WO2022001929A1 - Appareil mobile automatique et son procédé de fonctionnement - Google Patents

Appareil mobile automatique et son procédé de fonctionnement Download PDF

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Publication number
WO2022001929A1
WO2022001929A1 PCT/CN2021/102663 CN2021102663W WO2022001929A1 WO 2022001929 A1 WO2022001929 A1 WO 2022001929A1 CN 2021102663 W CN2021102663 W CN 2021102663W WO 2022001929 A1 WO2022001929 A1 WO 2022001929A1
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WIPO (PCT)
Prior art keywords
self
storage module
control module
moving device
physical addresses
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PCT/CN2021/102663
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English (en)
Chinese (zh)
Inventor
何明明
吴双龙
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苏州宝时得电动工具有限公司
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Publication of WO2022001929A1 publication Critical patent/WO2022001929A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/903—Querying
    • G06F16/90335—Query processing
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/362—Software debugging
    • G06F11/3644—Software debugging by instrumenting at runtime
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3668—Software testing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/903—Querying

Definitions

  • the invention relates to the field of automatic work, in particular to a self-moving device and a working method thereof.
  • the automatic lawn mower defines the working range by establishing a map of the lawn, and automatically works in the working range.
  • the lawn mower may cause unsafe phenomena such as out of bounds and accidental injury to pedestrians due to its own software or hardware defects.
  • the software safety function can be written in the lawn mower to ensure the working process of the lawn mower. security in.
  • the existing lawn mowing system generally judges whether it is out of bounds by inducting the magnetic field.
  • the corresponding functional modules are shown in Figure 1, which may include: a control module, a moving mechanism, a cutting mechanism, a power supply assembly, an induction module, etc.
  • the moving mechanism drives the lawn mower to move in the working area
  • the cutting mechanism performs cutting work in the working area
  • the induction module senses the magnetic field signal generated by the boundary
  • the power supply assembly is used to supply power to the machine during movement and/or work.
  • the lawn mowers in the above existing lawn mowing systems are often designed according to the following principles to achieve real-time response to various safety conditions (such as: judging whether out of bounds, judging whether an obstacle is encountered, etc.) and control costs, including: 1) In the case of meeting the performance requirements, the specification of the processor in the control module is often lower, for example, the processor can use a processor with similar performance such as M3 or M4 in ARM; 2) The control module often uses a real-time operating system (RTOS) ) and other functions are relatively simple, allowing to directly operate the underlying hardware such as the memory and other operating systems, or you can also not use the operating system; 3) The capacity of the memory is small, such as: 8MB.
  • RTOS real-time operating system
  • the automatic lawn mower does not have a user present during the walking process, there are certain requirements for its safety.
  • the lawnmower can only work in the working area, and cannot move across the boundary of the working area to the non-working area without authorization; the lawnmower can reliably detect obstacles and take timely measures such as evading or evading the detected obstacles. Actions such as return, etc., the above-mentioned safety processes are all controlled by the control software of the machine. Therefore, for the automatic lawn mower, the safety function of the control software and the safety and reliability of the hardware running the control software are very important.
  • the problem to be solved by the present invention is to provide a self-moving device with high safety performance and a working method thereof.
  • a self-moving device comprising: an information collection device, a control device,
  • the self-moving device further includes: a storage module, the storage module is configured to store the same operating parameter and/or the same operating program related to the self-moving device in a plurality of physical addresses therein, and the storage module Also used to store data comparison programs,
  • the data comparison program is implemented when executed by the control device, and the data stored therein is read from the plurality of physical addresses. If the read data is consistent or the result of the read data processing is consistent, then It is determined that the storage module is fault-free; if the read data is inconsistent or the processed result of the read data is inconsistent, it is determined that the storage module is faulty.
  • the same operating parameter related to the self-moving device is stored in multiple physical addresses of the storage module
  • the data comparison program when executed by the control device, a plurality of operating parameters are respectively read from the plurality of physical addresses, and the read operating parameters are compared; if the read data are consistent , it is determined that the storage module has no fault; if the read data is inconsistent, it is determined that the storage module is faulty.
  • the same operating parameter related to the self-moving device is stored in multiple physical addresses of the storage module
  • the data comparison program when executed by the control device, a plurality of operating parameters are respectively read from the plurality of physical addresses, the read operating parameters are input into the same operating program, and the operating parameters are compared with each other.
  • the operation results output by the program multiple times; if the results are consistent, it is determined that the storage module has no fault; if the results are inconsistent, it is determined that the storage module is faulty.
  • the same running program related to the self-moving device is stored in a plurality of physical addresses of the storage module
  • the same operation parameter is input into the same operation program in the plurality of physical addresses respectively, and the operation results output by the operation program twice are compared; if If the results are consistent, it is determined that the storage module has no fault; if the results are inconsistent, it is determined that the storage module is faulty.
  • the control device controls the self-moving device to perform the following operations, including: shutting down, giving an alarm or restarting.
  • An embodiment of the present invention also provides a working method of a self-moving device, wherein a storage module of the self-moving device is configured to store the same operating parameter and/or the same operating parameter related to the self-moving device in a plurality of physical addresses therein. or the same running program, the method includes:
  • the storage module is faulty.
  • the same operating parameter related to the self-moving device is stored in multiple physical addresses of the storage module
  • the same operating parameter related to the self-moving device is stored in multiple physical addresses of the storage module
  • the same running program related to the self-mobile device is stored in multiple physical addresses of the storage module
  • the self-moving device is controlled to perform the following operations, including: shutting down, giving an alarm or restarting.
  • the beneficial effects of the self-moving device provided by the present application are as follows: a variety of methods for detecting the safety of the lawn mower in the working process are proposed, and through the above methods, it is possible to detect whether the hardware such as Flash or RAM memory in the lawn mower with a complex system is normal. .
  • the above self-checking method is simple and easy to implement, and can ensure the safety of the lawn mower.
  • FIG. 1 is a schematic structural diagram of an existing mowing system provided by the present invention.
  • FIG. 2 is a schematic structural diagram of a self-moving device provided by the present invention.
  • FIG. 3 is a schematic diagram of an automatic working system scenario provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a self-mobile device provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a satellite positioning module provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a lawn mower provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of the workflow of the automatic lawn mower provided by an embodiment of the present invention when the path planning is performed in the first control module;
  • FIG. 9 is a schematic diagram of the workflow of the automatic lawn mower provided by an embodiment of the present invention when a map is constructed in the first control module;
  • FIG. 10 is a schematic workflow diagram of a path planning performed by a first control module according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of an automatic lawn mower provided by another embodiment of the present invention.
  • FIG. 12 is a schematic flowchart of a safety detection method for an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 13 is a schematic flowchart of a safety detection method for an automatic lawn mower provided by another embodiment of the present invention.
  • FIG. 14 is a schematic flowchart of a safety detection method for an automatic lawn mower provided by another embodiment of the present invention.
  • FIG. 15 is a schematic flowchart of a security detection method for an information collection device provided by an embodiment of the present invention.
  • the self-mobile device works without the presence of the user, it is necessary to continuously check the reliability of the software and hardware in the system to ensure the security of the software and hardware.
  • the reliability of software needs to be reviewed from the aspects of software development environment, development process, software architecture design, software logic, etc.; for running hardware with safety-related functions, measures such as power-on self-test and periodic self-test are required. That is, the self-mobile device needs to self-check in the working process to ensure its safety.
  • the self-test procedure of the lawnmower system is simple, and the manufacturer of the control module in the lawnmower system shown in Figure 1 may provide the customer with a self-test code .
  • the self-mobile device has related positioning functions such as RTK borderless, visual navigation, or other complex algorithm functions, due to the increase in machine functions and algorithm complexity, the computing power of the machine is required to be higher. Therefore, it is necessary to, for example, The higher performance self-mobile device shown in Figure 1.
  • the information collection device sends the acquired current position information to the first control module, and through the information collection device, the first control module
  • the modules and the self-mobile device collectively control the movement and/or operation of the self-mobile device.
  • the present application proposes A self-moving device.
  • two control modules jointly complete the operations that need to be performed when the self-moving device works, which solves the problems of large data processing capacity and slow data processing speed of the self-moving device with high performance;
  • one of the control modules can be controlled to perform the safety assurance operation, so that the self-movement can be guaranteed only by self-checking (periodic self-checking) of the control module that performs the safety safeguarding operation.
  • the security of the control software in the device simplifies the self-checking process of self-mobile devices, especially high-performance self-mobile devices.
  • the self-moving device architecture proposed in the present application the sensitivity and running speed of the self-moving device can be greatly improved on the premise of ensuring the safety in the working process.
  • the present application will be described in detail below through specific embodiments.
  • the self-moving device may include: a housing; a moving mechanism configured to support the housing and drive the mobile device to move; a working module configured to be mounted on the housing to perform predetermined work.
  • the self-moving device may further include: a first control module and a second control module, wherein the first control module and the second control module are configured to communicate with each other and work together to control the moving mechanism and work module; the second control module is configured to control the self-mobile device to perform the safety assurance operation, and to perform self-check on the hardware and control programs related to the control operation of the safety assurance operation; and, among the first control module and the second control module, only the second control module
  • the control module performs a self-check according to a predetermined plan during the working process of the mobile device.
  • the first control module may include: a memory management unit, when the data processing volume in the machine is large, the limited memory in the machine may be managed by the memory management unit, so as to realize the The control module executes the data-intensive process.
  • the memory management unit can be used to allocate storage space corresponding to the virtual address to the data in the self-mobile device.
  • the machine passes the memory through the memory.
  • the management unit allocates storage space for the data and thus cannot determine at which physical address the security-relevant data is stored. However, the machine needs to read safety-related data during self-inspection.
  • the first control module can be used to perform a work process that is independent of security logic and has a large amount of data processing, and a simple control module that controls movement and work from a mobile device can be used to control the execution of tasks involving security logic.
  • the working process so that in the working process of the mobile device, only the simple control module involving the safety logic needs to be started self-checking or periodic self-checking, which can simplify the self-checking process of the working system with high performance and ensure that it is in the working process. security in.
  • the second control module controls the self-mobile device to perform a security assurance operation, which may include: controlling the self-mobile device to move and/or work within a work area defined by the boundary, and/or, detecting whether there is a cause that the self-mobile device does not allow Abnormal conditions of movement and/or work.
  • the self-moving device moves and works in the work area under the control of the second control module.
  • the second control module controls the self-moving device to perform the following operations, including but not limited to: Shut down, and/or alarm, and/or restart, and/or send a notification message to the user that the machine is abnormal.
  • the second control module controls the self-moving device to stop, and/or alarm, and/or restart, and/or Or send a notification message to the user that the machine is abnormal.
  • the self-check may include: starting the self-check and executing the self-check according to a predetermined plan.
  • the self-check performed according to the predetermined plan may preferably include: periodic self-check, or self-check according to user requirements or different time intervals preset by the system.
  • the first control module and the second control module may perform a start-up self-test before the second control module performs the self-test according to a predetermined schedule.
  • the second control module self-checking the hardware that controls the running security operation may include: detecting whether the hardware in the mobile device is faulty during startup or working, wherein the hardware may include : Storage module. Specifically, the second control module detects whether the hardware is faulty during the working process of the mobile device, that is, performing a self-check according to a predetermined plan, which may include: reading data from the physical address of the storage module where the safety-related data is stored, detecting Whether the read data is consistent with the stored data, if they are consistent, it is judged that the self-moving device is not faulty, and if they are inconsistent, it is judged that the self-moving device is faulty.
  • the data in multiple physical addresses of the memory can be input into the self-checking program of the machine in turn, and whether the machine is faulty is detected according to the self-checking procedure that comes with the machine.
  • the self-mobile device architecture proposed in the present application is adopted, and the sensitivity and running speed of the self-mobile device can be greatly improved on the premise of ensuring the safety in the working process.
  • the automatic working system may include: the self-moving equipment 20 , the boundary 14 , the charging station 16 , the information collection device 11 , the first a control module.
  • Self-moving equipment 20 is limited to walking and working within work area 12 defined by boundary 14 .
  • the boundary 14 may be the perimeter of the entire work area, usually connected end to end, enclosing the work area, and the boundary 14 may be solid.
  • the physical boundary 14 may be a boundary formed by walls, fences, railings, pools, and boundaries between the working area 12 and the non-working area 18, among others.
  • the charging station 16 may be used to supply power from the mobile device back to docking charge when the power is low.
  • the information collection device 11 can be used to collect the current position information of the target object including the self-mobile device, and control the walking and/or work of the self-mobile device by collecting the position information of the self-mobile device or the boundary, obstacles, etc.
  • the information collection device 11 may include: a satellite positioning module and/or a vision module.
  • the information collection apparatus 11 When the information collection apparatus 11 is installed on the self-mobile device 20, the information collection apparatus 11 can be used to obtain the current location information of the self-mobile device 20; when the information collection apparatus 11 exists independently, the information collection apparatus 11 can be used to obtain its own Current location information.
  • the first control module can perform data interaction with the self-mobile device 20, and the information collection apparatus 14 can perform data interaction with the self-mobile device 20.
  • the first control module can be independent of the information collection device, or can be detachably or fixedly installed in the information collection device; the first control module can be independent of the automatic lawn mower, or can be detachably or fixedly installed in the automatic lawn mower. Lawn mower.
  • the first control module may receive the current location information from the information collection device or the second control module through a wired or wireless connection.
  • the information collection device 11 may include: a satellite positioning module (GNSS, such as GPS, Beidou, GPS-RTK, etc.) or a vision module, which can be detachably or fixedly installed on the housing of the mobile device 20 .
  • GNSS satellite positioning module
  • the satellite positioning module shown in FIG. 5 may include: a casing; an antenna, installed on the top of the casing, for receiving satellite signals; an RF front-end, installed inside the casing, for filtering and amplifying the received satellite signals, etc.
  • positioning processor memory, used to perform baseband or solution processing on satellite signals to output the coordinates of the positioning module
  • interface used for electrical connection with other electronic devices, when the positioning module is docked with the self-moving device 20 At the time, the interface is electrically connected to the self-moving device 20 , and the interface can be in the form of a reed or a connector, so that the positioning module can output position information to the self-moving device 20 .
  • the satellite positioning module may further include: a data transceiver module for performing data interaction with other electronic devices in a wireless manner.
  • the position coordinates of the work area boundary and obstacles can be recorded by holding the satellite positioning module or controlling the self-mobile device 20 installed with the satellite positioning module to walk along the boundary or obstacles of the work area.
  • the information collection apparatus 11 can be installed on the self-mobile device 20, so that the self-mobile device 20 can acquire the current location information of the self-mobile device 20 connected to the information collection apparatus in real time.
  • the self-moving device 20 may include robots with walking functions such as sweeping robots, automatic lawn mowers, automatic snow blowers, and meal delivery robots, which automatically walk on the surface of the work area to perform vacuuming, For work such as mowing grass or shoveling snow, it can also be other equipment suitable for unattended operation, which is not limited in this application.
  • the self-moving device is the automatic lawn mower 20 as an example for description.
  • the automatic lawn mower in an embodiment of the present application may include: an information collection device and a first control module.
  • the automatic lawn mower in FIG. 7 may include a second control module, and the automatic lawn mower may further include: a housing 35, a moving mechanism 37, a cutting mechanism 221, a moving mechanism, a cutting mechanism
  • the mechanism and the second control module are mounted on the housing.
  • the moving mechanism 37 may be a wheel rotatably provided on the housing 35, and the cutting mechanism may include a cutter head.
  • the robotic lawnmower may move and/or work within the boundary-defined work area 12 under the control of the second control module.
  • the automatic lawn mower may also include a memory module for storing data or running programs, a power module for driving the moving mechanism and the cutting mechanism, and a data transceiving module for transceiving data.
  • the automatic lawn mower 20 may further include: a position sensor, and the position sensor may further include, but is not limited to, at least one of the following: an inertial navigation unit (IMU), an ultrasonic sensor, a radar sensor, an infrared sensor, and a UWB sensor etc.
  • inertial navigation devices may include gyroscopes, accelerometers, and the like.
  • the position sensor can cooperate with the satellite navigation system to assist the navigation of the satellite positioning module when the satellite signal is poor.
  • the automatic lawn mower 20 may further include: an abnormality detection unit, and the abnormality detection unit may also be used to detect abnormal conditions that occur during the running and working process of the lawnmower.
  • the abnormality may include: abnormal conditions caused by external geographical factors or external human beings.
  • the abnormal situation may include, but is not limited to, at least one of the following: encountering an obstacle, lifting, trapping, falling, and the like.
  • the automatic lawn mower 20 may include a second control module, and the second control module may receive current location information from the information collection device.
  • the second control module receives the current position information sent by the information collection device in real time, and controls the movement and work of the lawn mower in the working area based on the current position information.
  • the first control module may further include: a data transceiver module for transmitting and receiving data from the lawn mower, and a storage module for storing relevant data.
  • the running speed of the first control module may be greater than or equal to the running speed of the second control module, so that the first control module can quickly build a map of the working area according to the received position information of the boundary, so as to speed up the cutting process.
  • the first control module may be an upper computer, and the second control module may be a lower computer.
  • the operating systems in the first control module or the second control module may be the same or different, and the first control module or the second control module may adopt an operating system such as Linux or RTOS. In other embodiments of the present application, the operating speed of the first control module may also be lower than that of the second control module, which is not limited in the present application.
  • the automatic lawn mower may include: a mapping mode and a working mode.
  • the mapping mode the first control module creates a map of the work area according to the received position information of the boundary.
  • the working mode the second control module controls the lawnmower to move and/or work in the working area according to the map stored therein from the first control module and the current position information received from the information collection device.
  • a map of the work area is established by the first control module, and the machine is controlled by the second control module to perform work processes involving safety logic, such as movement and work in the work area, that is, in the first control system with a complex system
  • safety logic such as movement and work in the work area
  • the process that has nothing to do with the safety logic and has a large amount of data processing is executed in the module, and the process involving the safety logic is executed in the second control module with a simple control system, so that only the second control module involving the safety logic needs to be self-checked.
  • It can ensure the safety of the control software in the automatic lawn mower without self-checking the complex system (the first control module) with a large amount of data processing and executing complex algorithms, reducing the complexity of the self-checking and simplifying the high-speed positioning function.
  • Performance Work system self-check process On the premise of ensuring the safety of the automatic lawn mower in the working process, the sensitivity and running speed of the lawn mower are improved.
  • path planning can be performed directly in the second control module. Specifically, after receiving the map from the first control module, the second control module can directly plan the walking path of the lawn mower in the second control module when receiving a path planning request, and then the lawn mower A map of the control module, the walking path stored by itself and the current position information of the lawn mower, control the moving mechanism to drive the lawn mower to move and/or work in the working area.
  • path planning may be performed in the first control module.
  • the second control module may send a path planning request to the first control module; the first control module responds to the path planning request, according to the map of the work area, or The initial position information and the destination position information of the lawn mower plan the walking path, and send the walking path to the second control module; then the second control module can control the moving mechanism to drive the lawn mower to move in accordance with the map, the walking path and the current position information. Move and/or work within the work area.
  • the work flow chart of the automatic lawn mower when the path planning is performed in the first control module may include the following steps:
  • the positioning module sends the position information of the boundary to the second control module
  • the second control module receives the position information of the boundary
  • the second control module sends the position information of the boundary to the first control module
  • the first control module creates a map according to the location information of the boundary
  • the second control module sends a path planning request to the first control module
  • S808 The first control module plans a walking path according to the map
  • the first control module sends the planned walking path to the second control module
  • the second control module receives the planned walking path
  • the second control module controls the lawnmower to move and/or work within the working area defined by the boundary according to the map, the walking path and the current position information.
  • the first control module executes the process of building a map of the work area and planning a walking path with a large amount of data
  • the second control module controls the machine to perform work involving safety logic, such as movement and work in the work area. process. That is, in the first control module with a complex system, a process that is independent of safety logic and has a large amount of data processing is executed, and in the second control module with a simple system, the process involving safety logic is executed, so that only the safety logic-related processes are required.
  • the self-checking of the second control module of the automatic lawn mower can ensure the safety of the control software in the automatic lawn mower, without the need for self-checking of the complex system with a large amount of data processing and the execution of complex algorithms, which reduces the complexity of self-checking and simplifies the positioning system.
  • the self-checking process of the functional high-performance working system achieves the technical effect of improving the sensitivity and running speed of the automatic lawn mower under the premise of ensuring the safety of the automatic lawn mower in the working process.
  • the map and the walking path can be saved in the first control module and the second control module respectively. This is not limited.
  • the user in the mapping mode, can hold the information collection device or control a machine (for example, a lawnmower) carrying the information collection device to move along the boundary, and the information collection device obtains the information during the movement.
  • the location information of the boundary that is, the information acquisition device is moved to acquire the location information of the boundary, so that the first control module can build a map of the work area according to the received boundary location information.
  • the lawn mower and the first control module are in a power-on state, and the information collection device can change the position of the boundary during the movement process.
  • the information is sent to the second control module, and the second control module receives the position information from the boundary in the information collection device and sends it to the first control module.
  • the first control module when the information collection device is moved to acquire the position information of the boundary, the first control module is in a power-on state, and the information collection device can send the position information of the boundary to The first control module, the first control module can directly receive the position information from the information collection device.
  • the information collection apparatus may further include: a control unit (for example, an MCU micro-control unit), and the information collection apparatus may store the position information of the boundary during the movement.
  • a control unit for example, an MCU micro-control unit
  • the information collection apparatus may store the position information of the boundary during the movement.
  • the information collection device is signal-connected to the first control module, so that the information collection device can send the location information to the first control module in a wired or wireless manner.
  • a wireless transmission unit or a docking interface may be installed in the information collection device, the first control module or the second control module, so as to realize the sending and receiving of data such as map or boundary position information.
  • data such as map or boundary position information.
  • other data transmission modes may also be used, which will not be repeated in this application.
  • the first control module may create a map of the working area according to the received location information of the boundary. After the map is established, the map can be backed up in the first control module. Further, the maps can be backed up in the first control module and the second control module respectively, so as to update and compare the maps in the subsequent work process.
  • step S804 the first control module creates the map according to the location information of the boundary, as shown in FIG. 9 .
  • Can include:
  • the self-mobile device may further include: a retouching mode, after the first control module creates a map of the work area according to the received position information of the boundary, it can control the machine to enter the retouching mode.
  • the first control module can receive information from the user about whether the map matches the work area, and revise or confirm the established map according to the received information whether the map matches the work area, so as to obtain the map of the work area.
  • the machine walks in the work area according to the map established during the mapping process. During the machine walking process, the user observes whether the path of the machine is consistent with the actual boundary 14 .
  • the inconsistent information is sent to the first control module, and the user sends the correct path to the machine to control the machine to walk along the actual boundary 14.
  • the machine can change the map according to the new position information received during the walking process, and after completing the retouching , the machine can get an updated map that is consistent with the actual boundary 14 .
  • the machine can walk according to the accurate boundary 14 without unsafe phenomena such as out-of-bounds.
  • the user confirms the map and saves the map in the first control module, and sends and saves the map to the second control module. After that, during the working process of the machine, the map saved in the second control module can be compared with the map in the first control module.
  • the machine When the comparison results are consistent, the machine is controlled to work; when the comparison results are inconsistent, the machine is controlled to stop working and / or alarm, can ensure the accuracy of the map during the working process of the machine, the machine can walk and / or work according to the accurate map, so that the machine will not go out of bounds and ensure the safety of the machine.
  • the step of confirming the map can also be directly performed in the second control module.
  • the first control module only needs to create a map according to the received position information of the boundary, and then in step S806, the second control module receives the map from the first control module, and uses the second control module to perform a map confirmation process.
  • Work Specifically, it can include:
  • the second control module determines a map according to the received user information
  • S8063 The second control module saves the map confirmed by the user.
  • the map related to the safety of the machine during the walking process is directly saved in the second control module, so that the machine can be guaranteed to work by only performing self-check on the second control module. for the purpose of safety in the process.
  • the information collection device in the working mode, is installed on the lawn mower to obtain the current position information, and the second control module controls the moving mechanism to drive the machine to move within the working area defined by the boundary according to the map and the current position information and/or work.
  • the second control module marks in the map according to the abnormality detected by the abnormality detection unit, so as to update the map later.
  • the abnormality detection unit can be used to detect, but is not limited to, at least one of the following situations, which may include: whether the lawnmower is passively displaced, detecting the quality of the satellite signal at the current location of the lawnmower, detecting whether the lawnmower encounters obstacles, detecting if the lawnmower is trapped, etc.
  • the lawnmower in the working mode, can search for a position point closest to the current position information in the planned walking path according to the walking path in the second control module, and move to the position point . After reaching the location point, the second control module can walk and work along the planned path according to the map and the current location information. Alternatively, when the lawnmower returns to charging, the lawnmower can walk to the charging station to charge according to the received path.
  • the second control module can mark the abnormality detected by the abnormality detection unit in the map, update the map, and store the updated map. After that, the route planning can be re-planned according to the updated map.
  • the lawn mower detects whether the map has changed due to external factors during the working process, and re-plans the walking path according to the updated map, so as to ensure the accuracy of the walking path of the lawn mower and the working efficiency of the lawn mower .
  • the abnormality detection unit is signal-connected to the second control module.
  • the second control module can mark the abnormal position on the map.
  • the preset condition may be that the marker in the map can form the outline of the obstacle, the lawnmower is lifted up at the same position multiple times or encounters an obstacle multiple times, and the like.
  • the second control module may send a path planning request when the lawnmower is turned on, before starting to work, returning to charging, working for a period of time, detecting map updates, or receiving user instructions on path planning.
  • the route planning request includes the updated map stored in the second control module, and the first control module responds to the route planning request, according to the work area Maps plan walking paths.
  • the work flow chart of the path planning performed by the first control module according to the map is shown in FIG. 10, which may include the following steps:
  • S8083 Perform path planning according to the stored map.
  • the first control module compares the received map with the map stored by itself.
  • the first control module sends the walking path stored by itself to the second control module.
  • the first control module may also perform path planning according to a map stored by itself, and send the planned walking path to the second control module.
  • the first control module updates the map stored in the storage module to the received map, and performs path planning according to the updated map, The planned walking path is sent to the second control module.
  • the path planning method is basically the same as the above-mentioned embodiment, the difference is that when the second control module sends a path planning request to the first control module, the path planning request does not carry the updated path planning request. map. Specifically, when the second control module sends a route planning request to the first control module, the first control module sends a map acquisition request to the second control module in response to the route planning request, so that the second control module sends a request to the first control module. Send the updated map. After that, the first control module plans the walking path according to the map of the working area.
  • the second control module when the second control module sends a path planning request, it may first detect whether a walking path is stored in the memory of the lawn mower or the first control module, and if it is detected that the walking path is not stored, the The walking path is obtained by directly planning the walking path according to the map.
  • the second control module when the second control module sends a path planning request, if it is detected that the lawn mower or the memory of the first control module stores a walking path, the above-mentioned method shown in FIG. 10 can be used. way to re-plan the path to get the walking path.
  • the path planning method is basically the same as the above-mentioned embodiment, the difference is that the abnormality detection unit is connected to the first control module. Specifically, the abnormality detection unit is signal-connected to the first control module.
  • the first control module marks in the map and updates the map.
  • the path planning can be performed directly according to the updated map without performing the map comparison process as shown in FIG. 10 .
  • the lawnmower can continue to detect abnormal conditions during the walking process, and update the map and walking path in the manner in the above embodiment, which is not limited in this application.
  • the self-moving device works cooperatively to control its walking and working through two control modules that communicate with each other, wherein only one control module controls the self-moving device to perform the safety assurance operation, and is related to the control execution of the safety assurance operation.
  • the hardware and control program of the mobile device perform self-checking, and among the two control modules, only the control module performs self-checking according to a predetermined plan during the working process of the mobile device.
  • one of the control modules is controlled to perform the safety assurance operation, so that only one of the control modules needs to be self-checked (periodic self-check) to ensure the control software in the self-mobile device.
  • Safety simplifies the self-inspection process of self-mobile devices, especially high-performance self-mobile devices.
  • the sensitivity and the running speed can be greatly improved on the premise of ensuring the safety of the self-moving device during the working process.
  • another aspect of the present application further provides a working method for the self-moving device, wherein the self-moving device includes: a first control module and a second control module, and the method may include:
  • the second control module controls the self-moving device to perform a security assurance operation, and performs self-check on hardware and control programs related to the control and operation of the security assurance operation, wherein the first control module and the second control module In the module, only the second control module performs self-checking according to a predetermined plan during the working process of the self-moving device.
  • the self-mobile device works cooperatively through two control modules that communicate with each other to control its walking and work, wherein only one control module controls the self-mobile device to perform the safety assurance operation, and controls the execution of the safety assurance operation related to the control module.
  • the hardware and the control program perform self-inspection, and among the two control modules, only the control module performs the self-inspection according to a predetermined plan during the working process of the mobile device.
  • one of the control modules is controlled to perform the safety assurance operation, so that only one of the control modules needs to be self-checked (periodic self-check) to ensure the control software in the self-mobile device.
  • Safety simplifies the self-inspection process of self-mobile devices, especially high-performance self-mobile devices.
  • the sensitivity and the running speed can be greatly improved on the premise of ensuring the safety of the self-moving device during the working process.
  • the information collection device using the satellite positioning module as a schematic diagram has a positioning processor and a large-capacity memory, so the above-mentioned traditional method cannot be used to ensure its safety.
  • a self-moving device which may include: an information collection apparatus, wherein the information collection apparatus may include: a satellite positioning module and/or a vision module.
  • the lawnmower system or the automatic lawnmower may further include a control device that controls the movement and operation of the lawnmower in the work area defined by the boundary.
  • the lawnmower or the lawnmower system may further include: a storage module, wherein the storage module is configured to store the same operation parameter and/or the same operation program related to the lawnmower in a plurality of physical addresses therein.
  • the operating parameters may be acquired through an information collection device, or may be acquired through detection by an abnormality detection unit in an automatic lawn mower or the like.
  • the operating parameters may be current location information and/or map, route planning data, or data detected by various types of sensors installed on the lawnmower, such as temperature data, tilt angle data or acceleration data.
  • the running program may be any program loaded into the storage module during the running process of the machine, or may also be a program written in the machine by a programmer.
  • the storage module can also be used to store a data comparison program. When the control device executes the data comparison program, it can read the data stored in it from multiple physical addresses of the storage module. If the read data is consistent or read If the processed results of the received data are consistent, it is determined that the storage module is fault-free; if the read data is inconsistent or the processed results of the read data are inconsistent, it is determined that the storage module is faulty.
  • control device may include a control module installed in the lawn mower.
  • control device may include the first control module and the second control module in the foregoing embodiments, both of which may be installed in the lawn mower; or one may be installed in the lawn mower, The other is installed in the information collection device.
  • first control module and the second control module in the foregoing embodiments, both of which may be installed in the lawn mower; or one may be installed in the lawn mower, The other is installed in the information collection device.
  • the technical solution of the present application is described by taking the automatic lawn mower as shown in FIG. 11 as an example.
  • the control device may include a first control module and a second control module, the difference is that the automatic lawn mower shown in FIG.
  • the control module individually controls the movement and work of the lawn mower, or the first control module and the second control module jointly control the movement and work of the lawn mower in the work area defined by the map, that is, in this embodiment, the lawn mower has a complex system.
  • the first control module involves work related to lawn mower safety.
  • the data comparison program when executed by the control device, it can be realized that the data stored therein is read from multiple physical addresses. It is determined that the storage module is fault-free; if the read data is inconsistent or the result of the read data processing is inconsistent, it is determined that the storage module is faulty. That is, by backing up the operating parameters and/or operating programs related to the lawn mower multiple times in the storage module, the obtained parameters are compared, and according to the comparison results, it is detected whether the hardware such as Flash or RAM in the lawn mower is normal.
  • the following describes the method of determining the system fault only by operating parameters and the method of determining the system fault by combining the operating parameters and the operating program.
  • the same operating parameter can be stored in multiple physical addresses (at least two physical addresses) of the lawn mower, so that during the working process, the lawn mower can pass data from multiple physical addresses to the lawn mower.
  • Read any number of operating parameters in the automatic lawn mower and compare the read data. According to the comparison results, it can be determined whether there is a fault in the automatic lawn mower. That is, by reading the same data located in different physical addresses, it is determined whether the memory is faulty according to the data comparison result.
  • the following steps may be included, wherein the operation parameter is taken as an example of map data, and the multiple physical addresses are taken as an example of two physical addresses.
  • S1201 write the same map data into the storage blocks corresponding to the first physical address and the second physical address;
  • S1202 Read data from the first physical address and the second physical address respectively;
  • the machine After the machine builds the map, it writes the same map data into the first/second physical address respectively, and reads the data stored in the first physical address and the second physical address in real time during the subsequent working process of the machine , or, when the machine needs to use the map, the stored data can be read from the two physical addresses respectively, and the read data can be compared to see if they are consistent.
  • safety protection measures can be activated, such as: controlling the machine to alarm and stop, and sending a notification message to the user that the machine has failed.
  • the machine can be controlled to continue working.
  • the same operating parameters can be stored in at least two physical addresses of the storage module respectively, so that during operation, the lawn mower can read any arbitrary address from the at least two physical addresses respectively. Save the running parameters twice, and input the two data read into the same running program, compare the operation results output by the running program multiple times, and determine whether there is a fault in the automatic lawn mower according to the comparison results. Specifically, as shown in FIG. 13 , the following steps may be included, wherein the following operation parameters take the map data as an example, and the operation program takes the out-of-bounds judgment program as an example.
  • the machine After the machine builds the map, it reads the same current location information located in the two physical addresses, and inputs it into the same out-of-bounds judgment program. output to determine if the memory is faulty. When a memory failure is detected, safety protection measures can be initiated, such as: controlling the machine to alarm, stop, restart, and send a notification message to the user that the machine has failed. When it is detected that there is no fault in the memory, the machine can be controlled to continue working.
  • the same running program can be stored in multiple physical addresses of the storage module, so that during operation, the lawnmower can read any two physical addresses from the multiple physical addresses. Save the running program, and input the read running parameters into any two physical addresses that store the same running program, compare the operation results output by the running program multiple times, and determine whether the automatic lawn mower appears according to the comparison results. Fault.
  • the following steps may be included, wherein the following operation parameters take the map data as an example, and the operation program takes the out-of-bounds judgment program as an example.
  • S1402 Read map data and current location information from the storage module
  • the same out-of-bounds judgment program is programmed into at least two physical addresses before the machine leaves the factory, or, at any preset time after the machine is powered on, the same out-of-bounds judgment program is backed up in at least two physical addresses.
  • the current location information and the map are read from the storage module, and input into two physical addresses as input data.
  • the programs in the two physical addresses process the input data to obtain the operation results, and compare the obtained operations Whether the results are consistent, if they are consistent, there is no fault in the memory, and if they are inconsistent, there is a fault.
  • safety protection measures can be initiated, such as: controlling the machine to alarm, stop, restart, and send a notification message to the user that the machine has failed.
  • the machine can be controlled to continue working.
  • the periodic self-check can be implemented by controlling the lawn mower to be shut down and restarted periodically within a predetermined time, and by periodically starting the self-check during the periodical restart.
  • the machine can be restarted when the lawnmower returns to the charging station, and periodic self-checks can be implemented by performing a self-startup check on the machine after restarting.
  • the automatic lawn mower can also be set to be shut down and restarted within a safe time range such as 2 hours to implement periodic self-checking, which is not limited in this application.
  • the information collection apparatus may include: a collection module, a control module and a storage module, the collection module is configured to collect current position information of a target object including a self-mobile device under the control of the control module, The current position information is stored in the storage module, and the current position information is output to the control device. That is, an independent control module and a large-capacity storage module exist in the information collection device. Taking the satellite positioning module shown in FIG. 5 as an example, since the information collection device has a control module (eg, a positioning processor) and a storage module (eg, a large-capacity memory), the above-mentioned traditional method cannot be used to ensure its security.
  • a control module eg, a positioning processor
  • a storage module eg, a large-capacity memory
  • the self-mobile device can determine whether the information collection device is faulty according to whether the current location information collected by the collection module has a sudden change.
  • other devices in the mobile device such as the control device or the information acquisition device, may also determine whether the information acquisition device is faulty according to whether the current location information has a sudden change. That is, the current position information output by the information collecting device is used to determine whether the information collecting device is normal, so as to ensure the safety of the information collecting device during the working process of the machine. The following can be described by specific embodiments.
  • the self-moving device may further include: an abnormality detection unit, where the abnormality detection unit may be used to detect whether the lawnmower is passively displaced and/or the signal quality of the current location of the lawnmower (the Signal quality can include: satellite positioning signal quality and visual image signal quality), or it can be said to detect abnormal conditions that occur during the walking and working process of the lawn mower, according to the passive displacement of the lawn mower, the signal quality of the current location And whether there is a sudden change in the current position information, it is determined whether the information collection device is faulty.
  • the Signal quality can include: satellite positioning signal quality and visual image signal quality
  • the abnormality detection unit may include, but is not limited to, at least one of the following: an inertial navigation unit (IMU), an ultrasonic sensor, a radar sensor, an infrared sensor, a UWB sensor, and a lift detection sensor.
  • IMU inertial navigation unit
  • UWB infrared sensor
  • UWB infrared sensor
  • lift detection sensor e.g., a Bosch Sensortec B Sensortec B sensor
  • inertial navigation equipment can be used to determine whether the lawn mower has moved.
  • the flow chart shown in Figure 15 can be used to illustrate and determine whether the information collection device fails, which can include the following steps:
  • S1502 determine whether the machine is moved; if it is moved, execute S1507; if not, execute S1503;
  • S1503 Whether the signal quality is greater than the preset threshold; if it is greater than the preset threshold, execute S1504; if it is less than or equal to the preset threshold, execute S1505;
  • S1504 Determine whether the positioning data has a mutation; if there is a mutation, execute S1507; if there is no mutation, execute S1506;
  • S1505 Determine whether there is no mutation in the positioning data; if there is no mutation, execute S1507; if there is a mutation, execute S1506;
  • the control machine Specifically, during the working process of the machine, it is detected whether the machine has a passive displacement change such as lifting, and if not, the current positioning quality of the machine is judged.
  • the positioning quality is poor, check whether the positioning data jumps, if there is no jump, control the machine to stop; when the positioning quality is high, if it detects that the positioning data jumps, control the machine to stop (alarm, or send a message to the user).
  • the notification message of the machine failure if it is detected that the positioning data has not jumped, the control machine will continue to work.
  • the inertial navigation unit when judging whether the machine is moved, such as lifting, etc., the inertial navigation unit (IMU) can be used to detect whether the motion parameters detected by the machine during the walking process change continuously. The changed parameters indicate that the machine has not been moved. If it is the sampling frequency, the walking speed of the lawnmower with the information collection device installed, or the non-continuous change within the allowable error range, it indicates that the machine has been moved.
  • IMU inertial navigation unit
  • the signal quality as the satellite signal quality as an example
  • the number of received satellites is greater than 3, it means that the satellite signal quality is good.
  • the method of generating the position of the measurement point includes multiplying the propagation speed of the signal by the signal propagation time difference.
  • the strength for example, can be set so that if the number of detected satellites is greater than 3, it corresponds to the quality of the satellite positioning signal within the preset threshold range, and the three-dimensional position data and time information of the measurement point are obtained through equations.
  • the satellite positioning signal may also include RTK signals
  • combining satellite positioning technology with RTK technology includes: arranging another satellite navigation positioning receiver on the reference station, continuously receiving satellite positioning signals, and The satellite positioning signal received by the reference station is sent to the wireless receiving device at the measurement point in real time through the radio transmission equipment, and the satellite positioning signal received by the measurement point and the satellite positioning signal representing the position information of the reference station received by the wireless receiving device are used.
  • Signal data according to the principle of relative positioning, real-time settlement of the three-dimensional coordinates of the location of the measurement point. It can be seen that the satellite positioning signal received by the receiver and the satellite positioning signal data of the reference station received by the wireless receiving device at the measurement point have a great influence on the positioning result.
  • the RTK signal includes the satellite positioning signal received by the receiver and the reference station satellite positioning signal received by the wireless receiving device.
  • the setting method for judging that the quality of the satellite positioning signal is within the preset threshold range is not limited to the above examples, and those skilled in the art may make other changes under the inspiration of the technical essence of this application, but As long as the realized functions and effects are the same or similar to those of the present application, they shall all be covered within the protection scope of the present application.
  • the following manners can be used to determine whether the positioning data is mutated.
  • the positioning accuracy of an information collection device eg, RTK
  • the sampling frequency of the positioning data the mowing of the grass with the information collection device installed, etc.
  • the walking speed of the machine is determined based on a preset threshold.
  • the preset threshold may also be pre-set in the program by the manufacturer according to the selected information collection device or written in the product manual, which is not limited in this application.
  • a position sensor may also be combined to determine whether the positioning data has not changed abruptly.
  • the position sensor may include the inertial navigation device IMU and the odometer odo.
  • IMU and odo data of each location point can be fused to determine whether the fusion data of the current location point and the fusion data of the previous location point are within the preset threshold range.
  • the preset threshold range is determined by the location sensors (such as IMU and odo) It is determined based on the positioning accuracy, the accuracy of the fusion algorithm, the sampling frequency of each position point, and the walking speed of the lawn mower.
  • the information collection device and the position sensor can be combined to determine whether the information collection device is faulty. Specifically, it can be compared whether the difference between the RTK positioning data of the adjacent positions and the difference of the position sensor data of the adjacent positions are approximately the same within the allowable error range.
  • the error range can be determined according to the positioning accuracy of RTK, the positioning accuracy of the position sensor, and the accuracy of the fusion algorithm.
  • the above-mentioned safety detection method is simple and easy to implement, and can ensure the safety of the information collection device in the lawn mower system.
  • the self-mobile device can determine whether the information collection device is faulty according to whether the current location information collected by the collection module has a sudden change.
  • other devices in the mobile device such as the control device or the information acquisition device, may also determine whether the information acquisition device is faulty according to whether the current location information has a sudden change. That is, the current position information output by the information collecting device is used to determine whether the information collecting device is normal, so as to ensure the safety of the information collecting device during the working process of the machine.

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Abstract

Appareil mobile autonome et son procédé de fonctionnement. L'appareil mobile autonome comprend : un dispositif d'acquisition d'informations et un dispositif de commande ; l'appareil mobile autonome comprend en outre : un module de stockage, le module de stockage étant configuré pour stocker, dans une pluralité d'adresses physiques en son sein, le même paramètre de fonctionnement et/ou le même programme de fonctionnement associé à l'appareil mobile autonome, et le module de stockage étant en outre utilisé pour stocker un programme de comparaison de données ; et lorsqu'il est exécuté par le dispositif de commande, le programme de comparaison de données lit des données stockées dans la pluralité d'adresses physiques, et, si les données de lecture sont cohérentes ou que les résultats obtenus après le traitement des données de lecture sont cohérents, détermine que le module de stockage n'est pas défaillant, et si les données de lecture sont incohérentes ou que les résultats obtenus après le traitement des données de lecture sont incohérents, détermine que le module de stockage est défaillant.
PCT/CN2021/102663 2020-06-28 2021-06-28 Appareil mobile automatique et son procédé de fonctionnement WO2022001929A1 (fr)

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