal output by the Bluetooth module 1 and providing it to the control device.

Correspondingly, the control device can also be used for:

When the smart lawn mower is in the random walking mode, when the magnetic signal provided by the magnetic sensor is received, it indicates that an obstacle is currently detected. Since the intelligent lawn mower is in a random walking mode and does not need to return along the edge, the walking mechanism can be controlled according to the detection signal to make the intelligent lawn mower perform obstacle avoidance actions.

When the smart lawn mower is in the random walking mode, when the Bluetooth signal and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the docking guide wire is currently detected. Since the intelligent lawn mower is in a random walking mode, it does not need to be docked for charging, and the location of the docking guide line is on the boundary of the working area, and no work is required. Therefore, the walking mechanism can be controlled according to the Bluetooth signal and the magnetic signal, so that the smart lawn mower performs an obstacle avoidance action, that is, the currently detected docking guide line is regarded as an obstacle and avoided.

When the smart lawn mower is in the single-zone random walking mode, when an ultrasonic signal is received, it indicates that an ultrasonic transmitter (that is, a cross-zone guiding device) is currently detected. Because the smart lawn mower is in a single-zone random walking mode, no cross-zone is required, and the location of the ultrasonic transmitter is generally a non-grass area, and no cutting operation is required. Therefore, the walking mechanism can be controlled according to the ultrasonic signal to The smart lawn mower is made to perform an obstacle avoidance action, that is, the currently detected ultrasonic transmitter is regarded as an obstacle and avoided.

When the smart lawn mower is in the regression mode or the cross-zone random walking mode, when the ultrasonic signal is received, it indicates that the ultrasonic transmitter (that is, the cross-zone guiding device) is currently detected. Since the smart lawn mower is in the regression mode or the cross-region random walking mode, it needs to perform edge-side regression or cross-region work. Therefore, the walking mechanism can be controlled according to the ultrasonic signal so that the smart lawn mower performs cross-region guidance action.

When the smart lawn mower is in the return mode, when the Bluetooth signal and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the docking guide wire is currently detected. Since the smart lawn mower is in the return mode and needs to be docked for charging, the walking mechanism can be controlled according to the Bluetooth signal and the magnetic signal, so that the smart lawn mower performs a docking action.

(6) The obstacle avoidance sensor and the docking guide sensor are multiplexed into one sensor, the cross-zone guide sensor is independent, and the docking guide device is installed in the work area.

When the obstacle avoidance sensor and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed in the work area, in order to facilitate the distinction between obstacle signals and docking guide signals, the docking guide device may be A first marking signal providing module is provided for providing the first marking signal. Correspondingly, the autonomous robot may also be provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device.

Correspondingly, the control device can also be used for:

When the autonomous robot is in the random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in random walking mode, there is no need for docking and charging, but considering that the docking guide is located in the working area, it generally needs to be operated, so it cannot be avoided as an obstacle, otherwise it will affect the coverage of the autonomous robot. . Therefore, the walking mechanism can be controlled according to the first marking signal and the detection signal, so that the autonomous robot ignores the detected docking guide device, so that job coverage at the location of the docking guide device can be achieved.

For example, in an exemplary embodiment, taking a smart lawn mower as an example, the obstacle avoidance sensor and the docking guide sensor can be multiplexed by a magnetic sensor (correspondingly, the docking guide wire may be a magnetic guide wire and the docking guide wire is installed in In the working area, the obstacle guide line arranged around the obstacle can also be a magnetic guide line). The cross-zone guide device can be implemented with an ultrasonic transmitter. In order to facilitate the distinction between the obstacle signal and the docking guide signal, the docking guide line may be provided with a Bluetooth module 1 for providing Bluetooth signals. Correspondingly, the smart lawn mower may also be provided with a Bluetooth module 2 for receiving the Bluetooth signal output by the Bluetooth module 1 and providing it to the control device.

Correspondingly, the control device can also be used for:

When the smart lawn mower is in the random walking mode, when the Bluetooth signal and the detection signal provided by the multiplexed sensor are received at the same time, it indicates that the docking guide wire is currently detected. Since the smart lawn mower is in random walking mode, it does not need to be docked and charged, but considering that the location of the docking guide line is generally the grass within the boundary that needs to be cut, it cannot be avoided as an obstacle, otherwise it will affect the smart mowing Machine’s job coverage. Therefore, the walking mechanism can be controlled according to the Bluetooth signal and the magnetic signal, so that the smart lawn mower ignores the detected docking guide line, so that the work coverage at the location of the docking guide line can be achieved.

When the smart lawn mower is in the single-zone random walking mode, when an ultrasonic signal is received, it indicates that the ultrasonic generator (that is, the cross-zone guiding device) is currently detected. Because the intelligent lawn mower is in a single-zone random walking mode, no cross-zone is required, and the location of the ultrasonic generator is generally a non-working area, and no operation is required. Therefore, the walking mechanism can be controlled according to the ultrasonic signal to make The smart lawn mower performs obstacle avoidance action, that is, the currently detected ultrasonic generator is regarded as an obstacle and avoided.

When the smart lawn mower is in the regression mode or the cross-region random walking mode, when the ultrasonic wave is received, it indicates that the ultrasonic generator (ie, the cross-region guidance device) is currently detected because the smart lawn mower is in the regression mode or cross-region random In the walking mode, edge return or cross-zone work is required. Therefore, the walking mechanism can be controlled according to the ultrasonic signal, so that the smart lawn mower can perform a cross-zone guidance action.

When the smart lawn mower is in the return mode, when the Bluetooth signal and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the docking guide wire is currently detected. Since the smart lawn mower is in the return mode and needs to be docked and charged, the walking mechanism can be controlled according to the Bluetooth signal and the magnetic signal, so that the smart lawn mower performs a docking action.

(7) The cross-zone guide sensor and the docking guide sensor are multiplexed into one sensor, the obstacle avoidance sensor is independent, and the docking guide device is installed on the working area.

When the cross-zone guide sensor and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed on the boundary of the working area, in order to facilitate the distinction between the cross-zone guide signal and the docking guide signal, the docking guide The device may be provided with a first marking signal providing module for providing the first marking signal. Correspondingly, the autonomous robot may also be provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device.

Correspondingly, the control device can also be used for:

When the autonomous robot is in the single-zone random walking mode, when it receives the detection signal provided by the multiplexed sensor, it indicates that the cross-zone guidance device is currently detected. Since the autonomous robot is in a single-zone random walking mode, there is no need to cross-zone, and the location of the cross-zone guidance device is generally a non-working area, and no operation is required. Therefore, the walking mechanism can be controlled according to the detection signal to make all The autonomous robot performs obstacle avoidance actions, that is, the currently detected cross-zone guidance device is regarded as an obstacle and avoided.

When the autonomous robot is in the regression mode or the cross-zone random walking mode, when the detection signal provided by the multiplexed sensor is received, it indicates that the cross-zone guidance device is currently detected. Since the autonomous robot is in the regression mode or the cross-region random walking mode, it needs to perform edgewise regression or cross-region work accordingly, so the walking mechanism can be controlled according to the detection signal to make the autonomous robot perform a cross-region guided action.

When the autonomous robot is in the random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, it indicates that the docking guide device is currently detected. Since the autonomous robot is in a random walking mode, it does not need to be docked for charging, and the docking guide device is located on the boundary of the working area, and it does not need to perform operations. Therefore, the walking mechanism can be controlled according to the first marking signal and the detection signal, so that the autonomous robot performs an obstacle avoidance action, that is, the currently detected docking guide device is regarded as an obstacle and avoided.

When the autonomous robot is in the random walking mode, when an obstacle signal is received, it indicates that an obstacle is currently detected. Since the autonomous robot is in a random walking mode and does not need to return along the edge, the walking mechanism can be controlled according to the obstacle signal to make the autonomous robot perform obstacle avoidance actions.

When the autonomous robot is in the regression mode, when an obstacle signal is received, it indicates that the obstacle is currently detected. Since the autonomous robot is in the return mode and needs to return along the edge, the walking mechanism can be controlled according to the obstacle signal, so that the autonomous robot executes the motion of walking along the obstacle.

For example, in an exemplary embodiment, taking a smart lawn mower as an example, the cross-zone guide sensor and the docking guide sensor can be multiplexed by a magnetic sensor (correspondingly, the docking guide wire can be a magnetic guide wire and can be installed in the work On the area boundary, the cross-area guide line can also be a magnetic guide line). The obstacle avoidance sensor can be implemented with an ultrasonic transmitter. In order to facilitate the distinction between the cross-zone guide signal and the docking guide signal, the docking guide line may be provided with a Bluetooth module 1 for providing Bluetooth signals. Correspondingly, the smart lawn mower may also be provided with a Bluetooth module 2 for receiving the Bluetooth signal output by the Bluetooth module 1 and providing it to the control device.

Correspondingly, the control device can also be used for:

When the smart lawn mower is in the single-zone random walking mode, when the magnetic signal provided by the magnetic sensor is received, it indicates that the cross-zone guide line is currently detected. Since the intelligent lawn mower is in a single-zone random walking mode, no cross-zone is required, and the location of the cross-zone guidance device is generally a non-grass area, and no operation is required. Therefore, the walking mechanism can be controlled according to the magnetic signal to The intelligent lawn mower is made to perform an obstacle avoidance action, that is, the currently detected cross-zone guide line is regarded as an obstacle and avoided.

When the smart lawn mower is in the regression mode or the cross-zone random walking mode, when the magnetic signal provided by the magnetic sensor is received, it indicates that the cross-zone guide line is currently detected. Since the smart lawn mower is in the regression mode or the cross-zone random walking mode, it needs to perform edge-side regression or cross-zone work. Therefore, the walking mechanism can be controlled according to the magnetic signal to make the smart lawn mower perform cross-zone guidance action.

When the smart lawn mower is in the random walking mode, when the Bluetooth signal and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the docking guide wire is currently detected. Since the smart lawn mower is in a random walking mode, it does not need to be docked for charging, and the location of the docking guide line is on the boundary of the working area, and no cutting operation is required. Therefore, the walking mechanism can be controlled according to the Bluetooth signal and the magnetic signal, so that the smart lawn mower performs an obstacle avoidance action, that is, the currently detected docking guide line is regarded as an obstacle and avoided.

When the smart lawn mower is in the random walking mode, when an ultrasonic signal is received, it indicates that an obstacle is currently detected. Since the smart lawn mower is in a random walking mode and does not need to return along the edge, the walking mechanism can be controlled according to the ultrasonic signal to make the smart lawn mower perform obstacle avoidance actions.

When the smart lawn mower is in the return mode, when an ultrasonic signal is received, it indicates that an obstacle is currently detected. Since the intelligent lawn mower is in the return mode and needs to return along the edge, the walking mechanism can be controlled according to the ultrasonic signal, so that the intelligent lawn mower executes the action of walking along the obstacle.

(8) The cross-zone guide sensor and the docking guide sensor are multiplexed into one sensor, the obstacle avoidance sensor is independent, and the docking guide device is installed in the work area.

When the cross-zone guide sensor and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed in the working area, in order to facilitate the distinction between the cross-zone guide signal and the docking guide signal, the docking guide device A first marking signal providing module may be provided at the place to provide the first marking signal. Correspondingly, the autonomous robot may also be provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device.

Correspondingly, the control device can also be used for:

For example, in an exemplary embodiment, taking a smart lawn mower as an example, the cross-zone guide sensor and the docking guide sensor can be multiplexed by a magnetic sensor (correspondingly, the docking guide wire can be a magnetic guide wire and can be installed in the work Within the area boundary, the cross-area guide line can also be a magnetic guide line). The obstacle avoidance sensor can be implemented with an ultrasonic transmitter. In order to facilitate the distinction between the cross-zone guide signal and the docking guide signal, the docking guide line may be provided with a Bluetooth module 1 for providing Bluetooth signals. Correspondingly, the smart lawn mower may also be provided with a Bluetooth module 2 for receiving the Bluetooth signal output by the Bluetooth module 1 and providing it to the control device.

Correspondingly, the control device can also be used for:

When the smart lawn mower is in the random walking mode, when the Bluetooth signal and the magnetic signal provided by the magnetic sensor are simultaneously received, it indicates that the docking guide wire is currently detected. Since the smart lawn mower is in random walking mode, there is no need for docking charging, but considering that the docking guide line is located in the working area, cutting operations are generally required, so it cannot be avoided as an obstacle, otherwise it will affect smart mowing Machine’s job coverage. Therefore, the walking mechanism can be controlled according to the Bluetooth signal and the magnetic signal, so that the smart lawn mower ignores the detected docking guide line, so that the work coverage at the location of the docking guide line can be achieved.

When the smart lawn mower is in the single-zone random walking mode, when the magnetic signal provided by the magnetic sensor is received, it indicates that the cross-zone guide line is currently detected. Since the smart lawn mower is in a single-zone random walking mode, no cross-zone is required, and the location of the cross-zone guide line is generally a non-grass area, and no cutting operation is required. Therefore, the walking mechanism can be controlled according to the magnetic signal, In order to make the intelligent lawn mower perform an obstacle avoidance action, that is, the currently detected cross-zone guide line is regarded as an obstacle and avoided.

In some embodiments of this specification, when an autonomous robot uses a combination of multiple sensors, in different modes, the autonomous robot can have different signal processing priorities for the signals collected by each sensor to improve the intelligent level of the autonomous robot .

In some embodiments of this specification, when the autonomous robot adopts obstacle avoidance sensor + boundary sensor + cross-area guidance sensor and docking guidance sensor, when the autonomous robot is in the random walking mode, the control device responds to the boundary signal The processing priority can be higher than the processing priority of the cross-zone guide signal and the docking guide signal, and can be lower than the processing priority of the obstacle signal, that is, obstacle signal> cross-zone guide signal and docking guide signal> boundary signal. For example, in an exemplary embodiment, when the autonomous robot is in a random walking mode, the processing logic of the control device may be as shown in FIG. 13. When the autonomous robot is in the regression mode, the processing priority of the control device for the cross-zone guidance signal and the docking guidance signal may be higher than the processing priority of the boundary signal, and may be lower than the processing priority of the obstacle signal Priority, that is, obstacle signal>cross-zone guidance signal and docking guidance signal>boundary signal. For example, in an exemplary embodiment, when the autonomous robot is in the regression mode, the processing logic of the control device may be as shown in FIG. 14.

In an exemplary embodiment, taking the smart lawn mower as an example, in the random walking mode, when the smart lawn mower encounters landscape grass/landscape flowers raised by the user, if the processing priority of the boundary signal is higher than the obstacle signal If the processing priority is higher, the smart lawn mower may regard the landscape grass/landscape flower as a working area, and not perform obstacle avoidance actions, which is not expected by the user.

In an exemplary embodiment, as shown in Fig. 11 or Fig. 12, a cross-zone guide line 53 is arranged in the middle of the stone road. When the stone road is located at the position of the cross-zone guide line 53, if someone stops temporarily The processing priority of the cross-zone guidance signal is higher than the processing priority of the obstacle signal, and the intelligent lawnmower will hit a person, which is also undesirable for the user.

In some other embodiments of this specification, when the obstacle avoidance sensor of the autonomous robot adopts the contact obstacle avoidance sensor + non-contact obstacle avoidance sensor, no matter whether the autonomous robot handles the random walking mode or the return mode, the control device responds to the contact The processing priority of the obstacle signal output by the non-contact obstacle avoidance sensor is higher than the processing priority of the obstacle signal output by the non-contact obstacle avoidance sensor. Since the contact obstacle avoidance sensor is more stable and reliable than the non-contact obstacle avoidance sensor, this control method can help improve the obstacle avoidance performance of the autonomous robot.

In some embodiments of this specification, referring to FIG. 9, the front end of the autonomous robot may also be provided with a safety sensor 30, which may be used to output a cross-border signal to all areas when it is monitored that the autonomous robot crosses the boundary of the working area.述控制装置。 The control device. Correspondingly, the control device can also control the walking mechanism according to the cross-border signal to stop the autonomous robot from walking, which can help ensure the safe operation of the autonomous robot. In some exemplary embodiments, the safety sensor 30 may be, for example, a radar sensor. When the surface hardness of the detected object is different, the beam angle of the radar sensor will also be different, due to the surface hardness of the working area and the non-working area. The surface hardness is usually different, so the radar sensor can identify whether the autonomous robot crosses the boundary of the work area. Preferably, the detection direction of the safety sensor 30 may be vertical downward, so as to obtain more accurate detection results.

For the convenience of description, when describing the above device, the functions are divided into various modules and described separately. Of course, when implementing this specification, the functions of each module can be implemented in the same or multiple software and/or hardware.

Referring to FIG. 15, corresponding to the above-mentioned embodiment of the autonomous robot, the control method of the autonomous robot in some embodiments of this specification may include:

S151. Receive a boundary signal output by a boundary sensor when it detects that the autonomous robot reaches the boundary of a working area; the boundary sensor is one of at least two boundary sensors with different detection directions set on the autonomous robot;

S152. Control the walking mechanism of the autonomous robot according to the boundary signal, so as to restrict the movement of the autonomous robot within the working area.

Corresponding to the embodiments of the autonomous robot described above, the computer storage medium in some embodiments of this specification stores a computer program, and the computer program can execute the following steps when the computer program is run by a processor:

Receiving the boundary signal output by the boundary sensor when the autonomous robot reaches the boundary of the working area; the boundary sensor is one of at least two boundary sensors with different detection directions arranged on the autonomous robot;

Although the process flow described above includes multiple operations appearing in a specific order, it should be clearly understood that these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel (for example, using parallel processors or Multi-threaded environment).

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

In a typical configuration, the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include non-permanent memory in computer readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.

Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic tape, disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

Claims

An autonomous robot, comprising a walking mechanism and a control device, is characterized in that the autonomous robot is also provided with at least two boundary sensors with different detection directions, which are used to output the boundary when detecting that the autonomous robot reaches the boundary of the working area Signal to the control device; the control device is used to control the walking mechanism according to the boundary signal to limit the movement of the autonomous robot within the working area; the boundary sensor is a grass recognition sensor;

The autonomous robot is also provided with an obstacle avoidance sensor, which is used to provide the obstacle signal to the control device when an obstacle signal is detected; the control device is also used to: when the autonomous robot is in a random state In the walking mode, the walking mechanism is controlled according to the obstacle signal so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in the return mode, the walking mechanism is controlled according to the obstacle signal to Enabling the autonomous robot to perform an action of walking along an obstacle;

The autonomous robot is also provided with a docking guide sensor, which is used to provide the docking guide signal to the control device when the docking guide signal output by the docking guide device is detected; the control device is also used to: When the docking guide device is installed on the boundary of the working area, when the autonomous robot is in the random walking mode, the walking mechanism is controlled according to the docking guide signal so that the autonomous robot performs obstacle avoidance actions; when the docking guide When the device is installed in the working area, when the autonomous robot is in the random walking mode, the walking mechanism is controlled according to the docking guide signal so that the autonomous robot ignores the docking guide signal; In the return mode, control the walking mechanism according to the docking guide signal, so that the autonomous robot performs docking actions;

The autonomous robot is also provided with: a cross-zone guidance sensor, which is used to provide the cross-zone guidance signal to the control device when the cross-zone guidance signal output by the cross-zone guidance device is detected; the control device also uses Yu: When the autonomous robot is in the regression mode or the cross-area random walking mode, the walking mechanism is controlled according to the cross-area guidance signal so that the autonomous robot performs a cross-area guidance action; when the autonomous robot is in a single In the zone random walking mode, controlling the walking mechanism according to the cross-zone guidance signal so that the autonomous robot performs obstacle avoidance actions;

When the autonomous robot is in the random walking mode, the processing priority of the control device for the boundary signal is higher than the processing priority for the cross-zone guidance signal, and lower than the processing priority for the obstacle signal Priority; when the autonomous robot is in the regression mode, the processing priority of the control device for the cross-zone guidance signal and the docking guidance signal is higher than the processing priority for the boundary signal and lower than The priority of processing the obstacle signal.
The autonomous robot according to claim 1, wherein the at least two boundary sensors with different detection directions comprise:

A first boundary sensor, the center line of the detection direction of which faces the side of the first side of the autonomous robot;

A second boundary sensor, the center line of which is toward the front of the first side of the autonomous robot;

The third boundary sensor, the center line of the detection direction of which faces the front side of the second side of the autonomous robot.
The autonomous robot according to claim 2, wherein the angle between the center line of the detection direction of the third boundary sensor and the direct front of the second side of the autonomous robot is 15°-75°.
The autonomous robot according to claim 2, wherein the center line of the detection direction of the first boundary sensor is perpendicular to the center line of the detection direction of the second boundary sensor.
The autonomous robot according to claim 2, wherein the center line of the detection direction of the first boundary sensor is inclined downward by a first angle, and the center line of the detection direction of the second boundary sensor is inclined downward by a second angle, The center line of the detection direction of the third boundary sensor is inclined downward by a third angle.
The autonomous robot according to claim 5, wherein the second angle is determined according to the installation height of the second boundary sensor and the predicted distance of the autonomous robot.
The autonomous robot according to claim 1, wherein the at least two boundary sensors with different detection directions are symmetrically distributed along the circumferential direction of the autonomous robot.
The autonomous robot according to claim 1, wherein when the at least two boundary sensors with different detection directions are even numbered, the installation positions and detection directions of the even numbered boundary sensors are distributed symmetrically or symmetrically. .
The autonomous robot according to claim 1, wherein the grass recognition sensor includes any one or more of the following: a capacitive proximity sensor; a vision sensor; a multispectral sensor.
The autonomous robot according to claim 1, wherein the obstacle avoidance sensor comprises:

The first obstacle avoidance sensor, the center line of the detection direction of which faces the front of the autonomous robot;

The second obstacle avoidance sensor has a detection direction centerline facing the first side of the autonomous robot.
The autonomous robot according to claim 1, wherein the obstacle avoidance sensor comprises a contact obstacle avoidance sensor and/or a non-contact obstacle avoidance sensor.
The autonomous robot according to claim 11, wherein the contact obstacle avoidance sensor comprises a Hall-type collision sensor or a capacitive sensor; the non-contact obstacle avoidance sensor comprises an ultrasonic sensor, a magnetic sensor or a radar sensor.
The autonomous robot according to claim 1, wherein the docking guide sensor includes a magnetic sensor, and the docking guide device includes a docking guide wire.
The autonomous robot according to claim 1, wherein the docking guide sensor includes an ultrasonic receiver, and the docking guide device includes an ultrasonic transmitter located at a charging station.
The autonomous robot according to claim 1, wherein the cross-zone guidance sensor comprises a magnetic sensor, and the cross-zone guidance device comprises a cross-zone guide line.
The autonomous robot according to claim 1, wherein the cross-zone guidance sensor includes an ultrasonic receiver, and the cross-zone guidance device includes an ultrasonic transmitter.
The autonomous robot according to claim 1, wherein when the obstacle avoidance sensor, the cross-zone guidance sensor, and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed in the work area When on the border, the cross-zone guide device is provided with a first marking signal providing module for providing a first marking signal; the docking guide device is provided with a second marking signal providing module for providing a second marking signal The autonomous robot is also provided with a marking signal acquisition module for receiving the first marking signal and the second marking signal and providing them to the control device;

The control device is also used to: when the autonomous robot is in the random walking mode, when only the detection signal provided by the multiplexed sensor is received, control the walking mechanism according to the detection signal, so that the autonomous robot Perform obstacle avoidance actions; when the autonomous robot is in a single-zone random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are received at the same time, according to the first marking signal and the detection The signal controls the walking mechanism so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in the regression mode or the cross-area random walking mode, when the first marker signal is received simultaneously and provided by the multiplexed sensor When the autonomous robot is in the random walking mode, when the autonomous robot is in the random walking mode, the walking mechanism is controlled according to the first marking signal and the detection signal, so that the autonomous robot performs a cross-area guidance action; When the second marking signal and the detection signal provided by the multiplexed sensor are used, the walking mechanism is controlled according to the second marking signal and the detection signal so that the autonomous robot performs obstacle avoidance actions; When the robot is in the regression mode, when only the detection signal provided by the multiplexed sensor is received, the walking mechanism is controlled according to the detection signal, so that the autonomous robot performs walking along the obstacle; when the autonomous robot is in In the regression mode, when the second marking signal and the detection signal provided by the multiplexed sensor are received at the same time, the walking mechanism is controlled according to the second marking signal and the detection signal, so that the autonomous robot executes Docking action.
The autonomous robot according to claim 1, wherein when the obstacle avoidance sensor, the cross-zone guidance sensor, and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed in the work area When inside, the cross-zone guiding device is provided with a first marking signal providing module for providing a first marking signal; the docking guiding device is provided with a second marking signal providing module for providing a second marking signal; The autonomous robot is also provided with a marking signal acquisition module for receiving the first marking signal and the second marking signal and providing them to the control device;

The control device is also used to: when the autonomous robot is in the random walking mode, when only the detection signal provided by the multiplexed sensor is received, control the walking mechanism according to the detection signal, so that the autonomous robot Perform obstacle avoidance actions; when the autonomous robot is in a single-zone random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are received at the same time, according to the first marking signal and the detection The signal controls the walking mechanism so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in the regression mode or the cross-area random walking mode, when the first marker signal is received simultaneously and provided by the multiplexed sensor When the autonomous robot is in the random walking mode, when the autonomous robot is in the random walking mode, the walking mechanism is controlled according to the first marking signal and the detection signal, so that the autonomous robot performs a cross-area guidance action; When the second marking signal and the detection signal provided by the multiplexed sensor are used, the walking mechanism is controlled according to the second marking signal and the detection signal, so that the autonomous robot ignores the docking guide signal; The autonomous robot is in the regression mode, when only the detection signal provided by the multiplexed sensor is received, the walking mechanism is controlled according to the detection signal, so that the autonomous robot executes the action of walking along the obstacle; The robot is in the regression mode. When receiving the second marking signal and the detection signal provided by the multiplexed sensor at the same time, it controls the walking mechanism according to the second marking signal and the detection signal to make the autonomous The robot performs the docking action.
The autonomous robot according to claim 1, wherein when the obstacle avoidance sensor and the cross-zone guidance sensor are multiplexed by one sensor, and the docking guidance device is installed on the boundary of the working area, the The cross-zone guidance device is provided with a first marking signal providing module for providing a first marking signal; the autonomous robot is also provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device;

The control device is also used for: when the autonomous robot is in the random walking mode, when the docking guide signal or the detection signal provided by the multiplexed sensor is received, control according to the docking guide signal or the detection signal The walking mechanism enables the autonomous robot to perform obstacle avoidance actions; when the autonomous robot is in a single-zone random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, The walking mechanism is controlled according to the first marking signal and the detection signal so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in the regression mode or the cross-area random walking mode, when all the robots are simultaneously received When the first marking signal and the detection signal provided by the multiplexed sensor are used, the walking mechanism is controlled according to the first marking signal and the detection signal, so that the autonomous robot performs a cross-region guidance action; When the robot is in the regression mode, when the detection signal provided by the multiplexed sensor is received, the walking mechanism is controlled according to the detection signal, so that the autonomous robot executes the action of walking along the obstacle; when the autonomous robot is in the return In the mode, when the docking guide signal is received, the walking mechanism is controlled according to the docking guide signal, so that the autonomous robot performs a docking action.
The autonomous robot according to claim 1, wherein when the obstacle avoidance sensor and the cross-area guidance sensor are multiplexed by one sensor, and the docking guide device is installed in the working area, the cross-area guidance sensor is The zone guiding device is provided with a first marking signal providing module for providing the first marking signal; the autonomous robot is also provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device;

The control device is also used to: when the autonomous robot is in the random walking mode, when the detection signal provided by the multiplexed sensor is received, control the walking mechanism according to the detection signal so that the autonomous robot executes Obstacle avoidance action; when the autonomous robot is in the single-zone random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are received at the same time, according to the first marking signal and the detection signal Control the walking mechanism so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in the regression mode or the cross-area random walking mode, when the first marker signal and the signal provided by the multiplexed sensor are received at the same time When detecting a signal, the walking mechanism is controlled according to the first marking signal and the detection signal, so that the autonomous robot performs a cross-area guidance action; when the autonomous robot is in a random walking mode, when the autonomous robot is in the random walking mode, when the When docking guidance signal, the walking mechanism is controlled according to the docking guidance signal so that the autonomous robot ignores the docking guidance signal; when the autonomous robot is in the regression mode, when the detection provided by the multiplexed sensor is received Signal, the walking mechanism is controlled according to the detection signal, so that the autonomous robot performs walking along the obstacle; when the autonomous robot is in the return mode, when the docking guide signal is received, according to the The docking guide signal controls the walking mechanism so that the autonomous robot performs a docking action.
The autonomous robot according to claim 1, wherein when the obstacle avoidance sensor and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed on the boundary of the working area, the docking The guiding device is provided with a first marking signal providing module for providing a first marking signal; the autonomous robot is also provided with a marking signal acquiring module for receiving the first marking signal and providing it to the control device;

The control device is also used to: when the autonomous robot is in the random walking mode, when the detection signal provided by the multiplexed sensor is received, control the walking mechanism according to the detection signal so that the autonomous robot executes Obstacle avoidance action; when the autonomous robot is in the random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are received at the same time, the control station is controlled according to the first marking signal and the detection signal The walking mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the autonomous robot is in a single-zone random walking mode, when the cross-zone guidance signal is received, the walking is controlled according to the cross-zone guidance signal Mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the autonomous robot is in the return mode or the cross-area random walking mode, when the cross-area guidance signal is received, the cross-area guidance signal is controlled to control the Walking mechanism to enable the autonomous robot to perform cross-regional guidance actions; when the autonomous robot is in the regression mode, when the detection signal provided by the multiplexed sensor is received, the walking mechanism is controlled according to the detection signal to Make the autonomous robot perform walking along the obstacle; when the autonomous robot is in the regression mode, when the first marking signal and the detection signal provided by the multiplexed sensor are received at the same time, according to the first marking signal And the detection signal controls the walking mechanism so that the autonomous robot performs a docking action.
The autonomous robot according to claim 1, wherein when the obstacle avoidance sensor and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed in the working area, the docking guide The device is provided with a first marking signal providing module for providing a first marking signal; the autonomous robot is also provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device;

The control device is also used to: when the autonomous robot is in the random walking mode, when the detection signal provided by the multiplexed sensor is received, control the walking mechanism according to the detection signal so that the autonomous robot executes Obstacle avoidance action; when the autonomous robot is in the random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are received at the same time, the control station is controlled according to the first marking signal and the detection signal The walking mechanism, so that the autonomous robot ignores the docking guide signal; when the autonomous robot is in the single-zone random walking mode, when the cross-zone guide signal is received, the control station is controlled according to the cross-zone guide signal The walking mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the autonomous robot is in the regression mode or the cross-area random walking mode, when the cross-area guidance signal is received, it is controlled according to the cross-area guidance signal The walking mechanism enables the autonomous robot to perform a cross-region guidance action; when the autonomous robot is in the regression mode, when the detection signal provided by the multiplexed sensor is received, the walking mechanism is controlled according to the detection signal , So that the autonomous robot performs walking along obstacles; when the autonomous robot is in the regression mode, when the first marker signal and the detection signal provided by the multiplexed sensor are received at the same time, according to the first The marking signal and the detection signal control the walking mechanism so that the autonomous robot performs a docking action.
The autonomous robot according to claim 1, wherein when the cross-zone guidance sensor and the docking guidance sensor are multiplexed by one sensor, and the docking guidance device is installed on the boundary of the working area, the The docking guide device is provided with a first marking signal providing module for providing a first marking signal; the autonomous robot is also provided with a marking signal acquisition module for receiving the first marking signal and providing it to the control device;

The control device is also used to: when the autonomous robot is in the single-zone random walking mode, when the detection signal provided by the multiplexed sensor is received, control the walking mechanism according to the detection signal so that the autonomous robot The robot performs obstacle avoidance actions; when the autonomous robot is in the regression mode or the cross-area random walking mode, when the detection signal provided by the multiplexed sensor is received, the walking mechanism is controlled according to the detection signal so that the The autonomous robot performs a cross-regional guidance action; when the autonomous robot is in the random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are received at the same time, according to the first marking signal and the The detection signal controls the walking mechanism so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in the random walking mode, when the obstacle signal is received, the walking is controlled according to the obstacle signal Mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the autonomous robot is in the return mode, when the first marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, according to the first marking The signal and the detection signal control the walking mechanism so that the autonomous robot performs a docking action; when the autonomous robot is in the return mode, when the obstacle signal is received, the control station is controlled according to the obstacle signal The walking mechanism is used to enable the autonomous robot to perform a walking motion along an obstacle.
The autonomous robot according to claim 1, wherein when the cross-zone guide sensor and the docking guide sensor are multiplexed by one sensor, and the docking guide device is installed in the work area, the docking The guiding device is provided with a first marking signal providing module for providing a first marking signal; the autonomous robot is also provided with a marking signal acquiring module for receiving the first marking signal and providing it to the control device;

The control device is also used for: when the autonomous robot is in the random walking mode, when the first marking signal and the detection signal provided by the multiplexed sensor are received at the same time, according to the first marking signal and the The detection signal controls the walking mechanism so that the autonomous robot ignores the docking guide signal; when the autonomous robot is in the random walking mode, when the obstacle signal is received, the control station is controlled according to the obstacle signal. The walking mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the autonomous robot is in a single-zone random walking mode, when the detection signal provided by the multiplexed sensor is received, the walking is controlled according to the detection signal Mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the autonomous robot is in the regression mode or the cross-area random walking mode, when the detection signal provided by the multiplexed sensor is received, the detection signal is controlled according to the detection signal A walking mechanism to enable the autonomous robot to perform a cross-area guidance action; when the autonomous robot is in the regression mode, when the first marking signal and the detection signal provided by the multiplexed sensor are simultaneously received, according to the first mark signal and the detection signal provided by the multiplexed sensor A marking signal and the detection signal control the walking mechanism so that the autonomous robot performs a docking action; when the autonomous robot is in the regression mode, when the obstacle signal is received, it is based on the obstacle signal The walking mechanism is controlled so that the autonomous robot performs a walking motion along an obstacle.
The autonomous robot according to claim 17 or 18, wherein the first marking signal providing module, the second marking signal providing module, and the marking signal acquiring module are wireless communication modules.
The autonomous robot according to claim 25, wherein the wireless communication module comprises any one of the following: a Bluetooth module; a WIFI module; an active radio frequency module.
The autonomous robot according to claim 25, wherein the control device is further used for:

When the autonomous robot enters the regression mode, it sends a trigger signal to the charging station through the wireless communication module to trigger the docking guide device to transmit a docking guide signal.
The autonomous robot according to claim 25, wherein the control device is further used for:

When the autonomous robot is in a random walking mode or a charging mode, a shutdown signal is sent to the charging station through the wireless communication module to prohibit the docking guide device from transmitting a docking guide signal.
The autonomous robot of claim 25, wherein the wireless communication module comprises a passive radio frequency module.
The autonomous robot according to claim 1, wherein the front end of the autonomous robot is provided with a safety sensor for outputting an out-of-bounds signal to the control device when it is monitored that the autonomous robot crosses the boundary of the working area; The control device is also used for:

The walking mechanism is controlled according to the out-of-bounds signal to stop the autonomous robot from walking.
The autonomous robot of claim 30, wherein the safety sensor comprises a radar sensor.
A control method of an autonomous robot, characterized in that the control method includes:

Receive a boundary signal output by a boundary sensor when it detects that the autonomous robot reaches the boundary of a working area; the boundary sensor is one of at least two boundary sensors with different detection directions arranged on the autonomous robot; the boundary sensor is Grass recognition sensor;

Controlling the walking mechanism of the autonomous robot according to the boundary signal to limit the movement of the autonomous robot within the working area;

Receive obstacle signals output by obstacle avoidance sensors; when the autonomous robot is in random walking mode, control the walking mechanism according to the obstacle signals so that the autonomous robot performs obstacle avoidance actions; when the autonomous robot is in In the regression mode, control the walking mechanism according to the obstacle signal, so that the autonomous robot performs a walking motion along the obstacle;

When the docking guide sensor detects the docking guide signal output by the docking guide device; when the docking guide device is installed on the boundary of the work area, when the autonomous robot is in the random walking mode, the docking guide signal is controlled according to the docking guide signal. A walking mechanism to enable the autonomous robot to perform obstacle avoidance actions; when the docking guide device is installed in the work area, when the autonomous robot is in a random walking mode, the walking mechanism is controlled according to the docking guide signal, So that the autonomous robot ignores the docking guide signal; when the autonomous robot is in the return mode, controlling the walking mechanism according to the docking guide signal, so that the autonomous robot performs a docking action;

Receive the cross-zone guidance signal output by the cross-zone guidance device when the cross-zone guidance sensor detects; when the autonomous robot is in the regression mode or the cross-zone random walking mode, control the walking mechanism according to the cross-zone guidance signal to make The autonomous robot performs a cross-area guidance action; when the autonomous robot is in a single-zone random walking mode, the walking mechanism is controlled according to the cross-area guidance signal so that the autonomous robot performs an obstacle avoidance action;

When the autonomous robot is in the random walking mode, the processing priority of the boundary signal is higher than the processing priority of the cross-zone guidance signal, and is lower than the processing priority of the obstacle signal; When the autonomous robot is in the regression mode, the processing priority of the cross-zone guidance signal and the docking guidance signal is higher than the processing priority of the boundary signal and lower than the processing priority of the obstacle signal priority.
A computer storage medium having a computer program stored thereon, wherein the computer program executes the following steps when the computer program is run by a processor:

Receive the boundary signal output by the boundary sensor when it detects that the autonomous robot reaches the boundary of the work area; the boundary sensor is one of at least two boundary sensors with different detection directions arranged on the autonomous robot; the boundary sensor is grass recognition sensor;

The walking mechanism of the autonomous robot is controlled according to the boundary signal to restrict the movement of the autonomous robot within a working area.