WO2024017154A1 - 自走设备的控制方法、自走设备及存储介质 - Google Patents

自走设备的控制方法、自走设备及存储介质 Download PDF

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Publication number
WO2024017154A1
WO2024017154A1 PCT/CN2023/107399 CN2023107399W WO2024017154A1 WO 2024017154 A1 WO2024017154 A1 WO 2024017154A1 CN 2023107399 W CN2023107399 W CN 2023107399W WO 2024017154 A1 WO2024017154 A1 WO 2024017154A1
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WO
WIPO (PCT)
Prior art keywords
self
propelled equipment
propelled
weeding
target position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/107399
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English (en)
French (fr)
Inventor
姚瑶
李飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dreame Innovation Technology Suzhou Co Ltd
Original Assignee
Dreame Innovation Technology Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dreame Innovation Technology Suzhou Co Ltd filed Critical Dreame Innovation Technology Suzhou Co Ltd
Publication of WO2024017154A1 publication Critical patent/WO2024017154A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions [2D]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry

Definitions

  • This application belongs to the field of automatic control technology, specifically involving control methods of self-propelled equipment, self-propelled equipment and storage media.
  • Self-propelled equipment is equipped with a weeding mechanism, such as a cutterhead. During the mowing process, the self-propelled equipment controls the operation of the weeding mechanism to cut weeds.
  • Self-propelled equipment may need to move to other locations during the mowing process, such as moving to a charging station for charging.
  • the technical problems to be solved by this application include the problem that the weeding mechanism of the self-propelled equipment is easily blocked by obstacles, resulting in poor mobility of the self-propelled equipment.
  • the self-propelled equipment includes a weeding mechanism and a lifting mechanism connected to the weeding mechanism.
  • the lifting mechanism Suitable for adjusting the height between the weeding mechanism and the ground; the method includes:
  • the self-propelled equipment moves to the target position, the self-propelled equipment is controlled to perform work corresponding to the target position.
  • the method further includes:
  • the weeding mechanism When the weeding mechanism is in a running state, the weeding mechanism is controlled to stop running.
  • the self-propelled equipment further includes an angle adjustment mechanism connected to the weeding mechanism, the angle adjustment mechanism being adapted to adjust the angle between the weeding mechanism and the ground; in response to the self-propelled equipment going Movement instruction of the target position, the method further includes:
  • the angle adjustment mechanism is controlled to operate to adjust the included angle to a preset angle in the traveling direction of the self-propelled equipment, and the preset angle is greater than 0.
  • the target location includes a charging station
  • the charging station is used to charge the self-propelled device
  • the method further includes:
  • the movement instruction is generated, and the movement instruction is used to instruct the self-propelled equipment to move to the charging station.
  • the target position includes a position to be weeded that is different from the current position, and the distance between the position to be weeded and the current position is greater than a preset distance;
  • controlling the self-propelled equipment to execute The work corresponding to the target location includes:
  • the self-propelled equipment moves to the position to be weeded, control the operation of the lifting mechanism to lower the weeding mechanism to a second height, and control the operation of the weeding mechanism; the second height is lower than the First height.
  • the self-propelled equipment further includes an angle adjustment mechanism connected to the weeding mechanism. After the self-propelled equipment moves to the position to be weeded, the method further includes:
  • the self-propelled equipment has self-moving capability; after the self-propelled equipment moves to the target position and before controlling the self-propelled equipment to perform work corresponding to the target position, the method further includes:
  • the method also includes:
  • this application also provides self-propelled equipment, which includes:
  • a lifting mechanism connected to the weeding mechanism, the lifting mechanism being adapted to adjust the height between the weeding mechanism and the ground;
  • a processor connected to the weeding mechanism and the lifting mechanism respectively, and a memory connected to the processing; a program is stored in the memory, and the program is loaded and executed by the processor to implement the above-mentioned aspect. Control methods for self-propelled equipment.
  • the present application also provides a computer-readable storage medium, a program stored in the storage medium, and when the program is executed by a processor, the control method of the self-propelled equipment provided in the above aspect is implemented.
  • the technical solution provided by this application has at least the following advantages: by responding to the movement instruction of the self-propelled equipment to the target position, the lifting mechanism is controlled to raise the weeding mechanism to the first height; after the self-propelled equipment moves to the target position, the control The self-propelled equipment performs work corresponding to the target position; it can solve the problem that the weeding mechanism of the self-propelled equipment is easily blocked by obstacles, resulting in poor mobility of the self-propelled equipment; since the self-propelled equipment will control the rise of the weeding mechanism when it needs to move, This can reduce the probability that the self-propelled equipment cannot move due to the low height between the weeding mechanism and the ground. Therefore, the mobility of the self-propelled equipment can be improved.
  • the angle adjustment mechanism controls the operation of the angle adjustment mechanism to adjust the angle to a preset angle in the direction of travel of the self-propelled equipment, the resistance generated by weeds during the movement can be dispersed, thereby saving resources consumed when the self-propelled equipment moves.
  • the weeding mechanism by controlling the weeding mechanism to descend to the second height after moving to the position to be weeded, it can be ensured that the weeding mechanism can effectively perform the weeding function and the weeding effect is ensured.
  • Figure 1 is a cross-sectional view of a self-propelled equipment provided by an embodiment of the present application
  • Figure 2 is a flow chart of a control method for self-propelled equipment provided by an embodiment of the present application
  • FIG. 3 is a block diagram of a control device for self-propelled equipment provided by an embodiment of the present application
  • Figure 4 is a block diagram of an electronic device provided by an embodiment of the present application.
  • the directional words used such as “upper, lower, top, and bottom” usually refer to the direction shown in the drawings, or to the vertical or vertical position of the component itself. Vertically or in the direction of gravity; similarly, for ease of understanding and description, “inside and outside” refers to the inside and outside relative to the outline of each component itself, but the above directional terms are not used to limit this application.
  • Figure 1 is a cross-sectional view of a self-propelled equipment provided by an embodiment of the present application. According to Figure 1, it can be seen that the self-propelled equipment includes: a weeding mechanism 110, a lifting mechanism 120 and a controller (not shown in the figure).
  • the weeding mechanism 110 refers to a mechanism installed on a self-propelled device and capable of removing plants.
  • the plants may be weeds, crops, etc. This embodiment does not limit the types of plants acted upon by the weeding mechanism 110 .
  • the weeding mechanism 110 is located at the bottom of the self-propelled equipment, or the weeding mechanism 110 can also be Located at the front or rear end of the self-propelled equipment, this embodiment does not limit the installation position of the weeding mechanism 110 .
  • the weeding mechanism 110 can be detachably installed on the self-propelled equipment, or fixedly installed on the self-propelled equipment. This embodiment does not limit the arrangement manner of the weeding mechanism 110 .
  • the weeding mechanism 110 removes plants in a manner including but not limited to: chemical removal and/or physical removal.
  • chemical removal method refers to the method of spraying media on plants to cause chemical changes in the plants to kill the plants.
  • spraying chemicals on plants, or projecting specific light sources For example: spraying chemicals on plants, or projecting specific light sources.
  • Physical removal refers to the method of cutting the plant by applying external force to it.
  • the weeding mechanism 110 works through physical removal as an example.
  • the weeding mechanism 110 includes a cutting part and a driving part for driving the cutting part to operate.
  • the cutting member includes at least one cutterhead, each cutterhead including at least one blade.
  • the cutterhead rotates around the central axis of the cutterhead during operation.
  • the central axis of the cutterhead is perpendicular to the plane of the self-propelled equipment, or perpendicular to the ground.
  • the plane of the cutterhead is parallel to the ground.
  • the plane where the cutterhead is located can also be at a certain angle to the ground, that is, not parallel to the ground.
  • the cutting member can also be a rolling disk.
  • the rolling disk rolls around the central axis during operation and is in contact with the plants.
  • the part of the rolling disk that can contact the plants is provided with a blade to cut the plants.
  • the central axis around which the roller plate revolves is generally parallel to the ground, and may also be at a certain angle with the ground in some scenes.
  • the driving component may be a driving motor, and the output shaft of the driving motor is connected to the cutting component, or the output shaft of the driving component is connected to the cutting component through a transmission mechanism.
  • This embodiment does not limit the connection method between the driving component and the cutting component.
  • the lifting mechanism 120 is adapted to adjust the height between the weeding mechanism and the ground. In other words, the lifting mechanism 120 can adjust the raising or lowering of the weeding mechanism.
  • the lifting mechanism 120 includes a lifting member and a driving member for driving the lifting member to operate.
  • the lifting member includes but is not limited to the following: a cylinder or a screw, etc.
  • the lifting member is a screw as an example. It should be noted that the implementation of the lifting component is not limited in this embodiment.
  • the lifting mechanism 120 may also be a linear motor. This embodiment does not limit the implementation of the lifting mechanism 120 .
  • the lifting mechanism 120 is drivingly connected to the cutting mechanism 110 .
  • the lifting mechanism 120 shown in FIG. 1 is used as the edge of the cutting mechanism 110 and overlaps the lifting component under the action of gravity. When the lifting component rises, it drives the cutting mechanism 110 to rise. When the lifting component descends, it drives the cutting mechanism 110 to descend.
  • the controller is connected to the weeding mechanism 110 and the lifting mechanism 120 respectively.
  • the controller is used to control the operation of the weeding mechanism 110 and the lifting mechanism 120, such as: controlling the stop operation, start operation, and operation parameters of the weeding mechanism 110 and the lifting mechanism 120.
  • the controller can also control other mechanisms in the self-propelled equipment. This embodiment does not limit the control content of the controller.
  • the controller is used to: in response to the movement instruction of the self-propelled equipment to the target position, control the operation of the lifting mechanism to raise the weeding mechanism to the first height; when the self-propelled equipment moves to the target After positioning, control the self-propelled equipment to perform the work corresponding to the target position.
  • the first height is higher than the second height when the weeding mechanism performs grass cutting work.
  • the angle between the weeding mechanism and the ground is adjustable.
  • the self-propelled equipment also includes an angle adjustment mechanism (not shown in the figure) connected to the weeding mechanism.
  • the angle adjustment mechanism is suitable for adjusting the angle between the weeding mechanism and the ground.
  • the angle adjustment mechanism can be an adjustment shaft located between the cutterhead and the driving member, or a pull cord and an adjustment shaft connected to the pull cord, wherein the other end of the pull cord is connected to the cutterhead to adjust the angle of the adjustment shaft.
  • the angle of the cutter head is adjusted through the pull rope under rotation. This embodiment does not limit the implementation of the angle adjustment mechanism.
  • the structure of the self-propelled equipment mentioned above is only schematic.
  • the self-propelled equipment may also include other structures required in the working process.
  • the self-propelled equipment may also include a moving mechanism and a power supply component. , radio frequency components, etc., this embodiment will not list them one by one here.
  • the weeding mechanism is controlled to rise to the first height, which can reduce the probability that the self-propelled equipment cannot move due to the low height between the weeding mechanism and the ground, and can improve the efficiency of the self-propelled equipment. Mobility.
  • control method of the self-propelled equipment provided by this application.
  • the following embodiments take the method as being used in the self-propelled equipment shown in Figure 1 as an example, specifically in the controller of the self-propelled equipment. In actual implementation, the method can also be used with the self-propelled equipment.
  • other devices connected by communication such as: for user terminals, or servers, etc., where user terminals include but are not limited to Applicable to: mobile phones, computers, tablets, wearable devices, etc., this embodiment does not limit the implementation of other devices and the implementation of user terminals.
  • the communication connection method may be wired communication or wireless communication, and the wireless communication method may be short-distance communication, wireless communication, etc. This embodiment does not limit the communication method between the self-propelled device and other devices.
  • Figure 2 is a flow chart of a control method for self-propelled equipment provided by an embodiment of the present application. The method at least includes the following steps:
  • Step 201 in response to the movement instruction of the self-propelled equipment to the target location, control the operation of the lifting mechanism to raise the weeding mechanism to the first height.
  • Movement instructions are different from instructions used to control self-propelled equipment to perform weeding work. Movement instructions are used to instruct self-propelled equipment to move from one location to another, and the weeding mechanism does not need to work during the movement. In other words, the purpose of the movement instruction is to make the self-propelled equipment move, not to let the self-propelled equipment weed.
  • the movement of self-propelled equipment during the weeding process is different from the movement triggered by movement instructions.
  • the purpose of the movement of the self-propelled equipment during the weeding process is to traverse the work area to be weeded.
  • the weeding mechanism needs to come into contact with the weeds, and may even come into contact with the weeds. roots.
  • the purpose of the movement triggered by the movement command is to switch the current working position, such as moving from the current area to be weeded to the next area to be weeded, or moving from the current area to be weeded to the charging station.
  • the methods for self-propelled equipment to obtain movement instructions include but are not limited to at least one of the following:
  • the first type the self-propelled equipment is equipped with a movement button, and upon receiving a trigger operation acting on the movement button, a movement instruction is generated.
  • the mobile button is different from the weeding button on the self-propelled equipment that is used to control the self-propelled equipment to start weeding.
  • the mobile button can be a virtual button displayed through the touch screen, or it can also be a physical button. This embodiment does not affect the implementation of the mobile button. limited.
  • the second type the self-propelled device receives movement instructions sent by other devices.
  • other devices are equipped with mobile buttons (for example, the control program of a mobile phone is equipped with a mobile button).
  • a trigger operation on the mobile button is received, a mobile command is generated and sent to the mobile device. Walk equipment.
  • the third type the self-propelled equipment determines whether the movement conditions are currently met, and generates movement instructions when the movement conditions are met.
  • the movement conditions may be set by the user, or may be stored in the self-propelled device by default. This embodiment does not limit the setting method of the movement conditions.
  • the movement conditions include but are not limited to one of the following: the area to be weeded where the self-propelled device is currently located has been weeded, and there is an unworked area to be weeded, or the self-propelled device needs to be charged.
  • the movement condition can be set to other conditions according to usage requirements. This embodiment does not limit the specific content of the movement condition.
  • the self-propelled equipment For example, if the mobility conditions include that self-propelled equipment needs to be charged, and the target location includes a charging station, At this time, the self-propelled equipment generates a movement instruction when it is determined that the self-propelled equipment needs to be charged.
  • the movement instruction is used to instruct the self-propelled equipment to move to the charging station.
  • charging stations are used to charge self-propelled equipment.
  • the self-propelled device determines that charging is required when the current remaining power is less than a preset power threshold.
  • the weeding time of the self-propelled device is greater than or equal to the preset time, it is determined that charging is required.
  • the self-propelled device may also determine whether charging is required in other ways. This embodiment limits the method of determining whether charging is required.
  • controlling the operation of the lifting mechanism to raise the weeding mechanism to the first height includes: controlling the operation of the lifting mechanism to raise the weeding mechanism to the maximum height.
  • controlling the operation of the lifting mechanism to raise the weeding mechanism to the first height includes: obtaining the obstacle height of each obstacle on the movement path; determining the first height based on the obstacle height; controlling the operation of the lifting mechanism to raise the weeding mechanism to First height.
  • determining the first height based on the obstacle height includes: comparing the obstacle height with the maximum height, deleting the obstacle height that is greater than the maximum height; determining the maximum obstacle height from the deleted obstacle height , the first height is determined based on the maximum obstacle height, and the first height is greater than the maximum obstacle height. At this time, the first height is determined based on the maximum height of the passable obstacle. There is no need to control the weeding mechanism to rise to the maximum height, which can save resources consumed when controlling the weeding mechanism to rise.
  • the height of obstacles on the moving path is pre-stored in the moving map of the self-propelled device.
  • the mobile map may be sent by other devices, or constructed by a self-propelled device during its movement in the work area. This embodiment does not limit the acquisition method of the mobile map.
  • the movement path can be manually drawn by the user, or it can be generated by the autonomous device based on the principle of minimum power consumption.
  • the self-propelled device generates a mobile path based on the principle of minimum power consumption, including: obtaining ground data of the working area where the current position and target position are located; and determining a mobile path with minimum mobile power consumption based on the ground data, current position, and target position.
  • the ground data includes but is not limited to: ground images, flatness of the ground, obstacle information on the ground (including obstacle locations and obstacle heights, etc.), and/or curvature of the ground.
  • the ground data may be obtained by identifying the ground with a self-propelled device, or may be set by the user. This embodiment does not limit the data content and acquisition method of the ground data.
  • Self-propelled devices can use pre-trained artificial intelligence models to determine movement paths based on ground data, current location, and target location. That is, the ground data, current position, and target position are input into the artificial intelligence model, so that the artificial intelligence model calculates the movement path based on the distance between the ground data, the current position, and the target position.
  • the artificial intelligence model is trained using sample data, which includes sample ground data, sample current position, sample target position and expected movement path.
  • the self-propelled device can also determine the movement path based on the current location and the target location based on the shortest distance principle. This embodiment does not limit the generation method of the movement path.
  • the self-propelled equipment when the self-propelled equipment is triggered to move by a movement instruction, a weeding mechanism is required to perform weeding work. If the weeding mechanism continues to operate at this time, the equipment resources of the self-propelled equipment will be wasted. based on Therefore, in response to the movement instruction of the self-propelled equipment to the target location, the self-propelled equipment can also control the weeding mechanism to stop running when the weeding mechanism is in operation.
  • the self-propelled equipment since the self-propelled equipment is triggered to move by movement instructions, taller weeds may cause greater resistance to the self-propelled equipment.
  • the self-propelled equipment when the self-propelled equipment also includes an angle adjustment mechanism connected to the weeding mechanism, in response to the movement instruction of the self-propelled equipment to the target position, the self-propelled equipment can also control the operation of the angle adjustment mechanism to control the movement of the self-propelled equipment. Adjust the included angle to a preset angle in the direction of travel, and the preset angle is greater than 0. Since the weeding mechanism has a certain deflection angle, the resistance of the weeds will be dispersed. Therefore, the resources consumed when the self-propelled equipment is moved can be saved.
  • Step 202 After the self-propelled equipment moves to the target position, control the self-propelled equipment to perform work corresponding to the target position.
  • the self-propelled equipment has self-moving capabilities. At this time, after the self-propelled equipment moves to the target position, and before the self-propelled equipment is controlled to perform work corresponding to the target position, the self-propelled equipment is controlled to move to the target position according to the pre-generated movement path.
  • the self-propelled device detects obstacles while moving along the movement path; when an obstacle is detected, determines whether the height of the obstacle is less than the first height; when the height of the obstacle is less than the first height Next, continue to control the self-propelled equipment to move according to the movement path.
  • the self-propelled device is controlled to continue to track the movement path after bypassing the obstacle.
  • the work performed by the self-propelled equipment may also be different based on the nature of the target location.
  • the target location includes a location to be weeded that is different from the current location, and the distance between the location to be weeded and the current location is greater than a preset distance.
  • the preset distance is generally greater than or equal to the minimum distance between two adjacent areas to be weeded.
  • control the self-propelled equipment after the self-propelled equipment moves to the target position, control the self-propelled equipment to perform work corresponding to the target position, including: after the self-propelled equipment moves to the position to be weeded, control the operation of the lifting mechanism to lower the weeding mechanism to the second height. , and control the operation of the weeding mechanism; the second height is lower than the first height.
  • the second height is pre-stored in the self-propelled equipment.
  • the second height can be set by the user according to the weeding needs, or it can be set by the self-propelled equipment based on the height of weeds at the target location, or it can be stored in the self-propelled equipment by default. , this embodiment does not limit the acquisition method of the second height.
  • the self-propelled equipment moves to the target location, it can move during the weeding work.
  • the self-propelled equipment also includes an angle adjustment mechanism connected to the weeding mechanism
  • the self-propelled equipment can also control the operation of the angle adjustment mechanism to connect the weeding mechanism to the ground. The angle between them is adjusted to 0. In this way, it can be ensured that the weeding mechanism acts vertically on weeds and improves the weeding effect.
  • the target location includes the location of a charging station. At this time, the self-propelled equipment needs to perform charging work after reaching the target location.
  • the control method of the self-propelled equipment responds to the Prepare movement instructions to the target position, control the operation of the lifting mechanism to raise the weeding mechanism to the first height; after the self-propelled equipment moves to the target position, control the self-propelled equipment to perform work corresponding to the target position; it can solve the problem of weeding by self-propelled equipment
  • the mechanism is easily blocked by obstacles, resulting in poor mobility of self-propelled equipment; since the self-propelled equipment will control the rise of the weeding mechanism when it needs to move, thus reducing the risk of self-propelled equipment due to the low height between the weeding mechanism and the ground. Therefore, the mobility of self-propelled equipment can be improved.
  • the angle adjustment mechanism controls the operation of the angle adjustment mechanism to adjust the angle to a preset angle in the direction of travel of the self-propelled equipment, the resistance generated by weeds during the movement can be dispersed, thereby saving resources consumed when the self-propelled equipment moves.
  • the weeding mechanism by controlling the weeding mechanism to descend to the second height after moving to the position to be weeded, it can be ensured that the weeding mechanism can effectively perform the weeding function and the weeding effect is ensured.
  • FIG 3 is a block diagram of a control device for self-propelled equipment provided by an embodiment of the present application.
  • the self-propelled equipment includes a weeding mechanism and a lifting mechanism connected to the weeding mechanism.
  • the lifting mechanism is suitable for adjusting the height between the weeding mechanism and the ground; the device includes at least the following modules: a first control module 310 and the second control module 320.
  • the first control module 310 is used to control the operation of the lifting mechanism to raise the weeding mechanism to the first height in response to the movement instruction of the self-propelled equipment to the target position;
  • the second control module 320 is used to control the self-propelled equipment to perform work corresponding to the target position after the self-propelled equipment moves to the target position.
  • control device of the self-propelled equipment controls the self-propelled equipment
  • only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated as needed. It is completed by different functional modules, that is, the internal structure of the control device of the self-propelled equipment is divided into different functional modules to complete all or part of the functions described above.
  • the control device for self-propelled equipment provided in the above embodiments and the control method embodiment for self-propelled equipment belong to the same concept. Please refer to the method embodiment for details of the specific implementation process, which will not be described again here.
  • FIG 4 is a block diagram of an electronic device provided by an embodiment of the present application.
  • the electronic device may be the self-propelled device described in Figure 1 or other devices communicatively connected to the self-propelled device.
  • the electronic device at least includes a processor 401 and a memory 402.
  • the processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc.
  • the processor 401 can adopt at least one hardware form among DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), and PLA (Programmable Logic Array, programmable logic array).
  • the processor 401 may also include a main processor and a co-processor.
  • the main processor is a processor used to process data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); the co-processor is A low-power processor used to process data in standby mode.
  • the processor 401 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is responsible for rendering and drawing the content that needs to be displayed on the display screen.
  • the processor 401 may also include an AI (Artificial Intelligence, artificial intelligence) processor, which is used to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 401 to implement the autonomous driving provided by the method embodiments in this application. Device control methods.
  • the electronic device optionally further includes: a peripheral device interface and at least one peripheral device.
  • the processor 401, the memory 402 and the peripheral device interface may be connected through a bus or a signal line.
  • Each peripheral device can interface with the peripheral device through a bus, signal line or circuit board connected.
  • peripheral devices include but are not limited to: radio frequency circuits, touch display screens, audio circuits, power supplies, etc.
  • the electronic device may also include fewer or more components, which is not limited in this embodiment.
  • this application also provides a computer-readable storage medium that stores a program, and the program is loaded and executed by the processor to implement the control method of the self-propelled device in the above method embodiment.
  • this application also provides a computer product.
  • the computer product includes a computer-readable storage medium, and a program is stored in the computer-readable storage medium.
  • the program is loaded and executed by a processor to implement the above method embodiments. Control methods for self-propelled equipment.

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Abstract

自走设备的控制方法、自走设备及存储介质，属于自动控制技术领域，自走设备的控制方法包括：步骤201，响应于自走设备前往目标位置的移动指令，控制升降机构运行以将除草机构上升至第一高度；步骤202，在自走设备移动至目标位置后，控制自走设备执行目标位置对应的工作；可以解决自走设备的除草机构容易被障碍物阻碍，导致自走设备的可移动性较差的问题；由于自走设备需要移动时会控制除草机构上升，从而可以降低由于除草机构与地面之间的高度较低，导致自走设备无法移动的概率，因此，可以提高自走设备的可移动性。

Description

自走设备的控制方法、自走设备及存储介质
本公开要求如下专利申请的优先权：于2022年7月21日提交中国专利局、申请号为202210872776.7、发明名称为“自走设备的控制方法、自走设备及存储介质”的中国专利申请，上述专利申请的全部内容通过引用结合在本公开中。
技术领域
本申请属于自动控制技术领域，具体涉及自走设备的控制方法、自走设备及存储介质。
背景技术
目前，用户可以使用自走设备清除杂草。自走设备上安装有除草机构，比如：刀盘。在割草过程中，自走设备控制除草机构运行，以切割杂草。
自走设备在割草过程中可能需要移动至其它位置，比如：移动至充电站进行充电。
在移动过程中，由于除草机构的高度通常较低，因此，会导致自走设备被障碍物阻碍，可移动性较差的问题。
发明内容
本申请所要解决的技术问题包括自走设备的除草机构容易被障碍物阻碍，导致自走设备的可移动性较差的问题。
为解决上述技术问题，一方面，提供一种自走设备的控制方法，所述自走设备包括除草机构和与所述除草机构相连的升降机构，所述升降机构 适于调节所述除草机构与地面之间的高度；所述方法包括：
响应于所述自走设备前往目标位置的移动指令，控制所述升降机构运行以将所述除草机构上升至第一高度；
在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作。
可选地，响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
在所述除草机构处于运行状态的情况下，控制所述除草机构停止运行。
可选地，所述自走设备还包括与所述除草机构相连的角度调节机构，所述角度调节机构适于调节所述除草机构与地面之间的夹角；响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
控制角度调节机构运行，以在所述自走设备的行进方向上将所述夹角调节为预设角度，所述预设角度大于0。
可选地，所述目标位置包括充电站，所述充电站用于为所述自走设备充电，所述方法还包括：
在确定出所述自走设备需要进行充电的情况下，生成所述移动指令，所述移动指令用于指示所述自走设备移动至所述充电站。
可选地，所述目标位置包括与当前位置不同的待除草位置，所述待除草位置与所述当前位置之间的距离大于预设距离；
所述在所述自走设备移动至所述目标位置后，控制所述自走设备执行 所述目标位置对应的工作，包括：
在所述自走设备移动至所述待除草位置后，控制所述升降机构运行以将所述除草机构下降至第二高度，并控制所述除草机构运行；所述第二高度低于所述第一高度。
可选地，所述自走设备还包括与所述除草机构相连的角度调节机构，在所述自走设备移动至所述待除草位置后，所述方法还包括：
控制角度调节机构运行，以将所述除草机构与地面之间的夹角调节为0。
可选地，所述自走设备具有自移动能力；所述在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作之前，还包括：
获取当前位置和所述目标位置所在工作区域的地面数据；
基于所述地面数据、所述当前位置和所述目标位置确定移动功耗最小的移动路径；
控制所述自走设备按照所述移动路径移动至所述目标位置。
可选地，所述方法还包括：
在按照所述移动路径移动过程中进行障碍物检测；
在检测到障碍物的情况下，确定所述障碍物的高度是否小于所述第一高度；
在所述障碍物的高度小于所述第一高度的情况下，继续控制所述自走 设备按照所述移动路径移动。
另一方面，本申请还提供自走设备，所述自走设备包括：
除草机构；
与所述除草机构相连的升降机构，所述升降机构适于调节所述除草机构与地面之间的高度；
分别与所述除草机构和所述升降机构相连的处理器、和与所述处理相连的存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现上述方面提供的自走设备的控制方法。
又一方面，本申请还提供计算机可读存储介质，所述存储介质中存储有程序，所述程序被处理器执行时实现上述方面提供的自走设备的控制方法。
本申请提供的技术方案，至少具有以下优点：通过响应于自走设备前往目标位置的移动指令，控制升降机构运行以将除草机构上升至第一高度；在自走设备移动至目标位置后，控制自走设备执行目标位置对应的工作；可以解决自走设备的除草机构容易被障碍物阻碍，导致自走设备的可移动性较差的问题；由于自走设备需要移动时会控制除草机构上升，从而可以降低由于除草机构与地面之间的高度较低，导致自走设备无法移动的概率，因此，可以提高自走设备的可移动性。
另外，通过在移动过程中控制除草机构停止运行，可以节省自走设备消耗的设备资源。
另外，通过控制角度调节机构运行，以在自走设备的行进方向上将夹角调节为预设角度，可以将移动过程中杂草产生的阻力分散掉，从而节省自走设备移动时消耗的资源。
另外，通过在确定出需要充电的情况下自动生成移动指令，以回归充电站，无需用户手动控制自走设备移动，提高自走设备的智能化移动程度。
另外，通过在移动至待除草位置后控制除草机构下降至第二高度，可以保证除草机构能够有效地执行除草功能，保证除草效果。
另外，通过在移动至待除草位置后控制除草机构与地面之间的夹角为0，可以保证除草机构垂直作用于杂草，提高除草效果。
另外，通过结合地面数据生成功耗最小的移动路径，可以进一步降低自走设备移动过程中消耗的资源。
附图说明
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一个实施例提供的自走设备的剖面图；
图2是本申请一个实施例提供的自走设备的控制方法的流程图；
图3是本申请一个实施例提供的自走设备的控制装置的框图；
图4是本申请一个实施例提供的电子设备的框图。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。下文中将参考附图并结合实施例来详细说明本申请。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
在本申请中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的，或者是针对部件本身在竖直、垂直或重力方向上而言的；同样地，为便于理解和描述，“内、外”是指相对于各部件本身的轮廓的内、外，但上述方位词并不用于限制本申请。
图1是本申请一个实施例提供的自走设备的剖面图，根据图1可知，自走设备包括：除草机构110、升降机构120和控制器(图中未示出)。
除草机构110是指安装在自走设备上、能够对植物进行清除的机构。其中，植物可以为杂草、或者农作物等，本实施例不对除草机构110所作用的植物种类作限定。
可选地，除草机构110位于自走设备底部，或者，除草机构110也可以 位于自走设备的前端或后端，本实施例不对除草机构110的安装位置作限定。
可选地，除草机构110可拆卸地安装在自走设备上，或者固定设置在自走设备上，本实施例不对除草机构110的设置方式作限定。
可选地，除草机构110清除植物的方式包括但不限于：化学清除和/或物理清除。其中，化学清除方式是指通过向植物喷射介质使得植物产生化学变化以杀死植物的方式。比如：向植物喷洒化学药剂、或者投射特定光源。物理清除方式是指通过外力作用于植物，以切割植物的方式。
图1中以除草机构110通过物理清除方式工作为例，示意性地，除草机构110包括切割件、以及用于驱动切割件运行的驱动件。
可选地，切割件包括至少一个刀盘，每个刀盘包括至少一个刀片。刀盘在工作过程中进行绕刀盘的中心轴旋转。一般地，刀盘的中心轴垂直于自走设备的机身所在平面，或者说垂直于地面，此时，刀盘所在平面平行于地面。在一些场景中，刀盘所在平面与地面也可以呈一定角度，即，不平行于地面。
在其它实施例中，切割件也可以是滚盘，滚盘在运行过程中绕中心轴滚动地，并与植物接触，且滚盘上能够与植物接触的部分设置有刀片，以对植物进行切割。其中，滚盘所绕中心轴一般与地面平行，在一些场景中也可以与地面呈一定角度。上述切割件的实现方式仅是示意性地，在实际实现时，切割件的实现方式也可以是其它方式，本实施例不对切割件的实 现方式作限定。
驱动件可以是驱动电机，驱动电机的输出轴与切割件相连，或者驱动件的输出轴通过传动机构与切割件相连，本实施例不对驱动件和切割件之间的连接方式作限定。
升降机构120适于调节除草机构与地面之间的高度。换言之，升降机构120能够调节除草机构上升或下降。
可选地，升降机构120包括升降件和用于驱动升降件运行的驱动件，其中，升降件包括但不限于以下几种：气缸或丝杠等，图1中以升降件为丝杠为例进行说明，本实施例中不对升降件的实现方式作限定。
在其它实施例中，升降机构120还可以为直线电机，本实施例不对升降机构120的实现方式作限定。
升降机构120与切割机构110驱动相连。以图1所示的升降机构120为切割机构110的边缘在重力作用下搭接在升降件上，升降件上升时带动切割机构110上升，升降件下降时带动切割机构110下降。
控制器分别与除草机构110和升降机构120相连。控制器用于控制除草机构110和升降机构120工作，比如：控制除草机构110和升降机构120停止运行、开始运行、和运行参数等。在其它实施中，控制器还可以对自走设备中的其它机构进行控制，本实施例不对控制器的控制内容作限定。
本实施例中，控制器用于：响应于自走设备前往目标位置的移动指令，控制升降机构运行以将除草机构上升至第一高度；在自走设备移动至目标 位置后，控制自走设备执行目标位置对应的工作。
其中，第一高度高于除草机构执行割草工作时的第二高度。
可选地，除草机构与地面之间的夹角可调。此时，自走设备还包括与除草机构相连的角度调节机构(图中未示出)，角度调节机构适于调节除草机构与地面之间的夹角。
示意性地，角度调节机构可以为位于刀盘与驱动件之间的调节轴，或者为拉绳和与拉绳相连的调节轴，其中，拉绳的另一端与刀盘连接，以在调节轴的转动下通过拉绳调节刀盘角度，本实施例不对角度调节机构的实现方式作限定。
需要说明的是，上述自走设备的结构仅是示意性的，在实际实现时，自走设备还可以包括工作过程中所需的其它结构，比如：自走设备还可以包括移动机构、供电组件、射频组件等，本实施例在此不再一一列举。
本实施例中，在自走设备需要移动时控制除草机构上升至第一高度，可以降低由于除草机构与地面之间的高度较低，导致自走设备无法移动的概率，可以提高自走设备的可移动性。
下面，对本申请提供的自走设备的控制方法进行介绍。下述实施例以该方法用于图1所示的自走设备中，具体用于自走设备的控制器中为例进行说明，在实际实现时，该方法也可以用于与该自走设备通信相连的其它设备中，比如：用于用户终端、或者服务器等，其中，用户终端包括但不限 于：手机、计算机、平板电脑、可穿戴式设备等，本实施例不对其它设备的实现方式和用户终端的实现方式作限定。
其中，通信相连的方式可以是有线通信或者无线通信，无线通信方式可以是短距离通信、或者无线通信等，本实施例不对自走设备与其它设备之间的通信方式作限定。
图2是本申请一个实施例提供的自走设备的控制方法的流程图，该方法至少包括以下几个步骤：
步骤201，响应于自走设备前往目标位置的移动指令，控制升降机构运行以将除草机构上升至第一高度。
移动指令区别于用于控制自走设备执行除草工作的指令，移动指令用于指示自走设备从一个位置移动至另一个位置，且在移动过程中并不需要让除草机构工作。换言之，移动指令的目的为让自走设备移动，而不是让自走设备除草。
或者说，自走设备在除草过程中的移动与受移动指令的触发产生的移动不同。具体地，自走设备在除草过程中的移动目的是：为了对遍历待除草的工作区域，此时，自走设备在移动过程中，除草机构需要与杂草接触，甚至会接触至杂草的根部。而受移动指令的触发产生的移动的目的是：为了切换当前工作的位置，比如：从当前的待除草区域移动至下一个待除草区域，或者，从当前的待除草区域移动至充电站。此时，自走设备在移动过程中，需要尽量与地面上的物体避免接触，以提高通过性和可移动性。
自走设备获取移动指令的方式包括但不限于以下几种中的至少一种：
第一种：自走设备上设置有移动按键，在接收到作用于移动按键上的触发操作的情况下，生成移动指令。
移动按键与自走设备上用于控制自走设备开始除草的除草按键不同，移动按键可以是通过触摸显示屏显示的虚拟按键，或者也可以是物理按键，本实施例不对移动按键的实现方式作限定。
第二种：自走设备接收其它设备发送的移动指令。此时，其它设备上设置有移动按键(比如：手机的控制程序设置有移动按键)，在接收到作用于移动按键上的触发操作的情况下，生成移动指令，并将该移动指令发送至自走设备。
第三种：自走设备判断当前是否满足移动条件，在满足移动条件的情况下生成移动指令。
其中，移动条件可以是用户设置的，或者也可以默认存储在自走设备中，本实施例不对移动条件的设置方式作限定。
可选地，移动条件包括但不限于以下几种中的一种：自走设备当前所在的待除草区域已除草完成、且存在未工作的待除草区域，或者自走设备需要进行充电。
在实际实现时，可以按照使用需求将移动条件设置为其它条件，本实施例不对移动条件的具体内容作限定。
以移动条件包括自走设备需要进行充电、且目标位置包括充电站为例， 此时，自走设备在确定出自走设备需要进行充电的情况下生成移动指令，该移动指令用于指示自走设备移动至充电站。其中，充电站用于为自走设备充电。
在一个示例中，自走设备在当前剩余电量小于预设电量阈值的情况下，确定需要进行充电。
在另一个示例中，自走设备的除草时长大于或等于预设时长的情况下，确定需要进行充电。
在实际实现时，自走设备还可以按照其它方式确定是否需要进行充电，本实施例对此确定是否需要进行充电的方式作限定。
可选地，控制升降机构运行以将除草机构上升至第一高度，包括：控制升降机构运行以将除草机构上升至最大高度。
或者，控制升降机构运行以将除草机构上升至第一高度，包括：获取移动路径上的各个障碍物的障碍物高度；基于障碍物高度确定第一高度；控制升降机构运行以将除草机构上升至第一高度。
其中，基于障碍物高度确定第一高度，包括：将障碍物高度与最大高度进行比较，将障碍物高度大于最大高度的障碍物高度删除；从删除后的障碍物高度中确定障碍物高度最大值，基于该障碍物高度最大值确定第一高度，第一高度大于障碍物高度最大值。此时，第一高度基于可通行的障碍物高度最大值确定，不需要控制除草机构上升至最大高度，可以节省控制除草机构上升时消耗的资源。
移动路径上的障碍物高度预先存储在自走设备的移动地图中。
其中，移动地图可以是其它设备发送的，或者是自走设备在工作区域的移动过程中构建的，本实施例不对移动地图的获取方式作限定。
移动路径可以是用户手动绘制的，或者也可以是自走设备基于功耗最小原则生成的。可选地，自走设备基于功耗最小原则生成移动路径，包括：获取当前位置和目标位置所在工作区域的地面数据；基于地面数据、当前位置和目标位置确定移动功耗最小的移动路径。
其中，地面数据包括但不限于：地面图像、地面的平整程度、地面的障碍物信息(包括障碍物位置和障碍物高度等)、和/或地面的弯曲程度。地面数据可以是自走设备对地面进行识别得到的，或者是用户设置的，本实施例不对地面数据的数据内容和获取方式作限定。
自走设备可以使用预先训练的人工智能模型基于地面数据、当前位置和目标位置来确定移动路径。即，将地面数据、当前位置和目标位置输入人工智能模型，以供人工智能模型结合地面数据、当前位置和目标位置的距离计算移动路径。人工智能模型是使用样本数据训练得到的，样本数据包括样本地面数据、样本当前位置、样本目标位置和期望移动路径。
在其它实施例中，自走设备也可以基于距离最短原则基于当前位置和目标位置确定移动路径，本实施例不对移动路径的生成方式作限定。
可选地，由于自走设备受移动指令触发移动时，并需要除草机构执行除草工作。若此时除草机构继续运行，会浪费自走设备的设备资源。基于 此，响应于自走设备前往目标位置的移动指令，在除草机构处于运行状态的情况下，自走设备还可以控制除草机构停止运行。
可选地，由于自走设备在受移动指令触发移动时，高度较高的杂草可能会对自走设备造成较大阻力。基于此，在自走设备还包括与除草机构相连的角度调节机构的情况下，响应于自走设备前往目标位置的移动指令，自走设备还可以控制角度调节机构运行，以在自走设备的行进方向上将夹角调节为预设角度，该预设角度大于0。由于除草机构有一定偏角，会将杂草的阻力分散掉，因此，可以节省自走设备移动时消耗的资源。
步骤202，在自走设备移动至目标位置后，控制自走设备执行目标位置对应的工作。
本实施例中，自走设备具有自移动能力。此时，在自走设备移动至目标位置后，控制自走设备执行目标位置对应的工作之前，控制自走设备按照预先生成的移动路径移动至目标位置。
可选地，自走设备在按照移动路径移动过程中进行障碍物检测；在检测到障碍物的情况下，确定障碍物的高度是否小于第一高度；在障碍物的高度小于第一高度的情况下，继续控制自走设备按照移动路径移动。
在障碍物的高度大于或等于第一高度的情况下，控制自走设备绕过障碍物后继续跟踪移动路径移动。
在移动至目标位置后，基于目标位置的性质不同，自走设备执行的工作也可能不同。
在一个示例中，目标位置包括与当前位置不同的待除草位置，待除草位置与当前位置之间的距离大于预设距离。此时，自走设备到达目标位置后需要执行除草的工作。其中，预设距离一般大于或等于相邻两个待除草区域之间的最小距离。
相应地，在自走设备移动至目标位置后，控制自走设备执行目标位置对应的工作，包括：在自走设备移动至待除草位置后，控制升降机构运行以将除草机构下降至第二高度，并控制除草机构运行；第二高度低于第一高度。
第二高度预存在自走设备中，第二高度可以为用户根据除草需求设置的，或者也可以是自走设备基于目标位置的杂草高度设置的，或者还可以是默认存储在自走设备中的，本实施例不对第二高度的获取方式作限定。
本示例中，自走设备移动至目标位置后，可以在执行除草工作过程中进行移动。
可选地，在自走设备还包括与除草机构相连的角度调节机构的情况下，在自走设备移动至待除草位置后，自走设备还可以控制角度调节机构运行，以将除草机构与地面之间的夹角调节为0。这样，可以保证除草机构垂直作用于杂草，提高除草效果。
在另一个示例中，目标位置包括充电站所在位置。此时，自走设备到达目标位置后需要执行充电的工作。
综上所述，本实施例提供的自走设备的控制方法，通过响应于自走设 备前往目标位置的移动指令，控制升降机构运行以将除草机构上升至第一高度；在自走设备移动至目标位置后，控制自走设备执行目标位置对应的工作；可以解决自走设备的除草机构容易被障碍物阻碍，导致自走设备的可移动性较差的问题；由于自走设备需要移动时会控制除草机构上升，从而可以降低由于除草机构与地面之间的高度较低，导致自走设备无法移动的概率，因此，可以提高自走设备的可移动性。
另外，通过在移动过程中控制除草机构停止运行，可以节省自走设备消耗的设备资源。
另外，通过控制角度调节机构运行，以在自走设备的行进方向上将夹角调节为预设角度，可以将移动过程中杂草产生的阻力分散掉，从而节省自走设备移动时消耗的资源。
另外，通过在确定出需要充电的情况下自动生成移动指令，以回归充电站，无需用户手动控制自走设备移动，提高自走设备的智能化移动程度。
另外，通过在移动至待除草位置后控制除草机构下降至第二高度，可以保证除草机构能够有效地执行除草功能，保证除草效果。
另外，通过在移动至待除草位置后控制除草机构与地面之间的夹角为0，可以保证除草机构垂直作用于杂草，提高除草效果。
另外，通过结合地面数据生成功耗最小的移动路径，可以进一步降低自走设备移动过程中消耗的资源。
图3是本申请一个实施例提供的自走设备的控制装置的框图。所述自走设备包括除草机构和与所述除草机构相连的升降机构，所述升降机构适于调节所述除草机构与地面之间的高度；该装置至少包括以下几个模块：第一控制模块310和第二控制模块320。
第一控制模块310，用于响应于所述自走设备前往目标位置的移动指令，控制所述升降机构运行以将所述除草机构上升至第一高度；
第二控制模块320，用于在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作。
相关细节参考上述实施例。
需要说明的是：上述实施例中提供的自走设备的控制装置在进行自走设备的控制时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将自走设备的控制装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的自走设备的控制装置与自走设备的控制方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
图4是本申请一个实施例提供的电子设备的框图。该电子设备可以是图1所述的自走设备或者是与该自走设备通信相连的其它设备，该电子设备至少包括处理器401和存储器402。
处理器401可以包括一个或多个处理核心，比如：4核心处理器、8核心处理器等。处理器401可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器401也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器401可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器401还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器402可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器402还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器402中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器401所执行以实现本申请中方法实施例提供的自走设备的控制方法。
在一些实施例中，电子设备还可选包括有：外围设备接口和至少一个外围设备。处理器401、存储器402和外围设备接口之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口 相连。示意性地，外围设备包括但不限于：射频电路、触摸显示屏、音频电路、和电源等。
当然，电子设备还可以包括更少或更多的组件，本实施例对此不作限定。
可选地，本申请还提供有计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的自走设备的控制方法。
可选地，本申请还提供有计算机产品，该计算机产品包括计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的自走设备的控制方法。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。
显然，上述所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创 造性劳动前提下，可以做出其它不同形式的变化或变动，都应当属于本申请保护的范围。

Claims (15)

  1. 一种自走设备的控制方法，其特征在于，所述自走设备包括除草机构和与所述除草机构相连的升降机构，所述升降机构适于调节所述除草机构与地面之间的高度；所述方法包括：
    响应于所述自走设备前往目标位置的移动指令，控制所述升降机构运行以将所述除草机构上升至第一高度；
    在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作。
  2. 根据权利要求1所述的方法，其特征在于，响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
    在所述除草机构处于运行状态的情况下，控制所述除草机构停止运行。
  3. 根据权利要求1所述的方法，其特征在于，所述自走设备还包括与所述除草机构相连的角度调节机构，所述角度调节机构适于调节所述除草机构与地面之间的夹角；响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
    控制角度调节机构运行，以在所述自走设备的行进方向上将所述夹角调节为预设角度，所述预设角度大于0。
  4. 根据权利要求1所述的方法，其特征在于，所述目标位置包括充电站，所述充电站用于为所述自走设备充电，所述方法还包括：
    在确定出所述自走设备需要进行充电的情况下，生成所述移动指令，所述移动指令用于指示所述自走设备移动至所述充电站。
  5. 根据权利要求1所述的方法，其特征在于，所述目标位置包括与当前位置不同的待除草位置，所述待除草位置与所述当前位置之间的距离大于预设距离；
    所述在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作，包括：
    在所述自走设备移动至所述待除草位置后，控制所述升降机构运行以将所述除草机构下降至第二高度，并控制所述除草机构运行；所述第二高度低于所述第一高度。
  6. 根据权利要求5所述的方法，其特征在于，所述自走设备还包括与 所述除草机构相连的角度调节机构，在所述自走设备移动至所述待除草位置后，所述方法还包括：
    控制角度调节机构运行，以将所述除草机构与地面之间的夹角调节为0。
  7. 根据权利要求1所述的方法，其特征在于，所述自走设备具有自移动能力；所述在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作之前，还包括：
    获取当前位置和所述目标位置所在工作区域的地面数据；
    基于所述地面数据、所述当前位置和所述目标位置确定移动功耗最小的移动路径；
    控制所述自走设备按照所述移动路径移动至所述目标位置。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    在按照所述移动路径移动过程中进行障碍物检测；
    在检测到障碍物的情况下，确定所述障碍物的高度是否小于所述第一高度；
    在所述障碍物的高度小于所述第一高度的情况下，继续控制所述自走设备按照所述移动路径移动。
  9. 一种自走设备，其特征在于，所述自走设备包括：
    除草机构；
    与所述除草机构相连的升降机构，所述升降机构适于调节所述除草机构与地面之间的高度；
    分别与所述除草机构和所述升降机构相连的处理器、和与所述处理相连的存储器，所述存储器中存储有程序，所述处理器执行所述程序时用于实现如权利要求1至8任一所述的自走设备的控制方法。
  10. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有程序，所述程序被处理器执行时用于实现如权利要求1至8任一所述的自走设备的控制方法。
  11. 一种自走设备的控制方法，其特征在于，所述自走设备包括除草机构和与所述除草机构相连的升降机构，所述升降机构适于调节所述除草 机构与地面之间的高度；所述方法包括：
    响应于所述自走设备前往目标位置的移动指令，控制所述升降机构运行以将所述除草机构上升至第一高度；
    在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作；
    响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
    在所述除草机构处于运行状态的情况下，控制所述除草机构停止运行；
    所述自走设备还包括与所述除草机构相连的角度调节机构，所述角度调节机构适于调节所述除草机构与地面之间的夹角；响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
    控制角度调节机构运行，以在所述自走设备的行进方向上将所述夹角调节为预设角度，所述预设角度大于0。
  12. 一种自走设备的控制方法，其特征在于，所述自走设备包括除草机构和与所述除草机构相连的升降机构，所述升降机构适于调节所述除草机构与地面之间的高度；所述方法包括：
    响应于所述自走设备前往目标位置的移动指令，控制所述升降机构运行以将所述除草机构上升至第一高度；
    在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作；
    所述自走设备还包括与所述除草机构相连的角度调节机构，所述角度调节机构适于调节所述除草机构与地面之间的夹角；响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
    控制角度调节机构运行，以在所述自走设备的行进方向上将所述夹角调节为预设角度，所述预设角度大于0；
    所述目标位置包括充电站，所述充电站用于为所述自走设备充电，所述方法还包括：
    在确定出所述自走设备需要进行充电的情况下，生成所述移动指令，所述移动指令用于指示所述自走设备移动至所述充电站。
  13. 一种自走设备的控制方法，其特征在于，所述自走设备包括除草 机构和与所述除草机构相连的升降机构，所述升降机构适于调节所述除草机构与地面之间的高度；所述方法包括：
    响应于所述自走设备前往目标位置的移动指令，控制所述升降机构运行以将所述除草机构上升至第一高度；
    在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作；
    响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
    在所述除草机构处于运行状态的情况下，控制所述除草机构停止运行；
    所述目标位置包括与当前位置不同的待除草位置，所述待除草位置与所述当前位置之间的距离大于预设距离；
    所述在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作，包括：
    在所述自走设备移动至所述待除草位置后，控制所述升降机构运行以将所述除草机构下降至第二高度，并控制所述除草机构运行；所述第二高度低于所述第一高度。
  14. 一种自走设备的控制方法，其特征在于，所述自走设备包括除草机构和与所述除草机构相连的升降机构，所述升降机构适于调节所述除草机构与地面之间的高度；所述方法包括：
    响应于所述自走设备前往目标位置的移动指令，控制所述升降机构运行以将所述除草机构上升至第一高度；
    在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作；
    所述自走设备还包括与所述除草机构相连的角度调节机构，所述角度调节机构适于调节所述除草机构与地面之间的夹角；响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
    控制角度调节机构运行，以在所述自走设备的行进方向上将所述夹角调节为预设角度，所述预设角度大于0；
    所述目标位置包括与当前位置不同的待除草位置，所述待除草位置与所述当前位置之间的距离大于预设距离；
    所述在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作，包括：
    在所述自走设备移动至所述待除草位置后，控制所述升降机构运行以将所述除草机构下降至第二高度，并控制所述除草机构运行；所述第二高度低于所述第一高度。
  15. 一种自走设备的控制方法，其特征在于，所述自走设备包括除草机构和与所述除草机构相连的升降机构，所述升降机构适于调节所述除草机构与地面之间的高度；所述方法包括：
    响应于所述自走设备前往目标位置的移动指令，控制所述升降机构运行以将所述除草机构上升至第一高度；
    在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作；
    响应于所述自走设备前往目标位置的移动指令，所述方法还包括：
    在所述除草机构处于运行状态的情况下，控制所述除草机构停止运行；
    所述自走设备具有自移动能力；所述在所述自走设备移动至所述目标位置后，控制所述自走设备执行所述目标位置对应的工作之前，还包括：
    获取当前位置和所述目标位置所在工作区域的地面数据；
    基于所述地面数据、所述当前位置和所述目标位置确定移动功耗最小的移动路径；
    控制所述自走设备按照所述移动路径移动至所述目标位置。
PCT/CN2023/107399 2022-07-21 2023-07-14 自走设备的控制方法、自走设备及存储介质 Ceased WO2024017154A1 (zh)

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