WO2024251245A1 - 一种自主工作机器的控制方法、自主工作机器以及存储介质 - Google Patents

一种自主工作机器的控制方法、自主工作机器以及存储介质 Download PDF

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Publication number
WO2024251245A1
WO2024251245A1 PCT/CN2024/098022 CN2024098022W WO2024251245A1 WO 2024251245 A1 WO2024251245 A1 WO 2024251245A1 CN 2024098022 W CN2024098022 W CN 2024098022W WO 2024251245 A1 WO2024251245 A1 WO 2024251245A1
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WIPO (PCT)
Prior art keywords
working machine
autonomous working
charging station
autonomous
work
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Ceased
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PCT/CN2024/098022
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English (en)
French (fr)
Inventor
于航
巢沛栋
汪圆圆
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Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools 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 Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Priority to CN202480038457.3A priority Critical patent/CN121311106A/zh
Publication of WO2024251245A1 publication Critical patent/WO2024251245A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters

Definitions

  • the present application relates to the technical field of autonomous working machine control, and in particular to a control method and device for an autonomous working machine and an autonomous working machine.
  • Autonomous working machines refer to devices that can move autonomously according to the regional map of the working area without the need for manual power supply. For example: lawn mowers, sweepers, etc. Autonomous working machines are generally powered by electricity, so they need to be used in conjunction with charging stations, and automatically return to the charging station for charging when receiving the return instruction. After charging is completed, they leave the charging station and return to the working area to work. Among them, the charging station refers to the equipment for the autonomous working machine to dock and/or charge the autonomous working machine.
  • the present application provides a control method and device of an autonomous working machine and an autonomous working machine, which can effectively cut the remaining grass around the charging station.
  • a control method for an autonomous working machine comprising: controlling the autonomous working machine to exit from a charging station; after the autonomous working machine exits from the charging station, controlling the autonomous working machine to work along at least a portion of the side edge of a floor of the charging station and/or on the floor.
  • the method includes: controlling the autonomous working machine to work along at least a portion of the side edge of the bottom plate of the charging station; the controlling the autonomous working machine to work along at least a portion of the side edge of the bottom plate of the charging station includes: controlling the autonomous working machine to work along a designated side edge of the bottom plate of the charging station, wherein the designated side edge is determined according to the moving direction of the autonomous working machine when moving along the edge and/or working in the working area.
  • controlling the autonomous working machine to work along at least a portion of the side edge of the bottom plate of the charging station also includes: after the autonomous working machine exits the charging station, controlling the autonomous working machine to work along at least a portion of the front side edge of the charging station, the charging station includes a charging pile, and the front side edge is a boundary on the bottom plate away from the charging pile.
  • control method further includes: in response to the autonomous working machine moving to the target position along the designated side, controlling the autonomous working machine to move from the target position to the working area; or, controlling the autonomous working machine to work along at least a portion of the rear side of the base plate, the charging station includes a charging pile, and the rear side is a boundary on the base plate close to the charging pile.
  • controlling the autonomous working machine to exit from the charging station includes: determining the distance between the autonomous working machine and a charging pile of the charging station; and confirming that the autonomous working machine exits from the charging station in response to the distance between the autonomous working machine and the charging pile reaching a preset threshold.
  • controlling the autonomous working machine to exit the charging station includes: controlling the autonomous working machine to separate from the charging pile of the charging station and exit the charging station; determining the time when the autonomous working machine exits the charging station, and in response to the time when the autonomous working machine exits the charging station reaching a preset time, confirming that the autonomous working machine exits the charging station.
  • controlling the autonomous working machine to exit from the charging station further includes: controlling the autonomous working machine to exit from the charging station in an exit direction; wherein the exit direction is a direction away from the charging pile at a vertical angle.
  • control method further includes: after the autonomous working machine exits from the charging station, controlling the autonomous working machine to turn on a working module.
  • control method further includes: after the autonomous working machine exits the charging station, controlling the autonomous working machine to move toward the base plate and/or work; controlling the autonomous working machine to work along a designated side of the base plate of the charging station includes: controlling the autonomous working machine to move to a first end point of the designated side, the first end point being any point on the designated side.
  • control method also includes: after the autonomous working machine exits the charging station, controlling the autonomous working machine to move toward the base plate and/or work; controlling the autonomous working machine to work along at least part of the side of the base plate of the charging station includes: controlling the autonomous working machine to move to the front side of the base plate, and then moving along the front side to the first end point of the designated side, the front side being the boundary on the base plate away from the charging pile, and the first end point being any point on the designated side.
  • the first endpoint is the intersection of the designated side and the front side; the moving along the front side to the first endpoint of the designated side includes: obtaining the distance between the charging pile and the designated side, defined as the lateral distance; controlling the autonomous working machine to move the lateral distance along the front side to the first endpoint.
  • moving along the designated side to the target position includes: obtaining the length of the base plate; controlling the automatic working machine to move along the designated side from the first end point by a distance not exceeding the length to reach the target position.
  • control method further includes: acquiring an image of the field of view coverage collected by the autonomous working machine during the exit process; acquiring identification information of the charging pile based on the image; and controlling the autonomous working machine to exit from the charging station, including: determining the distance between the autonomous working machine and the identification information; and confirming that the autonomous working machine exits from the charging station in response to the distance between the autonomous working machine and the identification information reaching a preset threshold.
  • the controlling the autonomous working machine to work along at least a portion of a side of a bottom plate of a charging station includes: when the autonomous working machine works along at least a portion of the side, controlling the body of the autonomous working machine to span at least a portion of the side in a width direction, wherein the width direction is perpendicular to a forward direction of the autonomous working machine.
  • control method includes: controlling the autonomous working machine to work on the base plate; the controlling the autonomous working machine to work on the base plate includes: controlling the autonomous working robot to move forward and move to the base plate to work.
  • controlling the autonomous working machine to work on the base plate also includes: controlling the autonomous working machine to move forward to a preset area of the base plate and then turning around; controlling the autonomous working machine to continue moving forward away from the preset area, and the autonomous working machine is in a working state during the process of moving away from the preset area.
  • control method further includes: determining whether a work task needs to be performed on at least part of the side of the base plate and/or on the base plate; if yes, controlling the autonomous working machine to work along at least part of the side and/or on the base plate; if no, controlling the autonomous working machine to move to the working area and/or work.
  • control method also includes: controlling the autonomous working machine to exit from the charging station to a pause position; acquiring an image taken by the autonomous working machine at the pause position, the image including the condition of the grass on at least part of the side and/or the bottom plate; judging whether a work task needs to be performed on at least part of the side and/or the bottom plate of the charging station, including: judging whether there is tall grass on at least part of the side and/or the bottom plate based on the image; if there is tall grass, controlling the autonomous working machine to mow along at least part of the side and/or on the bottom plate; if there is no tall grass, controlling the autonomous working machine to move to the working area and/or work.
  • determining whether a work task needs to be performed on at least part of the side edge of the base plate and/or on the base plate includes: accumulating the number of times the autonomous working machine exits the charging station, and determining whether the number of times the autonomous working machine exits the charging station reaches a preset number; if the preset number is reached, controlling the autonomous working machine to work along at least part of the side edge and/or on the base plate; if the preset number is not reached, controlling the autonomous working machine to move to the working area and/or work.
  • control method further comprises: after the autonomous working machine completes a work along at least a portion of the side edge and/or on the bottom plate, clearing the number of times the autonomous working machine exits the charging station.
  • determining whether a work task needs to be performed on at least part of the side of the base plate and/or on the base plate includes: determining whether the autonomous working device receives instructions from the user; if instructions from the user are received, controlling the autonomous working machine to work along at least part of the side and/or on the base plate; if instructions from the user are not received, controlling the autonomous working machine to move to the working area and/or work.
  • an autonomous working machine configured to move and/or work in a working area
  • the autonomous working machine comprising: a moving unit configured to drive the autonomous working machine to move within the working area, and also configured to drive the autonomous working machine to enter and exit a charging station, and move near the charging station; a controller configured to control the autonomous working machine to exit the charging station; and also configured to control the autonomous working machine to work along at least a portion of the side edge of the floor of the charging station and/or on the floor after the autonomous working machine exits the charging station.
  • Another aspect of the present disclosure provides an autonomous working machine, wherein the storage medium stores a computer program, and the computer program is used to execute any of the methods described above.
  • Another aspect of the present disclosure provides a control method for an autonomous working machine, wherein the autonomous working machine is configured to move and/or work in a working area, and the method includes: controlling the autonomous working machine to exit from a charging station; determining whether a working task needs to be performed on at least a portion of a side edge of a floor of the charging station and/or the floor; if yes, controlling the autonomous working machine to work along the side edge; if no, controlling the autonomous working machine to move and/or work toward the working area.
  • control method also includes: controlling the autonomous working machine to exit from the charging station to a pause position; acquiring an image taken by the autonomous working machine at the pause position, the image including the condition of grass on at least part of the side and/or the bottom plate; judging whether a work task needs to be performed on at least part of the side of the bottom plate and/or the bottom plate, including: judging whether there is tall grass on at least part of the side and/or the bottom plate based on the image; if there is grass or tall grass, controlling the autonomous working machine to mow along at least part of the side and/or on the bottom plate; if there is no tall grass, controlling the autonomous working machine to move to the working area and/or work.
  • determining whether at least a portion of the side of the bottom plate needs to perform a work task includes:
  • the number of times the autonomous working machine exits the charging station is accumulated to determine whether the number of times the autonomous working machine exits the charging station reaches a preset number; if the preset number is reached, the autonomous working machine is controlled to work along at least part of the side and/or on the bottom plate; if the preset number is not reached, the autonomous working machine is controlled to move to the working area and/or work.
  • control method further comprises: after the autonomous working machine completes working along at least part of the side edge and/or on the bottom plate once, clearing the number of times the autonomous working machine exits the charging station.
  • determining whether a work task needs to be performed on at least part of the side of the base plate and/or on the base plate includes: determining whether the autonomous working device receives instructions from the user; if instructions from the user are received, controlling the autonomous working machine to work along at least part of the side and/or on the base plate; if instructions from the user are not received, controlling the autonomous working machine to move to the working area and/or work.
  • the working module (cutter disc) is turned on, and then the autonomous working machine is controlled to move to the charging station and work.
  • the autonomous working machine is controlled to move and work along the boundary of the charging station bottom plate. Since after confirming that the autonomous working machine has exited the charging station, it does not directly enter the edge mode, but controls the autonomous working machine to cut along the side of the charging station, so that the grass around the charging station can be effectively cut, thereby ensuring the overall mowing efficiency and the beauty of the lawn.
  • the cutter disc when it is confirmed that the autonomous working machine is withdrawing from the charging station, the cutter disc is opened, and then the autonomous working machine is controlled to move to the charging station and work. In this way, the cutter disc is not opened when the machine retreats, which can ensure that the machine will not cause harm to people or other objects during the retreat process, thereby ensuring safety.
  • the autonomous working machine when the autonomous working machine moves toward the boundary of the charging station, the autonomous working machine is first controlled to move to the center of the floor of the charging station. Since the blade is open, the grass left on the floor of the charging station can be cut.
  • FIG1 is a schematic diagram of an automatic working system provided by an embodiment of the present application.
  • FIG2 is a schematic diagram of the structure of an autonomous working machine provided by an embodiment of the present application.
  • FIG3 is a schematic diagram of the structure of an autonomous working machine provided by an embodiment of the present application.
  • FIG4 is a schematic diagram of the structure of an autonomous working machine provided by an embodiment of the present application.
  • FIG5 is a flow chart of a control method for an autonomous working machine provided in an embodiment of the present application.
  • FIG6 is a specific schematic diagram of a control method for an autonomous working machine provided by an embodiment of the present application.
  • FIG7 is a flow chart of another control method for an autonomous working machine provided in an embodiment of the present application.
  • FIG8 is a flow chart of another control method for an autonomous working machine provided in an embodiment of the present application.
  • FIG9 is a specific schematic diagram of a control method for an autonomous working machine provided by an embodiment of the present application.
  • FIG10 is a specific schematic diagram of a control method for an autonomous working machine provided by an embodiment of the present application.
  • FIG11 is a flow chart of another control method for an autonomous working machine provided in an embodiment of the present application.
  • FIG12 is a specific schematic diagram of a control method for an autonomous working machine provided by an embodiment of the present application.
  • FIG13 is a module diagram of a control device for an autonomous working machine provided by an embodiment of the present application.
  • FIG. 14 is a schematic diagram of the composition of a computer device according to an embodiment of the present application.
  • FIG15 is a schematic diagram of a process flow of an autonomous working machine working along at least a portion of a side edge of a base plate provided by an embodiment of the present application;
  • FIG16a is a schematic diagram of a process of another autonomous working machine working along at least a portion of a side edge of a base plate provided by an embodiment of the present application;
  • FIG16b is a schematic diagram of a process of detecting an autonomous working machine exiting a charging station according to the embodiment of FIG16a;
  • FIG17 is a flow chart of another embodiment of detecting that an autonomous working machine exits a charging station in the embodiment of FIG16a;
  • FIG18 is a schematic diagram of a process flow of another autonomous working machine working along at least a portion of the side edge of a base plate provided by an embodiment of the present application;
  • FIG19 is a schematic diagram of a process flow of an autonomous working machine working on a base plate provided by an embodiment of the present application.
  • FIG20 is a schematic diagram of a process flow of an autonomous working machine working on a base plate provided by an embodiment of the present application.
  • FIG. 21 is a flow chart of a control method for an autonomous working machine provided in an embodiment of the present application.
  • autonomous working machines Since autonomous working machines generally use electricity as their power, they need to be used in conjunction with charging stations, that is, they automatically return to the charging station for charging when they receive the return instruction, and leave the charging station and return to the working area to work after charging is completed.
  • autonomous working machines refer to devices that can move autonomously according to the regional map of the working area without the need for manual power.
  • Charging stations refer to devices for autonomous working machines to dock and/or charge autonomous working machines. In actual implementation, charging stations can also provide other functions, such as: docking autonomous working machines, cleaning autonomous working machines, etc. This embodiment does not list the functions of charging stations one by one.
  • An embodiment of the present application provides an autonomous working machine 1 (i.e., a self-moving device 1).
  • the autonomous working machine is described as a smart lawn mower.
  • the autonomous working machine 1 may be an automatic vacuum cleaner, an automatic spraying device, an automatic monitoring device, or other equipment suitable for unattended operation, which automatically walks on the ground or surface of the working area 7 to complete corresponding work.
  • the autonomous working machine 1 includes a control module 20 , a working module 21 , a traveling module 22 , and an energy module 23 .
  • the control module 20 is used to control the autonomous working machine 1 to automatically walk and work, and is the core component of the autonomous working machine 1.
  • the functions it performs include controlling the working module 21 to start or stop working, controlling the walking module 22 to start or stop, and controlling the moving direction, judging the energy of the energy module 23 and timely instructing the autonomous working machine 1 to return to the charging station for automatic docking and charging, etc.
  • the control module usually includes a single-chip microcomputer, a memory, and other peripheral circuits.
  • the working module 21 is used to perform the main working tasks of the autonomous working machine 1. If the autonomous working machine 1 is an intelligent lawn mower, the working module includes a mowing blade, a cutting motor, etc., and may also include components such as a mowing height adjustment mechanism to optimize or adjust the mowing effect. If the autonomous working machine 1 is an automatic vacuum cleaner, the working module includes a vacuum motor, a vacuum port, a vacuum pipe, a vacuum chamber, a dust collection device, and other working components for performing the vacuum task.
  • the walking module 23 is used to drive the autonomous working machine 1 to walk in the working area 7, and is usually composed of a wheel set installed on the autonomous working machine 1 and a walking motor driving the wheel set.
  • the wheel set includes a driving wheel connected to the walking motor and an auxiliary wheel that mainly plays an auxiliary supporting role.
  • there are two driving wheels located at the rear of the autonomous working machine 1 each driving wheel is connected to a walking motor, and there are one or two auxiliary wheels located at the front of the autonomous working machine 1.
  • the energy module 23 is used to provide energy for various operations of the autonomous working machine 1 , and includes a rechargeable battery and a charging connection structure, which is usually a charging electrode.
  • the autonomous working machine 1 also includes a shell for accommodating and installing each module, a control panel for user operation, etc.
  • the autonomous working machine 1 may also include various environmental sensors, such as humidity sensors, temperature sensors, acceleration sensors, light sensors, position sensors, etc.
  • the position sensor may include an inertial sensor IMU or an odometer ODO, etc. These sensors can help the autonomous working machine judge the working environment to execute the corresponding program.
  • the autonomous working machine 1 travels and works in a working area 7 formed by a boundary 3 , and the charging station 5 is used for the autonomous working machine 1 to dock, especially to return to replenish energy when energy is insufficient.
  • Boundary 3 may be the outer boundary of the working area 7, which is the periphery of the entire working area 7, usually connected end to end, closing the working area 7.
  • Boundary 3 may be physical or electronic (such as a virtual boundary defined by the user on the APP), and this application does not limit this.
  • the charging station 5 is usually located within the working range, such as on or within the boundary 3, and is connected to the mains or other power supply system for the autonomous working machine 1 to return for charging.
  • the charging station 5 is provided with charging electrodes for docking with corresponding electrodes of the autonomous working machine 1.
  • the charging station 5 is not provided with charging electrodes, but with a wireless charging module, which is mutually inductive with the wireless charging module of the autonomous working machine 1 to achieve wireless charging.
  • the autonomous working machine when the autonomous working machine is an automatic lawn mower, when the autonomous working machine leaves the charging station (also called "exit") and returns to the mowing area to work, it will move/work directly along the boundary of the working area after exiting the station. However, when there is grass around the charging station, this method will leave a lot of grass around the charging station uncut, thereby affecting the overall mowing efficiency and the beauty of the lawn.
  • this embodiment provides a control method for an autonomous working machine, which is configured to move and/or work in a working area. Specifically, it can be applied to a control module in an autonomous working machine. Of course, in some cases, it can also be applied to a server that is arranged on the network side and can control the operation process of the autonomous working machine. As shown in Figure 15, the control method for the autonomous working machine provided in this embodiment may include the following steps.
  • S1 Control the autonomous working machine to exit from the charging station.
  • the charging station includes a charging pile 51 and a bottom plate 52.
  • the charging pile 51 is usually arranged on a side of the bottom plate 52.
  • the side of the bottom plate 52 close to (or installed with) the charging pile 51 is called the rear side H
  • the side of the bottom plate 52 away from the charging pile 51 is called the front side M
  • the side of the bottom plate 52 located on the left side of the charging pile 51 is called the left side L
  • the side of the bottom plate 52 located on the right side of the charging pile 51 is called the right side R.
  • the autonomous working machine works along at least part of the side of the charging station, which means that after the autonomous working machine confirms that it has exited the charging station, it performs a mowing task along at least part of the front side M, the rear side H, the left side L, and the right side R of the bottom plate 52 to cleanly cut the grass around the charging station to avoid missing grass.
  • controlling the autonomous working machine to exit from the charging station includes:
  • S10 Determine the distance between the autonomous working machine and the charging pile of the charging station.
  • the present application does not limit the method of detecting the distance between the autonomous working machine and the charging pile 51 .
  • the autonomous working machine includes an image acquisition device 24, which is installed on the fuselage 100 of the autonomous working machine and is used to acquire images in the forward direction of the fuselage 100, and the image is at least partially an image of the working surface and/or objects on the working surface in the forward direction of the autonomous working machine.
  • the acquired image is within the field of view of the image acquisition device.
  • the image acquisition device can be a camera or laser radar commonly used in the industry.
  • the image acquisition device 24 is installed at the upper front position of the fuselage 100, preferably in the center, and the viewing angle is facing the front and lower to acquire the image of the working surface.
  • the size of its field of view 210 can be adjusted according to actual needs.
  • the image acquisition device 24 is used as a camera for exemplary description, and other implementation scenarios are not limited. Obstacles and/or boundaries can be detected based on the camera; when an obstacle is detected, the obstacle can be moved around; it can also be moved along the boundary according to the detected boundary; it can also determine the moving direction based on the image obtained by the visual sensor, and move and/or work based on the moving direction.
  • the autonomous working machine uses an image acquisition device to capture an image containing the charging pile 51, and detects the distance between the autonomous working machine and the charging pile 51 based on the image. When the distance between the autonomous working machine and the charging pile 51 reaches a preset threshold, it is confirmed that the autonomous working machine has exited the charging station.
  • control method further includes:
  • S111 Acquire an image of the field of view coverage collected by the autonomous working machine during the exit process
  • S112 Acquire identification information of the charging pile based on the image
  • Controlling the autonomous working machine to exit from the charging station including:
  • S113 Determine the distance between the autonomous working machine and the identification information
  • the charging station 5 is provided with identification information.
  • the identification information may be a pattern mark pasted on the charging station, such as a barcode, a two-dimensional barcode in the AprilTag visual reference system, etc., which can be used to guide the autonomous working machine to move and/or work around the charging station 5.
  • the identification information may correspond one-to-one to the charging piles of the charging station. It should be noted that since the two-dimensional barcode in AprilTag can be encoded into a smaller data payload, it can not only improve the accuracy of detecting the identification information, but also detect the identification information from a farther distance. In the present application, the marking information is taken as an example of the two-dimensional barcode in AprilTag, which is not a limitation to other embodiments.
  • the control module can control the autonomous working machine 1 to exit the station in the direction indicated by the first direction S1 based on the image captured by the camera, wherein during the exit process, the control module can adjust the posture of the autonomous working machine during the retreat process based on the two-dimensional barcode in the captured image to ensure that the autonomous working machine does not collide with the peripheral equipment of the charging station during the exit process.
  • the autonomous working machine 1 can be controlled to exit the station in the first direction S1 based on the image captured by the image acquisition device. It should be noted that there can be multiple directions of movement of the fuselage, such as normal forward movement, backward movement, turning, etc.
  • the forward direction of the fuselage refers to the normal forward direction, that is, the forward direction of the central axis of the fuselage.
  • the direction of retreat of the autonomous working machine is opposite to the forward direction, that is, the first direction is opposite to the forward direction of the autonomous working machine.
  • control module can determine the distance between the autonomous working machine and the two-dimensional barcode based on the image captured by the camera, and then determine whether the autonomous working machine exits the charging station.
  • the process includes: determining a first distance between the autonomous machine and the identification information according to the position of the identification information in the image captured by the image acquisition device; and confirming the exit from the charging station when the first distance reaches a preset threshold.
  • the first distance and the preset threshold can be set according to actual scenarios, and this specification does not limit this.
  • the control module can determine the distance between the autonomous machine and the two-dimensional barcode, and when the distance reaches a preset threshold (such as point A in the figure), it can be considered that the autonomous machine has exited the charging station. It should be noted that point A can be located outside the bottom plate 52 or on the bottom plate 52, and this application does not limit this.
  • the autonomous machine detects the distance between the autonomous machine and the charging station 51 through a position sensor, and the position sensor may include an odometer ODO.
  • the odometer starts to calculate the moving distance of the autonomous machine.
  • the odometer ODO accumulates the moving distance of the autonomous machine and reaches a preset threshold, it is determined that the autonomous machine exits the charging station.
  • the preset threshold can be set according to the actual scenario, and this specification does not limit this.
  • controlling the autonomous working machine to exit from the charging station includes:
  • S12 Control the autonomous working machine to separate from the charging pile of the charging station and exit the charging station.
  • S13 Determine the time when the autonomous working machine exits the charging station, and in response to the time when the autonomous working machine exits the charging station reaching a preset time, confirm that the autonomous working machine exits the charging station.
  • the control module controls the autonomous working machine 1 to exit the charging station in the direction indicated by S1 based on the IMU inertial sensor, and calculates the time for the autonomous working machine 1 to retreat.
  • the preset time can be set according to the actual scenario, and this manual does not limit this. It can be understood that the speed at which the autonomous working machine retreats is certain, and the retreat distance of the autonomous working machine can be controlled by controlling the time for the autonomous working machine to retreat. When the autonomous working machine retreats a certain distance, it is confirmed that it has exited the charging station.
  • controlling the autonomous working machine to exit from the charging station further includes: controlling the autonomous working machine to exit from the charging station in an exit direction; wherein the exit direction is a direction away from the charging pile 51 at a vertical angle.
  • the backward position of the autonomous working machine is vertical to the charging pile 51, which can be referred to the first direction S1 in FIG. 6 .
  • control method further includes:
  • the autonomous working machine After the autonomous working machine exits the charging station, the autonomous working machine is controlled to open the working module.
  • the working module in this embodiment refers to a cutter disc, including a cutting blade and a cutting motor that drives the blade.
  • the autonomous working machine can open the cutter disc when exiting the charging station, or it can open the cutter disc when it is confirmed to exit the charging station (such as when it reaches point A in Figure 6).
  • the autonomous working machine when the autonomous working machine completes charging and is ready to exit the charging station, it can open the cutter disc and then exit the station, so that the grass on the bottom plate of the charging station can be cut off.
  • the autonomous working machine in order to ensure safety, can be controlled not to open the cutter disc during the retreat process. Specifically, for example, the cutter disc is not opened during the retreat from the charging station, and the cutter disc is opened and moves forward after retreating to a certain distance or after retreating for a certain period of time.
  • control method of the autonomous working machine further includes:
  • controlling the autonomous working machine to work along at least a portion of the side of the bottom plate of the charging station includes:
  • S22 Control the autonomous working machine to work along the designated side of the bottom plate of the charging station.
  • the designated side is determined according to the direction of movement of the autonomous working machine when it moves along the edge and/or works in the working area.
  • the designated side may include a left side L or a right side R. Specifically, for example, if the moving direction of the autonomous working machine in the working area is preset to be the right edge, that is, during the movement and/or working process, the outer boundary of the working area is always located on the right side of the autonomous working machine, then the designated side is the left side L of the bottom plate 52 of the charging station.
  • the moving direction of the autonomous working machine in the working area is preset to be the left edge, that is, during the movement and/or working process, the outer boundary of the working area is always located on the left side of the autonomous working machine, then the designated side is the right side R of the bottom plate 52 of the charging station.
  • the present application uses the moving direction of the autonomous working machine in the working area as the right edge for exemplary description, and does not constitute a limitation on other implementation scenarios.
  • controlling the autonomous working machine to work along a designated side of the floor of the charging station includes:
  • the autonomous working machine is controlled to move to the first endpoint of the designated side.
  • the first endpoint is any point on the designated side, and the first endpoint indicates the starting point of the autonomous working machine moving along the designated side.
  • the first endpoint B is the intersection of the designated side and the front side M.
  • the autonomous working machine after confirming that the autonomous working machine has exited the charging station, it controls itself to move toward the charging station.
  • the way of moving toward the charging station is to move directly to the first endpoint B of the designated side.
  • the autonomous working machine is controlled to work along the designated side of the bottom plate of the charging station to cut the grass on the designated side cleanly.
  • the autonomous working machine can open the cutter disc when exiting from the charging station, or it can open the cutter disc when confirming to exit from the charging station.
  • the autonomous working machine when it completes charging and is ready to exit from the charging station, it can open the cutter disc and then exit, so that the grass on the floor of the charging station can be cut.
  • the autonomous working machine in order to ensure safety, can be controlled not to open the cutter disc during the retreat process. Specifically, for example, the cutter disc is not opened during the retreat process from the charging station. After retreating a certain distance, open the cutter disc and move forward.
  • the autonomous working machine when exiting from the charging station is confirmed, the autonomous working machine is controlled to open the cutter disc. In this way, by controlling the machine not to open the cutter disc when retreating, it can be ensured that the machine will not cause harm to people or other objects during the retreat process, thereby ensuring safety.
  • controlling the autonomous working machine to work along the designated side of the charging station bottom plate 52 may include: determining the second distance between the charging pile 51 and the designated side, and adjusting the posture of the autonomous working machine according to the second distance and the image captured by the image acquisition device, so that the autonomous working machine moves to the first end point B of the designated side. It can be understood that the autonomous working machine needs to obtain the lateral distance and forward distance of its own movement when it moves to the first end point B of the designated side.
  • the distance between the charging pile 51 and the designated side is the lateral distance that the autonomous working machine needs to move, and the distance between the charging pile 51 and the designated side is pre-stored in the memory of the autonomous working machine and can be directly called.
  • the image including the charging pile 51 captured by the image acquisition device can be used to obtain the moving distance of the autonomous working machine back to point A based on the image, the length of the bottom plate 52 (the length of the bottom plate 52 is the length of the left side L or the right side R of the bottom plate, or the distance between the front side M and the rear side H) is pre-stored in the memory of the autonomous working machine and can be directly called, and the distance that the autonomous working machine needs to move forward is the difference between the distance the autonomous working machine retreats and the length of the bottom plate.
  • the second distance between the identification information attached to the charging pile 51 and the designated side can be determined; according to the second distance and the image captured by the image acquisition device, the posture of the autonomous working machine is adjusted so that the autonomous working machine moves to the first endpoint B of the designated side.
  • the posture of the autonomous working machine is adjusted so that the autonomous working machine moves to the first endpoint B of the designated side.
  • the posture of the autonomous working machine is adjusted so that the autonomous working machine moves along the dotted line direction indicated by a to the endpoint B of the left side L.
  • the autonomous working machine 1 is controlled to cut along the left side L of the charging station in the direction indicated by S2 based on the image captured by the image acquisition device, so as to cut the grass left on the side of the charging station.
  • controlling the autonomous working machine to work along at least a portion of the side of the bottom plate of the charging station includes:
  • S21 Control the autonomous working machine to work along at least a portion of the front side of the charging station.
  • S22 Control the autonomous working machine to work along a designated side of the floor of the charging station.
  • controlling the autonomous working machine to work along at least part of the side of the bottom plate of the charging station includes controlling the autonomous working machine to work along the front side M and the designated side.
  • controlling the autonomous working machine to work along at least part of the side of the bottom plate of the charging station includes controlling the autonomous working machine to work along at least part of the front side M first, and the moving direction of the autonomous working machine along the front side M is the direction approaching the designated side, and when the autonomous working machine moves to the intersection of the front side M and the designated side, the autonomous working machine is controlled to continue to move along the designated side.
  • the grass on part of the front side M and the designated side on the bottom plate 52 can be completely mowed.
  • controlling the autonomous working machine to work along at least a portion of the side edge of the bottom plate of the charging station includes:
  • the autonomous working machine is controlled to move to the front side of the bottom plate, and then moves along the front side to the first end point of the designated side.
  • the front side M is the boundary on the bottom plate away from the charging pile 51.
  • the first end point B is any point on the designated side, and the first end point B represents the starting point for the autonomous working machine to move along the designated side. In this embodiment, the first end point B is the intersection of the front side M and the designated side. In this embodiment, after confirming that the autonomous working machine has exited the charging station, it controls itself to move toward the charging station.
  • the way to move toward the charging station is to move directly to the front side M of the bottom plate, and then move along the front side M to the first end point B of the designated side, and cut the grass on the front side M that has passed through.
  • the autonomous working machine is controlled to work along the designated side of the bottom plate of the charging station to cut the grass on the designated side.
  • the autonomous working machine after the autonomous working machine exits the charging station, the autonomous working machine is controlled to move toward the bottom plate, including: controlling the autonomous working machine to move toward the charging station in a second direction.
  • the second direction is the forward direction of the autonomous working machine, which is opposite to the first direction described above. It can be understood that the autonomous working machine needs to obtain the forward distance of its own movement when it moves to the front side M.
  • the image including the charging pile collected by the image acquisition device can be used to obtain the distance between the autonomous working machine and the charging pile 51 based on the image.
  • the length of the bottom plate (the length of the floor is the length of the left side L or the right side R, which can also be said to be the distance between the front side M and the rear side H) is pre-stored in the memory of the autonomous working machine, it is known and can be directly called.
  • Control the autonomous working machine to move toward the charging station in the second direction, and detect the distance between the autonomous working machine and the charging pile 51 in real time.
  • the distance between the autonomous working machine and the charging pile reaches the length of the bottom plate (the length of the bottom plate is equal to the length of the left side L or the right side R of the bottom plate), it is determined that the autonomous working machine moves to the front side M of the bottom plate.
  • the first endpoint is the intersection of the designated side and the front side; moving along the front side to the first endpoint of the designated side includes:
  • the autonomous working machine is controlled to move a lateral distance along the front side to a first end point.
  • the autonomous working machine When moving to the front side M of the charging station, the autonomous working machine is controlled to change the moving direction and move to the first end point B along the front side M of the charging station.
  • the autonomous working machine rotates 90° in the direction of the designated side (i.e., to the left), it moves a lateral distance along the front side M to the first end point B.
  • the distance between the charging pile 51 and the designated side is the lateral distance that the autonomous working machine needs to move, and the distance between the charging pile 51 and the designated side is pre-stored in the memory of the autonomous working machine and can be directly called.
  • the autonomous working machine basically moves with the two-dimensional barcode attached to the charging pile 51 as a guide point when entering or exiting the station, and the distance between the two-dimensional barcode and the left side L is fixed, when the autonomous working machine moves to the boundary of the charging station, the distance between the two-dimensional barcode and the left side L is known. In this way, when moving to the boundary of the charging station, after controlling the autonomous working machine to rotate a preset angle, the autonomous working machine can be controlled to move to the starting point (first end point B) of the specified side based on the distance.
  • controlling the autonomous working machine to work along a designated side of a floor of the charging station further includes:
  • the automatic working machine is controlled to move from the first end point along the designated side by a distance not exceeding the length of the base plate to reach the target position.
  • the autonomous working machine moves along the first end point in the second direction by a distance of the length of the base plate. This arrangement can ensure the safety of the equipment while leaving less grass on the designated side (the left side L).
  • the front side M is perpendicular to the designated side.
  • the autonomous working machine moves to the first end point B, the autonomous working machine is controlled to rotate 90° in the direction of the charging pile 51 (i.e., to the right), and then moves forward along the designated side in the forward direction.
  • the forward moving distance does not exceed the length of the bottom plate 52.
  • the autonomous machine can be controlled to work along the designated side of the charging station floor 52, and whether it has moved to the target position can be detected.
  • the control module of the autonomous machine determines that the autonomous machine has reached the target position. The distance is pre-stored in the memory of the autonomous module and can be directly called, and the distance does not exceed the length of the floor 52.
  • the target position can be determined in the following manner: in the process of controlling the autonomous working machine to work along the designated side of the charging station floor 52, detecting whether the image captured by the image acquisition device includes the identification information; when it is confirmed that the identification information is not included, controlling the autonomous working machine to continue working along the designated side of the charging station floor 52 for a preset time/a second preset distance; and determining the position after continuing to work for the preset time/a second preset distance as the target position.
  • the preset time/the second preset distance can be set according to the actual scenario, and this specification does not limit this.
  • the control module can determine whether to go offline from the left side L according to whether the image captured by the camera includes a two-dimensional barcode, and thus move to the working area for cutting. Specifically, during the control of the autonomous working machine to move along the left side L of the charging station, it is detected whether the image captured by the camera includes a two-dimensional barcode. When it is confirmed that the two-dimensional barcode is not included, the autonomous working machine is controlled to continue to move along the left side LL of the charging station for a preset time/preset distance, and then the autonomous working machine is controlled to move from the left side LL to the working area along the dotted line direction indicated by b. It should be noted that when the image captured by the camera does not include a two-dimensional barcode, continuing to control the autonomous working machine to move forward for a period of time/distance can ensure safety while leaving less grass on the left side L.
  • control method of the autonomous working machine further includes:
  • the autonomous working machine In response to the autonomous working machine moving to the target position along the designated side, the autonomous working machine is controlled to move from the target position to the working area.
  • control method of the autonomous working machine further includes:
  • the autonomous working machine In response to the autonomous working machine moving to the target position along the designated side, the autonomous working machine is controlled to work along at least part of the rear side H of the base plate 52 , wherein the charging station includes a charging pile, and the rear side H is the boundary on the base plate 52 close to (or provided with) the charging pile.
  • the autonomous working machine after the autonomous working machine completes the task of working along the designated side, it can move to the working area and continue to perform the cutting task in the working area. It can also continue to move along the rear side H of the bottom plate 52 and cut the grass on the rear side H after completing the task of working along the designated side.
  • controlling the autonomous working machine to move from the target position to the working area includes: controlling the autonomous working machine to rotate at the target position in a preset direction and at a preset angle to obtain the posture information of the autonomous working machine; and controlling the autonomous working machine to move from the target position to the working area according to the posture information.
  • the preset direction is determined according to the direction of movement of the autonomous working machine when it moves along the edge and/or works in the working area. For example, if the autonomous working machine moves along the right edge in the working area, the preset direction may be to the left, that is, to go down the line from the left side L by rotating to the left by a preset angle.
  • the preset angle may be a random angle or a pre-set angle, which is not limited in this specification.
  • Posture information may include position information and posture information.
  • the position information may include the current geographical location, and the posture information may include the current direction.
  • This embodiment is applicable to the edge mode, that is, after leaving the charging station, you can first cut the grass around the charging station based on the solution of this application, and then enter the edge mode, move along the boundary and work (such as cutting).
  • controlling the autonomous working machine to work along at least part of the side of the bottom plate of the charging station includes: when the autonomous working machine works along at least part of the side, controlling the body of the autonomous working machine to cross at least part of the side in the width direction, and the width direction is perpendicular to the forward direction of the autonomous working machine. That is to say, when the autonomous working machine works along part of the front side M and the designated side, its body straddles the front side M and the designated side, so that the blade installed under the body can effectively cut the grass on at least part of the side, thereby improving work efficiency.
  • the control module can control the autonomous working machine to exit the station based on the image captured by the image acquisition device.
  • the control module can adjust the posture of the autonomous working machine during the retreat process based on the two-dimensional barcode in the captured image to ensure that the autonomous working machine does not collide with the peripheral equipment of the charging station during the exit process, thereby ensuring the safety of the exit.
  • the control module can also determine the distance between the autonomous working machine and the two-dimensional barcode, and when the distance reaches a preset threshold, control the autonomous working machine to open the cutter disc, and then move toward the charging station in the opposite direction of the exit.
  • the distance between the autonomous working machine and the two-dimensional barcode is the length of the bottom plate, it is determined that the autonomous working machine has moved to the front side M of the bottom plate.
  • the autonomous working machine moves to the front side M of the bottom plate, the autonomous working machine is controlled to turn left 90° (as shown in Figures 9a and 9b), and then move along the front side M of the charging station (as shown in Figures 9b and 9c).
  • the moving distance is the known lateral distance mentioned above (i.e., the distance between the two-dimensional barcode and the specified side). It should be noted that when the autonomous working machine leaves the station, the distance between the autonomous working machine and the two-dimensional barcode can be determined based on the position of the two-dimensional barcode in the image captured by the image acquisition device, and the length and width of the charging station are determined. Therefore, when the autonomous working machine moves to a distance from the two-dimensional barcode that reaches a preset threshold, It can be known that the autonomous working machine exits the charging pile 51. Therefore, when the distance between the autonomous working machine and the two-dimensional barcode reaches the length of the bottom plate, it is confirmed that the autonomous working machine moves to the front side M of the bottom plate.
  • the autonomous machine moves with the two-dimensional barcode as a guide point when exiting or entering the station, and the distance between the two-dimensional barcode and the left side L is fixed, when the autonomous machine moves to the boundary of the charging station, its distance from the left side L is known, so the autonomous machine can be controlled to move to the starting point of the left side L based on the distance (as shown in FIG. 9c ).
  • the starting point of the autonomous machine moving to the left side L can be when the cutter head of the autonomous machine moves to above the starting point.
  • control module can control the autonomous working machine to turn right 90°, and then move a preset distance along the left side L (as shown in Figures 10a and 10b).
  • the preset distance can be set based on the actual scene or determined based on the image collected by the camera, which is not limited in this specification.
  • the autonomous working machine can be controlled to rotate to the left by a preset angle (such as 90°) and move from the lower line of the left side L to the working area (as shown in FIG. 10c ). It should be noted that the preset distance does not exceed the length of the base plate.
  • a preset angle such as 90°
  • the autonomous working machine when confirming the exit from the charging station, the autonomous working machine is controlled to move along the front side M and the designated side of the bottom plate of the charging station, and when moving to the target position along the designated side, the autonomous working machine is controlled to move from the target position to the working area. Since after confirming that the autonomous working machine has exited the charging station, it does not directly enter the edge mode, but controls the autonomous working machine to cut along the boundary of the charging station, so that the grass around the charging station can be effectively cut, thereby ensuring the overall mowing efficiency and the beauty of the lawn.
  • an embodiment of the present application also provides a control method for an autonomous working machine to effectively cut grass on the floor of a charging station.
  • the present embodiment provides a control method for an autonomous working machine, which is configured to move and/or work in a working area. Specifically, it can be applied to a control module in the autonomous working machine. Of course, in some cases, it can also be applied to a server that is arranged on the network side and can control the operation process of the autonomous working machine. As shown in FIG. 19, the control method for the autonomous working machine provided in the present embodiment may include the following steps.
  • S1 Control the autonomous working machine to exit from the charging station.
  • control method in this embodiment can be implemented in combination with any of the above embodiments, or can be implemented separately.
  • the autonomous working machine after the autonomous working machine exits the charging station, it can first move to the bottom plate 52 to cut the grass on the bottom plate 52, and then move to the side of the bottom plate 52 to cut along the side of the bottom plate 52. It can also first move to the side of the bottom plate 52, cut along the side of the bottom plate 52, and then move to the bottom plate 52 to cut the grass on the bottom plate 52. It can also only move to the side of the bottom plate 52 to cut along the side of the bottom plate 52. It can also only move to the bottom plate 52 to cut the grass on the bottom plate 52.
  • controlling the autonomous working machine to work on the base plate includes:
  • controlling the autonomous working machine to work on the base plate also includes:
  • S42 Control the autonomous working machine to move forward to the preset area of the bottom plate and then turn around; control the autonomous working machine to continue moving forward away from the preset area. It should be noted that the autonomous working machine is in a working state during the process of moving away from the preset area.
  • the way in which the autonomous working machine in this embodiment exits the charging station can refer to the above-mentioned embodiment of the autonomous working machine exiting the charging pile when the autonomous working machine is working along at least part of the side, and will not be repeated here.
  • the cutter disc is turned on. Then the autonomous working machine is controlled to move forward in the forward direction (direction S2 in the figure) to the center point O of the preset area of the bottom plate 52.
  • the preset area is a certain position on the bottom plate, which can be set when the autonomous working machine leaves the factory, or it can be set by the user himself.
  • the distance between the center point O and the charging pile 51 is pre-stored in the memory of the autonomous working machine and is known.
  • the camera of the autonomous working machine captures an image containing the charging pile 51, and based on the image, obtains the distance between the autonomous working machine and the charging pile 51 in real time. When the distance between the autonomous working machine and the charging pile 51 reaches the distance between the center point O and the charging pile 51, it is determined that the autonomous working machine moves to the center point O of the above-mentioned preset area.
  • the cutter head when the autonomous working machine retreats to point A, the cutter head is turned on, and then the distance between the autonomous working machine and the center point O of the charging station floor is determined based on the position data of the center point O of the charging station floor (the center point O is the center point of the above-mentioned preset area) and the distance between point A and the two-dimensional barcode. Then, the autonomous working machine is controlled to move to the center point O of the charging station floor in the direction indicated by S2 (i.e., the second direction).
  • the autonomous working machine is controlled to rotate 180° and then continue to move away from the preset area. Specifically, based on the length and width of the charging station floor 52 and the position data of the center point O of the charging station floor, the autonomous working machine is controlled to move to the front side M of the charging station floor in the direction indicated by S1, and then continue to work along the front side M and the designated side. Alternatively, in other embodiments, the autonomous working machine directly leaves the floor 52 and moves into the working area.
  • the autonomous working machine when the autonomous working machine moves toward the boundary of the charging station, the autonomous working machine is first controlled to move to the center point of the charging station floor. Since the cutter disc is open, the grass remaining on the charging station floor can be cut.
  • the autonomous working machine when it is determined that the autonomous working machine has moved onto the boundary of the charging station chassis, the autonomous working machine may be controlled to move and work along the boundary of the charging station chassis.
  • the autonomous working machine when it is determined that the autonomous working machine has moved to the front side M of the charging station floor, the autonomous working machine is controlled to move and work along the boundary of the charging station, including: determining a second distance between the identification information and a designated side of the charging station floor; the designated side is determined according to the movement direction of the autonomous working machine when it moves along the edge and/or works in the working area; the designated side includes a left side L or a right side R; when it is determined that the machine has moved to the front side M of the charging station floor, the autonomous working machine is controlled to rotate a first preset angle in a first preset direction, and then move the second distance along the front side M to reach the endpoint of the designated side (first endpoint B); when it is confirmed that the machine has reached the endpoint of the designated side, the autonomous working machine is controlled to rotate a second preset angle in a second preset direction, and then move and work along the designated side.
  • the autonomous working machine when the autonomous working machine moves toward the front side M of the charging station floor in the direction indicated by S2 according to the distance from the front side M of the charging station floor, and confirms that it has moved to the front side M, the autonomous working machine can be controlled to rotate 90° in a counterclockwise direction, and then based on the distance of the two-dimensional barcode from the left side L of the charging station floor, the autonomous working machine is controlled to move along the front side M (see FIG. 9b and FIG. 9c ). Further, when moving to the starting point of the left side, the autonomous working machine can be controlled to rotate 90° in a clockwise direction, and then move and work along the left side (see FIG. 10a and FIG. 10b ).
  • the autonomous working machine first moves to the center point O of the charging station floor, then turns around and moves to the front side M of the charging station floor in the direction indicated by S1, and when it is confirmed that it has moved to the front side M, the autonomous working machine can be controlled to rotate 90° in a clockwise direction, and then based on the distance of the two-dimensional barcode from the left side L of the charging station floor (the distance is pre-stored in the memory of the autonomous working machine), the autonomous working machine is controlled to move along the front side (see FIG. 9b and FIG. 9c). Further, when moving to the starting point B (first end point B) of the left side, the autonomous working machine can be controlled to rotate 90° in a clockwise direction, and then move and work along the left side (see FIG. 10a and FIG. 10b).
  • the autonomous working machine when it is detected that the autonomous working machine moves to the target position along the designated side, the autonomous working machine is controlled to move from the target position to the working area.
  • the target position can be determined according to the parameter information of the charging station, such as the length of the left side of the bottom plate of the charging station.
  • the target position can also be determined based on the image captured by the camera.
  • the specific determination method can refer to the aforementioned embodiment and will not be described in detail.
  • the setting of the target position can ensure the safety of the autonomous working machine while leaving less grass on the left side L.
  • controlling the autonomous working machine to move from the target position to the working area includes: controlling the autonomous working machine to rotate at a third preset angle in a third preset direction at the target position to obtain the posture information of the autonomous working machine; the third preset direction is determined according to the movement direction of the autonomous working machine when moving along the edge and/or working in the working area; and according to the posture information, controlling the autonomous working machine to move from the target position to the working area.
  • the third preset direction is determined according to the direction of movement of the autonomous working machine when it moves along the edge and/or works in the working area. For example, if the autonomous working machine moves along the right edge in the working area, the third preset direction may be to the left, that is, to go down the line from the left side L by rotating to the left by a third preset angle.
  • the third preset angle may be a random angle or a pre-set angle, which is not limited in this specification.
  • Posture information may include position information and posture information.
  • the position information may include the current geographical location, and the posture information may include the current direction.
  • the cutter disc after the target position is disengaged (moved from the target position to the working area), the cutter disc can be turned off. Further, when entering the edge cutting mode, the cutter disc can be turned on for edge cutting. In some implementation scenarios, after the target position is disengaged (moved from the target position to the working area), the cutter disc can be left on and the edge cutting mode can be directly entered for edge cutting.
  • the cutter disc when it is confirmed that the autonomous working machine is withdrawing from the charging station, the cutter disc is opened, and then the autonomous working machine is controlled to move to the charging station and work. In this way, the cutter disc is not opened when the machine retreats, which can ensure that the machine will not cause harm to people or other objects during the retreat process, thereby ensuring safety.
  • the autonomous working machine when the autonomous working machine moves toward the bottom plate 52 of the charging station, the autonomous working machine is controlled to move to the center point of the bottom plate of the charging station. Since the blade is open, the grass remaining on the bottom plate of the charging station can be cut off. In a further embodiment, the autonomous working machine can also move along the front side M and the designated side of the bottom plate to cut the grass remaining on the front side M and the designated side.
  • the autonomous working machine is controlled to move and work along the boundary of the chassis of the charging station until it moves to the target position, and then the autonomous working machine is controlled to move from the target position to the working area.
  • the autonomous working machine Since after confirming that the autonomous working machine has left the charging station, it does not directly enter the edge mode, but controls the autonomous working machine to cut along the side of the charging station, it can achieve effective cutting of the grass around the charging station, thereby ensuring the overall mowing efficiency and the beauty of the lawn.
  • control method of the autonomous working machine further includes:
  • the implementation method of controlling the autonomous working machine to work along at least part of the side and/or on the bottom plate 52 can refer to the above-mentioned embodiments, and the method of controlling the autonomous working machine to move to the working area and/or work can also refer to the above-mentioned embodiments, which will not be repeated here.
  • determining whether a work task needs to be performed on at least a portion of the side edge and/or the bottom plate may include the following method:
  • the autonomous working machine exits the base station to a pause position, such as point A in the above embodiment.
  • An image of the charging station and the surroundings of the charging station is obtained at point A, and the image contains information about at least part of the side of the charging station floor (such as the front side M and/or the designated side) and/or the grass on the charging station floor.
  • Data analysis of the image can be performed to determine whether there is tall grass on at least part of the side of the floor (such as the front side M and/or the designated side) and/or the charging station floor.
  • the memory inside the autonomous working machine may store a tall grass model, and the control module of the autonomous working machine may import the image into the tall grass model, and then output the result of whether there is tall grass in the image, so as to judge whether there is tall grass on at least part of the side of the floor (such as the front side M and/or the designated side) and/or the floor 52 of the charging station.
  • the presence of tall grass on the bottom plate 52 may affect the autonomous machine's recognition of the charging pile 51, or affect the autonomous machine's recognition of the two-dimensional barcode on the charging pile 51.
  • the tall grass on the bottom plate 52 When there is tall grass on the bottom plate 52, the tall grass on the bottom plate 52 is cut to prevent the tall grass from affecting the autonomous machine's recognition of the charging pile 51; when there is no tall grass on the bottom plate 52, the autonomous machine directly enters the work area to perform tasks.
  • the autonomous machine performs mowing when it needs to mow, and directly enters the work area when it does not need to mow, thereby improving the work efficiency of the autonomous machine.
  • the autonomous machine after the autonomous machine exits the charging station, it is determined whether grass is included in a preset range of a designated side of the charging station according to the image captured by the camera; if it is confirmed to be included, the autonomous machine is controlled to move toward the charging station in a second direction and work.
  • the designated side may at least include the left side of the charging station.
  • the autonomous working machine when it is determined that the preset range of the designated side of the charging station does not include grass, the autonomous working machine is controlled to enter the edge mode.
  • the autonomous working machine is controlled to first execute the technical solution of this embodiment and then enter the edge mode. If it is detected that the designated side of the charging station does not include grass, it can be considered that the charging station is located outside the boundary. At this time, the autonomous working machine can be directly controlled to enter the edge mode.
  • determining whether a work task needs to be performed on at least part of the side edge and/or the bottom plate may further include the following method:
  • the number of times the autonomous working machine exits the charging station is accumulated to determine whether the number of times the autonomous working machine exits the charging station reaches a preset number; if the preset number is reached, the autonomous working machine is controlled to work along at least part of the side and/or on the bottom plate; if the preset number is not reached, the autonomous working machine is controlled to move to the working area and/or work.
  • the autonomous working machine will exit the charging station 5 and enter the working area to work.
  • the autonomous working machine may need to return to the charging station for several times to perform a complete cutting task in the working area. If the autonomous working machine cuts at least part of the side edges of the base plate 52 (such as the front side edge M and/or the designated side edges) and/or the grass on the base plate 52 of the charging station each time it exits the charging station, then the frequency of the autonomous working machine cutting the grass on at least part of the side edges of the charging station (such as the front side edge M and/or the designated side edges) and/or the grass on the base plate 52 of the charging station will be much greater than the frequency of cutting the grass in the working area, resulting in unequal grass lengths in the two areas and poor mowing effect.
  • the autonomous machine will cut at least part of the side (such as the front side M and/or the designated side) and/or the grass on the bottom plate 52 of the charging station once when the number of times the autonomous machine exits the charging station reaches a preset number.
  • the autonomous machine is controlled to move to the working area and/or work, so as to ensure the cutting effect of the autonomous machine on the grass around the charging station and on the bottom plate 52.
  • the preset number of times can be set according to the actual scenario, and this specification does not limit this. For example, 2 times, 3 times or 5 times.
  • the number of times the autonomous working machine exits the charging station is reset.
  • determining whether a work task needs to be performed on at least part of the side edge and/or the bottom plate may further include the following method:
  • the user can choose whether to cut at least part of the side (such as the front side M and/or the designated side) and/or the grass on the bottom plate of the charging station according to their own needs, which is more autonomous and enhances the effect of human-computer interaction.
  • the process of controlling the autonomous working machine to work along at least a portion of the side of the charging station floor and/or on the floor further includes: detecting whether an obstacle is encountered.
  • the user when the autonomous machine encounters an obstacle, the user is notified that the autonomous machine is in an abnormal state. The user then chooses whether to shut down the task of the autonomous machine working along at least part of the side and/or on the floor. The user may choose to shut down the task permanently or for a period of time.
  • the autonomous working machine when the autonomous working machine is detected to encounter an obstacle, the autonomous working machine is controlled to retreat a first preset distance and enter the edge mode.
  • the first preset distance can be set according to the actual scenario, and this specification does not limit this.
  • Treatmenting the first preset distance can keep the autonomous working machine away from obstacles to avoid damage to the equipment.
  • the obstacles in the above implementation scenario may be sheds arranged above and around the charging station, or other obstacles arranged around the charging station.
  • the autonomous machine when the autonomous machine is an automatic lawn mower, when the autonomous machine leaves the charging station (also called “exit") and returns to the mowing area to work, it will move/work directly along the boundary of the work area after exiting the station.
  • this method when there is grass around the charging station, this method will leave a lot of uncut grass around the charging station, thereby affecting the overall mowing efficiency and the beauty of the lawn.
  • the grass around the charging station is cut every time the autonomous machine exits the station, the working efficiency of the autonomous machine will be reduced.
  • the present disclosure also provides a control method for an autonomous working machine, and the autonomous working machine is configured to move and/or work in a working area. Specifically, it can be applied to a control module in an autonomous working machine. Of course, in some cases, it can also be applied to a server that is arranged on the network side and can control the operation process of the autonomous working machine. As shown in Figure 21, the control method for the autonomous working machine provided in this embodiment may include the following steps.
  • S1 Control the autonomous working machine to exit from the charging station
  • determining whether a work task needs to be performed on at least a portion of the side edge and/or the bottom plate may include the following method:
  • the autonomous working machine exits the base station to a pause position, such as point A in the above embodiment, and obtains an image of the charging station and the surrounding area of the charging station at point A.
  • the image contains information about at least part of the side of the bottom plate 52 (such as the front side M and/or the designated side) and/or the grass on the bottom plate 52 of the charging station.
  • By performing data analysis on the image it can be obtained whether there is tall grass on at least part of the side of the bottom plate 52 (such as the front side M and/or the designated side) and/or the bottom plate 52 of the charging station.
  • the memory inside the autonomous working machine may store a tall grass model, and the control module of the autonomous working machine may import the image into the tall grass model, and then output the result of whether there is tall grass in the image, so as to judge whether there is tall grass on at least part of the side of the bottom plate 52 (such as the front side M and/or the designated side) and/or the bottom plate 52 of the charging station.
  • the presence of tall grass on the bottom plate 52 may affect the autonomous machine's recognition of the charging pile 51, or affect the autonomous machine's recognition of the two-dimensional barcode on the charging pile 51.
  • the tall grass on the bottom plate 52 When there is tall grass on the bottom plate 52, the tall grass on the bottom plate 52 is cut to prevent the tall grass from affecting the autonomous machine's recognition of the charging pile 51; when there is no tall grass on the bottom plate 52, the autonomous machine directly enters the work area to perform tasks.
  • the autonomous machine performs mowing when it needs to mow, and directly enters the work area when it does not need to mow, thereby improving the work efficiency of the autonomous machine.
  • the autonomous machine after the autonomous machine exits the charging station, it is determined whether grass is included in a preset range of a designated side of the charging station according to the image captured by the camera; if it is confirmed to be included, the autonomous machine is controlled to move toward the charging station in a second direction and work.
  • the designated side may at least include the left side of the charging station.
  • the autonomous working machine when it is determined that the preset range of the designated side of the charging station does not include grass, the autonomous working machine is controlled to enter the edge mode.
  • the autonomous working machine is controlled to first execute the technical solution of this embodiment and then enter the edge mode. If it is detected that the designated side of the charging station does not include grass, it can be considered that the charging station is located outside the boundary. At this time, the autonomous working machine can be directly controlled to enter the edge mode.
  • determining whether a work task needs to be performed on at least part of the side edge and/or the bottom plate may further include the following method:
  • the number of times the autonomous working machine exits the charging station is accumulated to determine whether the number of times the autonomous working machine exits the charging station reaches a preset number; if the preset number is reached, the autonomous working machine is controlled to work along at least part of the side and/or on the bottom plate; if the preset number is not reached, the autonomous working machine is controlled to move to the working area and/or work.
  • the autonomous working machine will exit the charging station 5 and enter the working area to work.
  • the autonomous working machine may need to return to the charging station for several times to perform a complete cutting task in the working area. If the autonomous working machine cuts at least part of the side edges of the base plate 52 (such as the front side M and/or the designated side edges) and/or the grass on the base plate 52 of the charging station each time it exits the charging station, then the frequency of the autonomous working machine cutting the grass on at least part of the side edges of the base plate 52 (such as the front side M and/or the designated side edges) and/or the grass on the base plate 52 of the charging station will be much greater than the frequency of cutting the grass in the working area, resulting in unequal grass lengths in the two areas and poor mowing effect.
  • the autonomous machine it is not necessary for the autonomous machine to cut at least part of the side edges (such as the front side edge M and/or the designated side edges) of the bottom plate 52 and/or the grass on the bottom plate 52 of the charging station every time it exits the charging station. Instead, the autonomous machine will cut at least part of the side edges (such as the front side edge M and/or the designated side edges) of the bottom plate 52 and/or the grass on the bottom plate 52 of the charging station once when the number of times the autonomous machine exits the charging station reaches a preset number.
  • the autonomous machine When the number of times the autonomous machine exits the charging station does not reach the preset number, the autonomous machine is controlled to move to the working area and/or work, thereby ensuring the autonomous machine's cutting effect on the grass around the charging station and on the bottom plate.
  • the preset number of times can be set according to the actual scenario, and this specification does not limit this. For example, 2 times, 3 times or 5 times.
  • the number of times the autonomous working machine exits the charging station is reset.
  • determining whether a work task needs to be performed on at least part of the side edge and/or the bottom plate may further include the following method:
  • the user can choose whether to cut at least part of the side (such as the front side M and/or the designated side) and/or the grass on the bottom plate of the charging station according to their own needs, which is more autonomous and enhances the effect of human-computer interaction.
  • the embodiment of the present application also provides an autonomous working machine, which is configured to move and/or work in a working area, and the autonomous working machine includes:
  • a mobile unit configured to drive the autonomous working machine to move within a working area, and further configured to drive the autonomous working machine to enter and exit a charging station, and to move near the charging station;
  • the controller is configured to control the autonomous working machine to exit from the charging station; and is also configured to control the autonomous working machine to work along at least part of the side of the floor of the charging station and/or on the floor after the autonomous working machine exits from the charging station.
  • a memory for storing instructions executable by the processor
  • the processor is used to execute any of the above-mentioned control methods for the autonomous working machine.
  • the present application also provides a computer device, which can be a terminal or a system, such as a software control system of an autonomous working machine, and its internal structure diagram can be shown in Figure 14.
  • the computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus.
  • the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium.
  • the communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies.
  • WIFI wireless fidelity
  • NFC near field communication
  • the computer program is executed by the processor, the method of any method embodiment of the present application is implemented.
  • the display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the housing of the computer device, or an external keyboard, touchpad or mouse.
  • FIG. 14 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied.
  • the specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.
  • the present application further provides a computer-readable storage medium on which a computer program is stored.
  • a computer program is stored on a computer-readable storage medium.
  • the present application further provides a computer program product, including a computer program, which implements the steps in the above method embodiments when executed by a processor.
  • any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory.
  • Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc.
  • Volatile memory can include random access memory (RAM) or external cache memory, etc.
  • RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • the database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database.
  • Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this.
  • the processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but are not limited to this.
  • the embodiment of the present application also provides a control method for an autonomous working machine to effectively cut the grass around the charging station.
  • the control method for an autonomous working machine provided in this embodiment may include the following steps. S100, controlling the autonomous working machine to exit the charging station;
  • S102 when confirming to exit from the charging station, controlling the autonomous working machine to work along a designated side edge of the charging station floor;
  • the designated side edge is determined according to a moving direction of the autonomous working machine when moving along the side edge and/or working in the working area;
  • the autonomous working machine after confirming that the autonomous working machine has left the charging station, it does not directly enter the edge mode, but controls the autonomous working machine to cut along one side of the charging station. This can achieve effective cutting of the grass around the charging station, thereby ensuring the overall mowing efficiency and the beauty of the lawn.
  • an embodiment of the present application also provides a control method for an autonomous working machine to achieve effective cutting of grass around a charging station.
  • the autonomous working machine of this embodiment is provided with a camera.
  • the autonomous working machine is configured to move and/or work in a working area.
  • the control method of the autonomous working machine may include:
  • the cutter head when confirming that the autonomous working machine exits the charging station, the cutter head is opened and based on the image captured by the camera and the distance between the identification information and the designated side of the charging station floor, the posture of the autonomous working machine is adjusted so that the autonomous working machine moves to the designated end point of the designated side; wherein the designated side is determined according to the direction of movement of the autonomous working machine along the side and/or when working in the working area;
  • the autonomous working machine after confirming that the autonomous working machine has left the charging station, it does not directly enter the edge mode, but controls the autonomous working machine to cut along one side of the charging station. This can achieve effective cutting of the grass around the charging station, thereby ensuring the overall mowing efficiency and the beauty of the lawn.
  • the autonomous working machine when exiting from the charging station, the autonomous working machine is controlled not to open the cutter disc, and the cutter disc is opened when it is confirmed to have exited the charging station (that is, when it reaches a position a certain distance away from the identification information). This can ensure that the machine will not cause harm to people or other objects during the retreat process, thereby ensuring safety.
  • an embodiment of the present application also provides a control method for an autonomous working machine to achieve effective cutting of grass around a charging station.
  • this embodiment may be applied to an autonomous working machine, the autonomous working machine is provided with a camera, and the autonomous working machine is configured to move and/or work in a working area.
  • the control method of the autonomous working machine may include:
  • an embodiment of the present application also provides a control method for an autonomous working machine to achieve effective cutting of grass around a charging station.
  • this embodiment can be applied to an autonomous working machine, which is configured to move and/or work in a working area. Specifically, it can be applied to a control module in the autonomous working machine. Of course, in some cases, it can also be applied to a server that is arranged on the network side and can control the operation process of the autonomous working machine. As shown in FIG11 , the control method of the autonomous working machine provided in this embodiment can include the following steps.
  • S400 controlling the autonomous working machine to exit from the charging station in a first direction; wherein identification information is provided on the charging station; and the first direction is a direction away from the identification information;
  • controlling the autonomous working machine to exit from the charging station in a first direction includes: controlling the autonomous working machine to exit from the charging station in the first direction according to a situation in which the image captured by the image acquisition device includes the identification information.
  • the control module can control the autonomous working machine 1 to exit the station in the direction indicated by S1 based on the image captured by the camera.
  • the control module can adjust the posture of the autonomous working machine during the backward process based on the two-dimensional barcode in the captured image to ensure that the autonomous working machine does not collide with the peripheral equipment of the charging station during the exit process.
  • control module can determine the distance between the autonomous working machine and the two-dimensional barcode based on the image captured by the camera, and then determine whether the autonomous working machine exits the charging station.
  • the process includes: determining a first distance between the autonomous working machine and the identification information according to the position of the identification information in the image captured by the image acquisition device; and confirming the exit from the charging station when the first distance reaches a preset threshold.
  • the first distance and the preset threshold can be set according to actual scenarios, and this specification does not limit this.
  • the control module can determine the distance between the autonomous working machine and the two-dimensional barcode, and when the distance reaches a preset threshold (such as point A in the figure), it can be considered that the autonomous working machine has exited the charging station.
  • a preset threshold such as point A in the figure
  • the cutter head when it is confirmed that the autonomous machine is withdrawing from the charging station, the cutter head can be opened, and then the autonomous machine can be controlled to move toward the charging station and work. In this way, the cutter head is not opened when the machine is retreating, which can ensure that the machine will not cause harm to people or other objects during the retreat process, thereby ensuring safety.
  • the cutter head when exiting from the charging station is confirmed, the cutter head is turned on, and then the autonomous working machine can be controlled to move toward the charging station and work.
  • controlling the autonomous working machine to move toward the charging station and work includes: obtaining a third distance between the autonomous working machine and the identification information when exiting the charging station; obtaining parameter information of the charging station; and controlling the autonomous working machine to move toward the charging station in a second direction and work according to the third distance and the parameter information; wherein the second direction is opposite to the first direction.
  • the parameter information may include length and width data of the charging station floor, center position data, position information of the identification information, and the like.
  • the autonomous working machine is controlled to move toward the charging station in a second direction and work, including: determining a first target distance based on the third distance and the parameter information; the first target distance represents the distance between the autonomous working machine and the front side edge of the charging station floor when confirming to exit the charging station; the front side edge represents the boundary on the charging station floor away from the identification information; the autonomous working machine is controlled to move the first target distance in the second direction to reach the front side edge of the charging station floor.
  • the distance between the autonomous working machine and the front side of the charging station floor can be determined based on the distance and the length and width of the charging station. Further, based on the distance between the autonomous working machine and the front side of the charging station floor, the autonomous working machine can be controlled to move in the second direction to the front side of the charging station floor.
  • the cutter head is turned on, and then the distance between the autonomous working machine and the front side M of the charging station floor is determined based on the length and width of the charging station floor and the distance between point A and the two-dimensional barcode. Further, the autonomous working machine is controlled to move to the front side M of the charging station floor in the direction indicated by S2.
  • the autonomous working machine is controlled to move and work in a second direction toward the charging station to reach the boundary of the charging station, including: determining a second target distance based on the third distance and the parameter information; the second target distance represents the distance between the autonomous working machine and the center of the charging station when confirming to exit the charging station; controlling the autonomous working machine to move the second target distance in the second direction to reach the center of the charging station; when confirming to reach the center of the charging station, changing the moving direction so that the autonomous working machine moves and works in the first direction toward the front side edge of the charging station floor to reach the front side edge of the charging station floor; the front side edge represents the boundary on the charging station floor away from the identification information.
  • the distance of the autonomous working machine from the center of the charging station floor can be determined based on the distance and the center position data of the charging station floor. Further, based on the distance of the autonomous working machine from the center of the charging station floor, the autonomous working machine can be controlled to move to the center of the charging station floor in a second direction. Then, the autonomous working machine is controlled to turn around, and based on the length and width of the charging station floor and the center position data of the charging station floor, the autonomous working machine is controlled to move to the front side of the charging station floor in a first direction.
  • the cutter head is turned on, and then the distance between the autonomous working machine and the center O of the charging station floor is determined based on the position data of the center O of the charging station floor and the distance between point A and the two-dimensional barcode.
  • the autonomous working machine is controlled to move to the center O of the charging station floor in the direction indicated by S2.
  • the autonomous working machine is controlled to rotate 180°, and then based on the length and width of the charging station floor and the position data of the center O of the charging station floor, the autonomous working machine is controlled to move to the front side M of the charging station floor in the direction indicated by S1.
  • the autonomous working machine when the autonomous working machine moves toward the boundary of the charging station, the autonomous working machine is first controlled to move to the center of the charging station floor. Since the cutter disc is open, the remaining grass on the charging station floor can be cut.
  • the autonomous working machine when it is determined that the autonomous working machine has moved onto the boundary of the charging station chassis, the autonomous working machine may be controlled to move and work along the boundary of the charging station chassis.
  • the cutting disc when it is confirmed that the machine has exited the charging station, the cutting disc is turned on, and then the autonomous machine is controlled to move to the charging station and work.
  • the autonomous machine is controlled to move along the boundary of the chassis of the charging station and work until it moves to the target position, and then the autonomous machine is controlled to move from the target position to the working area. Since after confirming that the autonomous machine has exited the charging station, it does not directly enter the edge mode, but controls the autonomous machine to cut along one side of the charging station, it can effectively cut the grass around the charging station, thereby ensuring the overall mowing efficiency and the beauty of the lawn.
  • the cutter disc when it is confirmed that the autonomous working machine is withdrawing from the charging station, the cutter disc is opened, and then the autonomous working machine is controlled to move to the charging station and work. In this way, the cutter disc is not opened when the machine retreats, which can ensure that the machine will not cause harm to people or other objects during the retreat process, thereby ensuring safety.
  • the autonomous working machine when the autonomous working machine moves toward the boundary of the charging station, the autonomous working machine is first controlled to move to the center of the floor of the charging station. Since the blade is open, the grass left on the floor of the charging station can be cut.
  • the embodiment of the present application also provides a control device for an autonomous working machine.
  • the implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the device embodiment provided below can refer to the limitations of the method above, and will not be repeated here.
  • a control device for an autonomous working machine provided in an embodiment of the present application is applied to an autonomous working machine, wherein the autonomous working machine is configured to move and/or work in a working area, and the device includes:
  • a first control module 301 used to control the autonomous working machine to exit from the charging station
  • a second control module 302 is used to control the autonomous working machine to work along a designated side edge of the charging station floor when confirming to exit from the charging station; the designated side edge is determined according to the direction of movement of the autonomous working machine along the side edge and/or when working in the working area;
  • the third control module 303 is used to control the autonomous working machine to move from the target position to the working area when moving to the target position along the designated side.
  • Each module in the above device can be implemented in whole or in part by software, hardware, or a combination thereof.
  • Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

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Abstract

一种自主工作机器（1）的控制方法、装置及自主工作机器（1），自主工作机器（1）被配置为在工作区域（7）中移动和/或工作，自主工作机器（1）的控制方法包括：控制自主工作机器（1）从充电站（5）退出；在从充电站（5）退出后，控制自主工作机器（1）沿充电站（5）底板（52）的至少部分侧边和/或在底板（52）上工作。采用本方法可以实现对充电站（5）周围草的有效切割，从而保证整体割草效率和草坪的美观。

Description

一种自主工作机器的控制方法、自主工作机器以及存储介质 技术领域
本申请涉及自主工作机器控制技术领域，尤其涉及一种自主工作机器的控制方法、装置及自主工作机器。
背景技术
自主工作机器是指无需人工提供动力，可以自主按照工作区域的区域地图移动的设备。如：割草机、扫地机等。自主工作机器一般以电力作为动力，因此，需要与充电站配合使用，并在获取到回归指令的情况下自动返回充电站进行充电，充电完成后离开充电站并返回工作区域进行工作。其中，充电站是指供自主工作机器停靠和/或为自主工作机器充电的设备。
目前，自主工作机器从充电站离开返回割草区域工作时，主要是在出站后直接沿着工作区域的边界进行切割。然而，在充电站周围存在草时，这种方法会使充电站周围存在大量草未割，从而影响整体割草效率和草坪的美观。
发明内容
为克服现有技术的缺陷，本申请提供一种自主工作机器的控制方法、装置及自主工作机器，可以有效切割充电站周围的留草。
根据本申请实施例的第一方面，提供一种自主工作机器的控制方法，所述自主工作机器被配置为在工作区域中移动和/或工作，所述方法包括：控制所述自主工作机器从充电站退出；所述自主工作机器从充电站退出后，控制所述自主工作机器沿充电站的底板的至少部分侧边和/或在所述底板上工作。
在其中一种实施方式中，所述方法包括：控制所述自主工作机器沿充电站的底板的至少部分侧边工作；所述控制所述自主工作机器沿充电站的底板的至少部分侧边工作，包括：控制所述自主工作机器沿充电站的底板的指定侧边工作，所述指定侧边根据所述自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定。
在其中一种实施方式中，所述控制所述自主工作机器沿充电站的底板的至少部分侧边工作，还包括：所述自主工作机器从充电站退出后，控制所述自主工作机器沿充电站的至少部分前侧边工作，所述充电站包括充电桩，所述前侧边为所述底板上远离所述充电桩的边界。
在其中一种实施方式中，所述控制方法还包括：响应于所述自主工作机器沿所述指定侧边移动到目标位置，控制所述自主工作机器从所述目标位置向工作区域移动；或者，控制所述自主工作机器沿所述底板的至少部分的后侧边工作，所述充电站包括充电桩，所述后侧边为所述底板上靠近所述充电桩的边界。
在其中一种实施方式中，控制所述自主工作机器从所述充电站退出，包括：确定所述自主工作机器与所述充电站的充电桩之间的距离；响应于所述自主工作机器与所述充电桩之间的距离达到预设阈值，确认所述自主工作机器从充电站退出。
在其中一种实施方式中，控制所述自主工作机器从所述充电站退出，包括：控制所述自主工作机器与所述充电站的充电桩分离并退出所述充电站；确定所述自主工作机器退出充电站的时间，响应于所述自主工作机器退出充电站的时间达到预设时间，确认所述自主工作机器从充电站退出。
在其中一种实施方式中，所述控制所述自主工作机器从所述充电站退出，还包括：控制所述自主工作机器以退出方向从充电站退出；其中，所述退出方向为以垂直角度远离所述充电桩的方向。
在其中一种实施方式中，所述控制方法还包括：所述自主工作机器从充电站退出后，控制所述自主工作机器打开工作模块。
在其中一种实施方式中，所述控制方法还包括：所述自主工作机器从所述充电站退出后，控制所述自主工作机器向所述底板移动和/或工作；所述控制所述自主工作机器沿充电站的底板的指定侧边工作，包括：控制所述自主工作机器移动至所述指定侧边的第一端点，所述第一端点为所述指定侧边上任意的一点。
在其中一种实施方式中，所述控制方法还包括：所述自主工作机器从所述充电站退出后，控制所述自主工作机器向所述底板移动和/或工作；所述控制所述自主工作机器沿充电站的底板的至少部分侧边工作，包括：控制所述自主工作机器移动至所述底板的前侧边，再沿所述前侧边移动至所述指定侧边的第一端点，所述前侧边为所述底板上远离所述充电桩的边界，所述第一端点为所述指定侧边上任意的一点。
在其中一种实施方式中，所述第一端点为所述指定侧边与所述前侧边的交点；所述沿前侧边移动至所述指定侧边的第一端点，包括：获取所述充电桩与所述指定侧边之间的距离，定义为横向距离；控制所述自主工作机器沿前侧边移动所述横向距离,至所述第一端点。
在其中一种实施方式中，沿所述指定侧边移动到目标位置，包括：获取所述底板的长度；控制所述自动工作机器自所述第一端点起，沿所述指定侧边移动不超过所述长度的距离，到达目标位置。
在其中一种实施方式中，所述控制方法还包括：获取所述自主工作机器在退出的过程中采集的视场覆盖范围的图像；基于所述图像获取所述充电桩的标识信息；所述控制所述自主工作机器从充电站退出，包括：确定所述自主工作机器与所述标识信息之间的距离；响应于所述自主工作机器与所述标识信息之间的距离达到预设阈值，确认所述自主工作机器从充电站退出。
在其中一种实施方式中，所述控制所述自主工作机器沿充电站的底板的至少部分侧边工作，包括：所述自主工作机器沿所述至少部分侧边工作时，控制所述自主工作机器的机身在宽度方向跨越所述至少部分侧边，所述宽度方向与所述自主工作机器的前进方向垂直。
在其中一种实施方式中，所述控制方法包括：控制所述自主工作机器在所述底板上工作；所述控制所述自主工作机器在所述底板上工作，包括：控制所述自主工作机器人向前移动，并移动至所述底板上工作。
在其中一种实施方式中，控制所述自主工作机器在所述底板上工作，还包括：控制所述自主工作机器向前移动至所述底板的预设区域后掉头；控制所述自主工作机器继续向前移动远离所述预设区域，所述自主工作机器远离所述预设区域的过程中处于工作状态。
在其中一种实施方式中，所述控制方法还包括：判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务；是，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；否，则控制所述自主工作机器向工作区域移动和/或工作。
在其中一种实施方式中，所述控制方法还包括：控制所述自主工作机器从充电站退出至暂停位置；获取所述自主工作机器在所述暂停位置拍摄的图像，所述图像包括所述至少部分侧边和/或所述底板上的草的情况；判断所述充电站的底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：基于所述图像判断所述至少部分侧边和/或所述底板上是否存在高草；存在高草，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上割草；不存在高草，则控制所述自主工作机器向工作区域移动和/或工作。
在其中一种实施方式中，判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：累计所述自主工作机器退出所述充电站的次数，判断所述自主工作机器退出所述充电站的次数是否达到预设次数；达到预设次数，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；未达到预设次数，则控制所述自主工作机器向工作区域移动和/或工作。
在其中一种实施方式中，所述控制方法还包括：所述自主工作机器完成一次沿所述至少部分侧边和/或在所述底板上的工作后，对所述自主工作机器退出所述充电站的次数进行清零。
在其中一种实施方式中，判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：判断所述自主工作设备是否接收到所述用户的指示；接收到所述用户的指示，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；未接收到用户的指示，则控制所述自主工作机器向工作区域移动和/或工作。
本公开的另一方面提供一种自主工作机器，被配置为在工作区域中移动和/或工作，所述自主工作机器包括：移动单元，被配置为带动所述自主工作机器在所述工作区域内移动，还被配置为带动所述自主工作机器进入退出充电站，以及在所述充电站附近移动；控制器，被配置为控制所述自主工作机器从充电站退出；还被配置为在所述自主工作机器从充电站退出后，控制所述自主工作机器沿充电站的底板的至少部分侧边和/或在所述底板上工作。
本公开的另一方面提供一种自主工作机器，所述存储介质存储有计算机程序，所述计算机程序用于执行上述任一项所述的方法。
本公开的另一方面提供一种自主工作机器的控制方法，所述自主工作机器被配置为在工作区域中移动和/或工作，所述方法包括：控制所述自主工作机器从充电站退出；判断所述充电站的底板的至少部分侧边和/或所述底板上是否需要执行工作任务；是，则控制所述自主工作机器沿所述侧边工作；否，则控制所述自主工作机器向工作区域移动和/或工作。
在其中一种实施方式中，所述控制方法还包括：控制所述自主工作机器从充电站退出至暂停位置；获取所述自主工作机器在所述暂停位置拍摄的图像，所述图像包括所述至少部分侧边和/或所述底板上的草的情况；判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：基于所述图像判断所述至少部分侧边和/或所述底板上是否存在高草；存在草或高草，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上割草；不存在高草，则控制所述自主工作机器向工作区域移动和/或工作。
在其中一种实施方式中，判断所述底板的至少部分侧边是否需要执行工作任务，包括：
累计所述自主工作机器退出所述充电站的次数，判断所述自主工作机器退出所述充电站的次数是否达到预设次数；达到预设次数，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；未达到预设次数，则控制所述自主工作机器向工作区域移动和/或工作。
在其中一种实施方式中，所述控制方法还包括：所述自主工作机器完成一次沿所述至少部分侧边和/或在所述底板上工作后，对所述自主工作机器退出所述充电站的次数进行清零。
在其中一种实施方式中，判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：判断所述自主工作设备是否接收到所述用户的指示；接收到所述用户的指示，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；未接收到用户的指示，则控制所述自主工作机器向工作区域移动和/或工作。
本申请实施例提供的技术方案中，在确认从充电站退出时，开工作模块(刀盘)，然后控制自主工作机器向充电站移动并工作，在确定移动到充电站底盘的边界上时，控制自主工作机器沿充电站底板的边界移动并工作。由于在确认自主工作机器从充电站出站后，不是直接进入沿边模式，而是控制自主工作机器沿充电站的侧边进行切割，这样可以实现对充电站周围草的有效切割，从而保证整体割草效率和草坪的美观。
本申请实施例提供的技术方案中，在确认自主工作机器从充电站退出时，打开刀盘，然后控制自主工作机器向充电站移动并工作。这样，在机器后退时不开刀盘，可以保证机器在后退过程中不会对人或其它物体造成伤害，从而保证安全。
本申请实施例提供的技术方案中，在自主工作机器向充电站边界移动时，先控制自主工作机器移动到充电站底板中心，由于刀盘是开着的，所以可以将充电站底板上的留草割掉。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
以上所述的本申请的目的、技术方案以及有益效果可以通过下面的能够实现本申请的具体实施例的详细描述，同时结合附图描述而清楚地获得。
附图以及说明书中的相同的标号和符号用于代表相同的或者等同的元件。
图1为本申请一实施例提供的自动工作系统的示意图；
图2为本申请一实施例提供的自主工作机器的结构示意图；
图3为本申请一实施例提供的自主工作机器的结构示意图；
图4为本申请一实施例提供的自主工作机器的结构示意图；
图5为本申请一实施例提供的一种自主工作机器的控制方法的流程示意图；
图6为本申请一实施例提供的自主工作机器的控制方法的具体示意图；
图7为本申请一实施例提供的另一种自主工作机器的控制方法的流程示意图；
图8为本申请一实施例提供的另一种自主工作机器的控制方法的流程示意图；
图9为本申请一实施例提供的自主工作机器的控制方法的具体示意图；
图10为本申请一实施例提供的自主工作机器的控制方法的具体示意图；
图11为本申请一实施例提供的另一种自主工作机器的控制方法的流程示意图；
图12为本申请一实施例提供的自主工作机器的控制方法的具体示意图；
图13为本申请一实施例提供的自主工作机器的控制装置的模块图；
图14是本申请一实施例的计算机设备的组成示意图
图15本申请一实施例提供的一种自主工作机器沿底板的至少部分侧边工作的流程示意图；
图16a为本申请一实施例提供的另一种自主工作机器沿底板的至少部分侧边工作的流程示意图；
图16b为图16a实施例中检测自主工作机器退出充电站的一种实施例的流程示意图；
图17为图16a实施例中检测自主工作机器退出充电站的另一种实施例的流程示意图；
图18为本申请一实施例提供的又一种自主工作机器沿底板的至少部分侧边工作的流程示意图；
图19为本申请一实施例提供的一种自主工作机器在底板上工作的流程示意图；
图20为本申请一实施例提供的一种自主工作机器在底板上工作的流程示意图；
图21为本申请一实施例提供的一种自主工作机器的控制方法的流程示意图。
具体实施方式
为了便于理解本申请，下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例，提供这些实施方式的目的是为了对本申请的公开内容理解得更加透彻全面。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的前提下所获得的所有其他实施例，都属于本申请保护的范围。
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。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或服务器不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。此外，在没有明示的特别说明的情况下，本申请各实施例中的各项技术特征可视为能够进行相互组合或者结合，只要该种组合或者结合不是因为技术的原因而无法实施。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
随着科技的发展，自主工作机器的应用越来越广泛。如智能割草机可以自动地帮助人们维护草坪，将人们从草坪维护的枯燥且费时费力的家务工作中解放出来，因此受到极大欢迎。
由于自主工作机器一般以电力作为动力，因此，需要与充电站配合使用，即在获取到回归指令的情况下自动返回充电站进行充电，充电完成后离开充电站并返回工作区域进行工作。其中，自主工作机器是指无需人工提供动力，可以自主按照工作区域的区域地图移动的设备。充电站是指供自主工作机器停靠和/或为自主工作机器充电的设备。在实际实现时，充电站还可以提供其它功能，比如：供自主工作机器停靠、对自主工作机器进行清洁等，本实施例在此不对充电站的作用一一列举。
本申请实施例提供一种自主工作机器1(即自移动设备1)，本实施例中，以自主工作机器为智能割草机进行说明，在其他实施例中，自主工作机器1可以是自动吸尘器、自动喷洒设备、自动监控设备等适合无人值守的设备，自动行走于工作区域7的地面或表面上，完成相应的工作。
如图2所示，自主工作机器1包括控制模块20、工作模块21、行走模块22、能量模块23。
控制模块20用于控制自主工作机器1自动行走和工作，是自主工作机器1的核心部件，它执行的功能包括控制工作模块21启动工作或停止，控制行走模块22启动或停止，并控制移动方向，判断能量模块23的能量并及时指令自主工作机器1返回充电站自动对接充电等等。控制模块通常包括单片机和存储器以及其它外围电路。
工作模块21用于执行自主工作机器1的主要工作任务。若自主工作机器1为智能割草机，则工作模块包括割草刀片、切割马达等，也可能包括割草高度调节机构等优化或调整割草效果的部件。若自主工作机器1为自动吸尘器，则工作模块包括吸尘马达，吸尘口、吸尘管、真空室、集尘装置等用于执行吸尘任务的工作部件。
行走模块23用于带动自主工作机器1在工作区域7内行走，通常由安装在自主工作机器1上的轮组和驱动轮组的行走马达组成。轮组包括连接行走马达的驱动轮和主要起辅助支撑作用的辅助轮。本实施例中，驱动轮的数量为两个，位于自主工作机器1的后部，每个驱动轮连接有一个行走马达，辅助轮的数量为一个或两个，位于自主工作机器1的前部。
能量模块23用于为自主工作机器1的各项工作提供能量，其包括可充电电池和充电连接结构，充电连接结构通常为充电电极。
在一实施例中，除了上述模块，自主工作机器1还包括容纳和安装各个模块的壳体、供使用者操作的控制面板等，自主工作机器1还可能包括各种环境传感器，如湿度传感器、温度传感器、加速度传感器、光传感器、位置传感器等，位置传感器可以包括惯性传感器IMU或里程计ODO等，这些传感器可以帮助自主工作机器判断工作环境，以执行相应的程序。
如图1所示，自主工作机器1在边界3形成的工作区域7内行走并工作，充电站5用于供自主工作机器1停靠，尤其是在能源不足时返回补充能量。
边界3可以是工作区域7的外边界，外边界是整个工作区域7的外围，通常首尾相连，将工作区域7封闭。边界3可以是实体的也可以是电子的(如用户在APP上划定的虚拟边界)本申请对此不作限定。
充电站5通常位于工作范围内，如边界3上或边界内，和市电或其它电能提供系统连接，供自主工作机器1返回充电，充电站5上设有充电电极，用于和自主工作机器1的相应的电极对接。或者，充电站5不设置充电电极，而设置无线充电模块，与自主工作机器1的无线充电模块相互感应从而实现无线充电。
以自主工作机器为自动割草机为例，当自主工作机器从充电站离开(也可以称为“出站”)返回割草区域工作时，会在出站后直接沿着工作区域的边界进行移动/工作。然而，在充电站周围存在草时，这种方法会使充电站周围存在大量草未割，从而影响整体割草效率和草坪的美观。
为了有效切割充电站周围的留草，本实施例提供一种自主工作机器的控制方法，自主工作机器被配置为在工作区域中移动和/或工作。具体的，可应用于自主工作机器中的控制模块，当然，在某些情况下，也可以应用于布置于网络侧且能够对自主工作机器运行过程进行控制的服务器。如图15所示，本实施例提供的自主工作机器的控制方法，可以包括以下步骤。
S1：控制自主工作机器从充电站退出。
S2:自主工作机器从充电站退出后，控制自主工作机器沿充电站的底板的至少部分侧边工作。
需要说明的是，请参考图1和图6，充电站包括充电桩51和底板52，充电桩51通常设置在底板52的一个侧边上，以充电桩51为基准，将底板52上靠近(或者说安装有)充电桩51一侧的侧边称为后侧边H，将底板52上远离充电桩51一侧的的侧边称为前侧边M，将底板52上位于充电桩51左侧的侧边称为左侧边L，将底板52上位于充电桩51右侧的侧边称为右侧边R。当自主工作机器从充电站退出后，自主工作机器沿充电站的至少部分侧边工作是指，自主工作机器确认自身从充电站退出后，沿着底板52的前侧边M、后侧边H、左侧边L以及右侧边R中的至少部分执行割草任务，以将充电站周围的草切割干净，避免漏草。
在一实施例中，请参考图16a，控制自主工作机器从所述充电站退出，包括：
S10:确定自主工作机器与充电站的充电桩之间的距离。
S11:响应于自主工作机器与充电桩之间的距离达到预设阈值，确认自主工作机器从充电站退出。
需要说明的是，本申请并不限制检测自主工作机器与充电桩51之间的距离的方式。
在一种实施方式中，自主工作机器包括图像采集装置24，图像采集装置24安装于自主工作机器的机身100，用于采集机身100前进方向上的图像，该图像至少部分是自主工作机器前进方向上的工作面和/或工作面上的物体的图像。采集到的图像位于图像采集装置的视场范围内。如图3所示，图像采集装置可以为业内常用的摄像头或激光雷达等。一般地，图像采集装置24安装于机身100的前部靠上的位置，优选为居中设置，视角朝向前下方以采集工作面的图像。其视场范围210的大小可以根据实际需求进行调节，视场范围越大，采集到机身前进方向上的图像越多，反之越少。本实施例中，以图像采集装置24为摄像头进行示例性说明，对其它实施场景并不构成限定。可以基于摄像头检测障碍物和/或边界；在检测到障碍物的情况下可以绕开障碍物移动；也可以根据检测到的边界沿边界移动；还可以基于视觉传感器获取的图像来确定移动方向，基于移动方向移动和/或工作。
在本实施方式中，自主工作机器利用图像采集装置采集包含充电桩51的图像，根据该图像检测自主工作机器与充电桩51的距离，进而当自主工作机器与充电桩51之间的距离达到预设阈值，确认自主工作机器从充电站退出。
在一具体的实施例中，请参考附图16b,上述的控制方法还包括：
S111:获取自主工作机器在退出的过程中采集的视场覆盖范围的图像；
S112:基于图像获取充电桩的标识信息；
控制所述自主工作机器从充电站退出，包括：
S113:确定自主工作机器与标识信息之间的距离；
S114:响应于自主工作机器与标识信息之间的距离达到预设阈值，确认自主工作机器从充电站退出。
充电站5上设置上设有标识信息。标识信息可以为粘贴在充电站上的图案标记，如条形码、AprilTag视觉基准系统中的二维条形码等，其可以用于引导自主工作机器在充电站5周围移动和/或工作。标识信息可以与充电站的充电桩一一对应。需要说明的是，由于AprilTag中的二维条形码可编码为更小的数据有效载荷，不仅可以提高检测标识信息的准确性，而且可以从更远的距离检测到该标识信息。本申请中，以标记信息为AprilTag中的二维条形码为例进行示例性说明，其对其它实施例并不构成限定。
具体的，如图6所示，自主工作机器1在完成充电时，控制模块可以基于摄像头采集的图像控制自主工作机器1以第一方向S1所指方向后退出站，其中，在出站过程中，控制模块可以基于所采集图像中的二维条形码，调整自主工作机器后退过程中的位姿，以保证自主工作机器出站过程中，不与充电站外围设备发生碰撞。自主工作机器1在完成充电时，可以基于图像采集装置采集的图像控制自主工作机器1以第一方向S1出站。需要说明的是，机身移动的方向可以有多种，例如正常前行、后退、转向等，本实施例中，机身的前进方向指正常前行的方向，即机身的中轴线向前的方向。在本实施例中，自主工作机器后退的方向与前进方向相反，即第一方向与自主工作机器的前进方向相反。
在一些实施例中，在从充电站退出过程中，控制模块可以基于摄像头采集的图像确定自主工作机器距二维条形码的距离，进而判断自主工作机器是否从充电站退出。
在一些实施场景中，在所述自主工作机器从所述充电站退出过程中，包括：根据所述图像采集装置采集的图像中所述标识信息的位置，确定所述自主工作机器与所述标识信息之间的第一距离；在所述第一距离达到预设阈值时，确认从充电站退出。其中，第一距离、预设阈值可以根据实际场景设定，本说明书对此不作限定。
继续参照图6，基于所采集图像中的二维条形码，控制模块可以确定自主工作机器距二维条形码的距离，且在距离达到预设阈值时(如图中A点)，可以认为自主工作机器从充电站退出。这里需要说明的是，A点可以位于底板52之外，也可以位于底板52之上，本申请不做限制。
在另一种实施方式中，自主工作机器通过位置传感器检测自主工作机器与充电桩51之间的距离，位置传感器可以包括里程计ODO。当自主工作机器离开充电桩51开始，里程计开始计算自主工作机器的移动距离，当里程计ODO累计自主工作机器移动的距离达到预设阈值时，则确定自主工作机器退出充电站。其中，预设阈值可以根据实际场景设定，本说明书对此不作限定。
在另一实施例中，请参考图17，控制自主工作机器从所述充电站退出，包括：
S12:控制自主工作机器与充电站的充电桩分离并退出充电站。
S13:确定自主工作机器退出充电站的时间，响应于自主工作机器退出充电站的时间达到预设时间，确认自主工作机器从充电站退出。
具体的，如图6所示，自主工作机器1在完成充电时，控制模块基于IMU惯性传感器控制自主工作机器1以S1所指方向后退出站，同时计算自主工作机器1后退的时间，在自主工作机器1后退的时间达到预设时间时，确认自主工作机器从充电站中退出。其中，预设时间可以根据实际场景设定，本说明书对此不作限定。可以理解的，自主工作机器后退的速度一定，控制自主工作机器后退的时间，即可控制自主工作机器的后退距离。当自主工作机器后退一定的距离后，即确认自身已经退出充电站。
在上述的实施例中，控制自主工作机器从充电站退出，还包括：控制自主工作机器以退出方向从充电站退出；其中，退出方向为以垂直角度远离充电桩51的方向。也就是说，自主工作机器后退的位姿是垂直于充电桩51的，可以参考附图6中的第一方向S1。
在进一步的实施例中，请继续参考图16a,上述控制方法还包括：
S3:自主工作机器从充电站退出后，控制自主工作机器打开工作模块。需要说明的是，本实施例中的工作模块是指刀盘，包括切割刀片和驱动刀片的切割马达。还需要说明的是，自主工作机器可以在从充电站退出时开刀盘，也可以在确认从充电站退出时(如到达图6中A点时)开刀盘。在一些实施场景中，自主工作机器在从完成充电，从充电站准备出站时，可以打开刀盘，然后进行出站，这样，可以把充电站底板上存在的草割掉。在本实施例中，为了保证安全，可以控制自主工作机器在后退过程中不开刀盘。具体的，例如，从充电站后退的过程中不开刀盘，在后退到一定距离后或后退一定时间后，再开刀盘并前进。
在进一步的实施例中,请继续参考图16a,自主工作机器的控制方法还包括:
S20:自主工作机器从充电站退出后，控制自主工作机器向底板移动。可以理解的,自主工作机器退出充电站,需要再次向底板靠近才能实现对底板的至少部分侧边工作。
在一实施例中，请继续参考图16a，控制自主工作机器沿充电站的底板的至少部分侧边工作，包括：
S22:控制自主工作机器沿充电站的底板的指定侧边工作。其中，指定侧边根据自主工作机器在工作区域中沿边移动和/或工作时的移动方向确定。指定侧边可以包括左侧边L或右侧边R。具体的，例如，若预先设定自主工作机器在工作区域中的移动方向为右沿边，即在移动和/或工作过程中，工作区域的外边界始终位于自主工作机器的右侧，则指定侧边为充电站底板52的左侧边L。若预先设定自主工作机器在工作区域中的移动方向为左沿边，即在移动和/或工作过程中，工作区域的外边界始终位于自主工作机器的左侧，则指定侧边为充电站底板52的右侧边R。当然，本申请以自主工作机器在工作区域中的移动方向为右沿边进行示例性说明，对其它实施场景并不构成限定。
具体的，控制自主工作机器沿充电站的底板的指定侧边工作包括：
控制所述自主工作机器移动至指定侧边的第一端点。需要说明的是，第一端点为指定侧边上任意一点，第一端点表示所述自主工作机器沿所述指定侧边移动的起点。在本实施例中，第一端点B为指定侧边和前侧边M的交点。在本实施例中，自主工作机器在确认自身退出充电站后，控制自身朝向充电站移动，朝向充电站移动的方式为直接移动至指定侧边的第一端点B，在确认移动到所述第一端点B的情况下，控制所述自主工作机器沿充电站底板的指定侧边工作，将指定侧边上的草切割干净。
如上述实施例所述，自主工作机器可以在从充电站退出时开刀盘，也可以在确认从充电站退出时开刀盘。在一些实施场景中，自主工作机器在从完成充电，从充电站准备出站时，可以打开刀盘，然后进行出站，这样，可以把充电站底板上存在的草割掉。在另一些实施场景中，为了保证安全，可以控制自主工作机器在后退过程中不开刀盘。具体的，例如，从充电站后退的过程中不开刀盘， 在后退到一定距离后，再开刀盘并前进。
本实施例中，在确认从充电站退出时，控制所述自主工作机器开刀盘。这样，通过控制机器在后退时不开刀盘，可以保证机器在后退过程中不会对人或其它物体造成伤害，从而保证安全。
在一些实施场景中，控制所述自主工作机器沿充电站底板52的指定侧边工作，可以包括：确定充电桩51距指定侧边的第二距离，根据所述第二距离以及所述图像采集装置采集的图像，调整所述自主工作机器的位姿，以使所述自主工作机器向所述指定侧边的第一端点B移动。可以理解的，自主工作机器移动到指定侧边的第一端点B需要获取自身移动的横向距离以及前进距离。充电桩51距离指定侧边的距离即为自主工作机器需要移动的横向距离，充电桩51距离指定侧边的距离预先存储于自主工作机器的存储器，可以直接调用。通过图像采集装置采集的包括充电桩51的图像，基于该图像可以获取自主工作机器后退至A点的移动距离，底板52的长度(底板52的长度为底板左侧边L或右侧边R的长度，或者说是前侧边M与后侧边H之间的距离)预先存储于自主工作机器的存储器，可以直接调用，自主工作机器需要前进的距离为自主工作机器后退的距离与底板的长度之差。
在具体实施时，可以确定贴设在充电桩51上的标识信息距指定侧边的第二距离；根据所述第二距离以及所述图像采集装置采集的图像，调整所述自主工作机器的位姿，以使所述自主工作机器向所述指定侧边的第一端点B移动，继续参照图6，在确认自主工作机器从充电站退出，即在自主工作机器后退到A点时，基于摄像头采集的图像以及二维条形码距充电站左侧边L的距离，调整自主工作机器的位姿，以使自主工作机器沿a所指示的虚线方向向左侧边L的端点B移动。进一步，在移动到端点B时，基于图像采集装置采集的图像控制自主工作机器1以S2所指方向沿充电站左侧边L切割，以将充电站侧边留草割掉。
在另一实施例中，请参考图18，控制自主工作机器沿充电站的底板的至少部分侧边工作，包括：
S21:控制自主工作机器沿充电站的至少部分前侧边工作。
S22:控制自主工作机器沿充电站的底板的指定侧边工作。
如上文所述，充电站包括充电桩51，前侧边M为底板52上远离所述充电桩51的边界。在本实施例中，控制自主工作机器沿充电站的底板的至少部分侧边工作包括,控制自主工作机器沿前侧边M以及指定侧边工作。具体的，控制自主工作机器沿充电站的底板的至少部分侧边工作包括，控制自主工作机器先沿至少部分的前侧边M工作，自主工作机器的沿前侧边M的移动方向是向指定侧边靠近的方向，当自主工作机器移动到前侧边M与指定侧边的交点处，控制自主工作机器继续沿指定侧边移动。如此设置，可以将底板52上部分前侧边M以及指定侧边上的草全部割干净。
具体的，控制自主工作机器沿充电站的底板的至少部分侧边工作包括：
控制自主工作机器移动至底板的前侧边，再沿前侧边移动至指定侧边的第一端点。需要说明的是，前侧边M为底板上远离充电桩51的边界。第一端点B为指定侧边上任意一点，第一端点B表示所述自主工作机器沿所述指定侧边移动的起点。在本实施例中，第一端点B为前侧边M和指定侧边的交点。在本实施例中，自主工作机器在确认自身退出充电站后，控制自身朝向充电站移动，朝向充电站移动的方式为直接移动至底板的前侧边M，再沿前侧边M移动至指定侧边的第一端点B，将经过的前侧边M上的草切割干净，在确认移动到所述第一端点B的情况下，控制所述自主工作机器沿充电站底板的指定侧边工作，将指定侧边上的草切割干净。
在本实施例中，自主工作机器从充电站退出后，控制自主工作机器向底板移动，包括：控制所述自主工作机器以第二方向向充电站移动。第二方向为自主工作机器的前进方向，与上文所述的第一方向相反。可以理解的，自主工作机器移动到前侧边M需要获取自身移动的前进距离。通过图像采集装置采集的包括充电桩的图像，基于该图像可以获取自主工作机器与充电桩51之间的距离，由于底板的长度(地板的长度为左侧边L或右侧边R的长度,也可以说是前侧边M与后侧边H之间的距离)预先存储于自主工作机器的存储器，是已知的，可以直接调用。控制自主工作机器以第二方向向充电站移动，实时检测自主工作机器与充电桩51之间的距离，当自主工作机器与充电桩之间的距离达到底板的长度(底板的长度等于底板左侧边L或右侧边R的长度)，则判定自主工作机器移动至底板的前侧边M。
在本实施例中，第一端点为指定侧边与前侧边的交点；沿前侧边移动至指定侧边的第一端点，包括：
获取充电桩与指定侧边之间的距离，定义为横向距离；
控制自主工作机器沿前侧边移动横向距离至第一端点。
在移动到充电站的前侧边M上时，控制自主工作机器改变移动方向，并沿充电站的前侧边M移动至第一端点B。在本实施例中，自主工作机器向指定侧边所在方向(即向左)旋转90°后，沿着前侧边M向第一端点B处移动横向距离。可以理解的，充电桩51距离指定侧边的距离即为自主工作机器需要移动的横向距离，充电桩51距离指定侧边的距离预先存储于自主工作机器的存储器，可以直接调用。
在一些实施场景中，由于自主工作机器在出站或进站时，基本以贴设在充电桩51上的二维条形码为引导点进行移动，且二维条形码距左侧边L的距离是固定的，所以在自主工作机器移动到充电站边界上时，二维条形码距左侧边L的距离是已知的，这样，在移动到充电站边界上时，控制自主工作机器旋转预设角度后，可以基于该距离，控制自主工作机器移动到指定侧边的起点(第一端点B)。
在进一步的实施例中，控制自主工作机器沿充电站的底板的指定侧边工作，还包括：
获取底板的长度；
控制自动工作机器自第一端点起，沿指定侧边移动不超过底板长度的距离，到达目标位置。在本实施例中，自主工作机器沿第一端点以第二方向行进底板长度的距离。如此设置，可以保证设备安全的同时，使指定侧边(左侧边L)的留草更少。
在本实施例中，前侧边M与指定侧边垂直，当自主工作机器移动到第一端点B时，控制自主工作机器向充电桩51所在方向(即向右)旋转90°后，沿指定侧边以前进方向向前移动，向前移动的距离不超过底板52的长度。
在一些实施场景中，控制自主工作机器沿充电站底板52的指定侧边工作过程中，可以检测是否移动到目标位置。当自主工作机器言指定侧边行进一定距离后，自主工作机器的控制模块判定自主工作机器到达目标位置，该距离是预先存储在自主工作模块的存储器中的，可以直接调用，且该距离不超过底板52的长度。
在一些实施场景中，目标位置可以通过下述方式确定：在控制所述自主工作机器沿充电站底板52的指定侧边工作过程中，检测所述图像采集装置采集的图像中是否包括所述标识信息；在确认不包括所述标识信息时，控制所述自主工作机器沿充电站底板52的指定侧边继续工作预设时间/第二预设距离；将继续工作预设时间/第二预设距离后的位置确定为目标位置。其中，预设时间/第二预设距离可以根据实际场景设定，本说明书对此不做限定。
继续参照图6，在沿充电站左侧边L切割过程中，控制模块可以根据摄像头采集的图像中是否包括二维条形码，确定是否从左侧边L下线，从而移动到工作区域进行切割。具体的，在控制自主工作机器沿充电站左侧边L移动过程中，检测摄像头采集的图像中是否包括二维条形码，在确认不包括二维条形码时，控制自主工作机器沿充电站左侧边LL继续移动预设时间/预设距离后，控制自主工作机器沿b所指示的虚线方向从左侧边LL下线向工作区域移动。需要说明的是，在摄像头采集的图像中不包括二维条形码时，继续控制自主工作机器向前移动一段时间/距离，可以在保证安全的同时，使左侧边L的留草更少。
进一步的，上述自主工作机器的控制方法还包括：
响应于自主工作机器沿指定侧边移动到目标位置，控制自主工作机器从目标位置向工作区域移动。
或者，上述自主工作机器的控制方法还包括：
响应于自主工作机器沿指定侧边移动到目标位置，控制自主工作机器沿底板52的至少部分的后侧边H工作，所述充电站包括充电桩，后侧边H为底板52上靠近(或者说设置有)充电桩的边界。
也就是说，在本实施例中，自主工作机器在执行完沿指定侧边工作的任务之后，可以移动至工作区域中，继续在工作区域中执行切割任务。也可以在执行完沿指定侧边工作的任务之后，继续沿底板52的后侧边H移动，将后侧边H上的草切割干净。
在一些实施例中，控制所述自主工作机器从所述目标位置向工作区域移动，包括：控制所述自主工作机器在所述目标位置处以预设方向旋转预设角度，得到所述自主工作机器的位姿信息；根据所述位姿信息，控制所述自主工作机器从所述目标位置向工作区域移动。
其中，预设方向根据自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定。例如，自主工作机器在工作区域中以右沿边方式进行移动，则预设方向可以为向左的方向，即以向左旋转预设角度的方式从左侧边L下线。预设角度可以是随机角度，也可以是预先设定的角度，本说明书对此不做限定。位姿信息可以包括位置信息和姿态信息，位置信息可以包括当前所在的地理位置，姿态信息可以包括当前所在方向。
在一些实施场景中，在从左侧边L下线后，可以进入沿边模式，开始沿边切割。
本实施例适用于沿边模式，即从充电站出站后，可以先基于本申请方案对充电站周边的草进行切割，然后进入沿边模式，沿边界移动并工作(如切割)。
还需要说明的是，在本实施例中，控制自主工作机器沿充电站的底板的至少部分侧边工作，包括：自主工作机器沿至少部分侧边工作时，控制自主工作机器的机身在宽度方向跨越所述至少部分侧边，宽度方向与自主工作机器的前进方向垂直。也就是说，自主工作机器在沿部分前侧边M和指定侧边工作时，其机身是骑跨在前侧边M和指定侧边上的，如此能够保证安装在机身下方的刀盘有效的切割到至少部分侧边山的草，提高工作效率。
下面以自主工作机器在工作区域内右沿边为例进行示例性说明上述实施例的具体步骤，如图9、图10所示，自主工作机器1在完成充电时，控制模块可以基于图像采集装置采集的图像控制自主工作机器出站，其中，在出站过程中，控制模块可以基于所采集图像中的二维条形码，调整自主工作机器后退过程中的位姿，以保证自主工作机器出站过程中，不与充电站外围设备发生碰撞，保证出站安全。同时，基于所采集图像中的二维条形码，控制模块也可以确定自主工作机器距二维条形码的距离，且在距离达到预设阈值时，控制自主工作机器开刀盘，然后沿与出站相反的方向向充电站移动，当自主工作机器与二维条形码之间的距离为底板的长度时，判断自主工作机器移动到底板的前侧边M。在自主工作机器移动到底板的前侧边M上时，控制自主工作机器向左转90°(如图9a、图9b所示)，然后沿充电站的前侧边M移动(如图9b、图9c所示)，移动的距离为上文提及的已知的横向距离(即二维条形码与指定侧边之间的距离)。需要说明的是，由于自主工作机器在出站时，可以基于图像采集装置采集的图像中二维条形码的位置，确定自主工作机器与二维条形码之间的距离，而充电站的长宽是确定的。所以，在自主工作机器移动到与二维条形码距离达到预设阈值时， 可以知道自主工作机器退出充电桩51。所以，当自主工作机器与二维条形码之间的距离达到底板的长度时，确认自主工作机器移动至底板的前侧边M。
由于自主工作机器在出站或进站时，基本以二维条形码为引导点进行移动，且二维条形码距左侧边L的距离是固定的，所以在自主工作机器移动到充电站边界上时，其距左侧边L的距离是已知的，这样，可以基于该距离，控制自主工作机器移动到左侧边L的起点(如图9c所示)。在一个示例中，自主工作机器移动到左侧边L的起点可以是自主工作机器的刀盘移动到该起点的上方。
在移动到左侧边L的起点时，控制模块可以控制自主工作机器向右转90°，然后沿左侧边L移动预设距离(如图10a、图10b所示)。其中，该预设距离可以基于实际场景设定，也可以基于摄像头采集的图像确定，本说明书对此不作限定。
在移动预设距离后，可以控制自主工作机器向左旋转预设角度(如90°)，从左侧边L下线向工作区域移动(如图10c所示)。需要说明的是，该预设距离不超过底板的长度。
本申请实施例提供的技术方案中，在确认从充电站退出时，控制自主工作机器沿充电站底板的部分前侧边M和指定侧边移动，在沿指定侧边移动到目标位置时，控制自主工作机器从目标位置向工作区域移动。由于在确认自主工作机器从充电站出站后，不是直接进入沿边模式，而是控制自主工作机器沿充电站的边界进行切割，这样可以实现对充电站周围草的有效切割，从而保证整体割草效率和草坪的美观。
基于同样的发明构思，本申请实施例还提供一种自主工作机器的控制方法，以对充电站底板上的草进行有效切割。
本实施例提供一种自主工作机器的控制方法，自主工作机器被配置为在工作区域中移动和/或工作。具体的，可应用于自主工作机器中的控制模块，当然，在某些情况下，也可以应用于布置于网络侧且能够对自主工作机器运行过程进行控制的服务器。如图19所示，本实施例提供的自主工作机器的控制方法，可以包括以下步骤。
S1：控制自主工作机器从充电站退出。
S4：自主工作机器从充电站退出后，控制自主工作机器在充电站的底板上工作。
需要说明的是，本实施例中的控制方法可以结合上述任一实施例共同实施，也可以单独实施。换句话说，本公开提供的实施例中，自主工作机器在从充电站退出后，可以先移动至底板52上，对底板52上的草进行切割，再移动至底板52的侧边，沿底板52的侧边进行切割。还可以先移动至底板52的侧边上，沿底板52的侧边进行切割后，再移动至底板52上，对底板52上的草进行切割。还可以仅移动至底板52的侧边上，沿底板52的侧边进行切割。还可以仅移动至底板52上，对底板52上的草进行切割。
具体的，请参考图20,控制自主工作机器在底板上工作，包括：
S41:控制所述自主工作机器人向前移动，并移动至所述底板上工作。
进一步的，控制自主工作机器在底板上工作，还包括：
S42:控制自主工作机器向前移动至底板的预设区域后掉头；控制自主工作机器继续前进远离预设区域。需要说明的是，所述自主工作机器远离预设区域的过程中处于工作状态。
还需要说明的是，本实施例中的自主工作机器退出充电站的方式，可以参考上述自主工作机器沿至少部分侧边进行工作时，自主工作机器退出充电桩的实施例，在此不赘述。
具体的，继续参照图12，在自主工作机器后退到A点时，开刀盘。然后控制自主工作机器以前进方向(图中S2方向)向前移动至底板52的预设区域的中心点O。可以理解的，预设区域是底板上一个确定位置，可以是自主工作机器出厂时设定好的，也可以是由用户自己设置，中心点O距离充电桩51的距离是预先存储在自主工作机器的存储器中的，是已知的。自主工作机器的摄像头采集包含充电桩51的图像，并基于该图像实时获取自主工作机器与充电桩51之间的距离，当自主工作机器与充电桩51之间的距离达到中心点O距离充电桩51的距离，则判定自主工作机器移动至上述预设区域的中心点O。
在一些实施场景中，在自主工作机器后退到A点时，开刀盘，然后基于充电站底板的中心点O(中心点O为上述预设区域的中心点)的位置数据以及A点距二维条形码的距离，确定自主工作机器距充电站底板中心点O的距离。接着，控制自主工作机器以S2所指方向(即第二方向)移动到充电站底板中心点O处。
进一步，控制自主工作机器旋转180°，然后继续前进远离预设区域。具体的，基于充电站底板52的长、宽以及充电站底板中心点O的位置数据，控制自主工作机器以S1所指方向移动到充电站底板的前侧边M上，然后沿前侧边M以及指定侧边继续工作。或者，在其他实施例中自主工作机器直接离开底板52向工作区域中行进。
本实施例中，在自主工作机器向充电站边界移动时，先控制自主工作机器移动到充电站底板的中心点，由于刀盘是开着的，所以可以将充电站底板上的留草割掉。
在一些实施例中，在确定移动到充电站底盘的边界上时，可以控制自主工作机器沿所述充电站底盘的边界移动并工作。
在一些实施场景中，在确定移动到充电站底板的前侧边M上时，控制所述自主工作机器沿所述充电站边界移动并工作，包括：确定所述标识信息距所述充电站底板的指定侧边的第二距离；所述指定侧边根据所述自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定；所述指定侧边包括左侧边L或右侧边R；在确定移动到充电站底板的前侧边M上时，控制所述自主工作机器以第一预设方向旋转第一预设角度后，沿所述前侧边M移动所述第二距离，以到达所述指定侧边的端点(第一端点B)；确认到达所述指定侧边的端点时，控制所述自主工作机器以第二预设方向旋转第二预设角度后，沿所述指定侧边移动并工作。
继续参照图12，在一些实施场景中，以右沿边为例，在自主工作机器根据距充电站底板的前侧边M的距离以S2所指方向向充电站底板的前侧边M移动，且确认移动到前侧边M上时，可以控制自主工作机器以逆时针方向旋转90°，然后基于二维条形码距充电站底板左侧边L的距离，控制自主工作机器沿前侧边M移动(可参见图9b、图9c所示)。进一步，在移动到左侧边的起点时，可以控制自主工作机器以顺时针方向旋转90°，然后沿左侧边移动并工作(可参见图10a、图10b所示)。
继续参照图12，在另一些实施场景中，以右沿边为例，在自主工作机器先移动到充电站底板中心点O，然后掉头以S1所指方向向充电站底板的前侧边M移动，且确认移动到前侧边M上时，可以控制自主工作机器以顺时针方向旋转90°，然后基于二维条形码距充电站底板左侧边L的距离(该距离预先存储在自主工作机器的存储器中)，控制自主工作机器沿前侧边移动(可参见图9b、图9c所示)。进一步，在移动到左侧边的起点B(第一端点B)时，可以控制自主工作机器以顺时针方向旋转90°，然后沿左侧边移动并工作(可参见图10a、图10b所示)。
当然，上述以右沿边为例进行说明，左沿边类似，可以相互参照，对此不作赘述。
在一些实施场景中，沿所述指定侧边移动并工作过程中，可以检测是否移动到目标位置。
具体的，在一些实施场景中，在检测到所述自主工作机器沿所述指定侧边移动到目标位置时，控制所述自主工作机器从所述目标位置向工作区域移动。其中，目标位置可以根据充电站的参数信息确定，如，可以根据充电站底板的左侧边的长度确定。当然，在一些实施场景中，目标位置也可以基于摄像头采集的图像确定，具体确定方式可参照前述实施例，对此不作赘述。目标位置的设定可以保证自主工作机器安全的同时，使左侧边L的留草更少。
在一些实施场景中，控制所述自主工作机器从所述目标位置向工作区域移动，包括：控制所述自主工作机器在所述目标位置处以第三预设方向旋转第三预设角度，得到所述自主工作机器的位姿信息；所述第三预设方向根据所述自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定；根据所述位姿信息，控制所述自主工作机器从所述目标位置向工作区域移动。
其中，第三预设方向根据自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定。例如，自主工作机器在工作区域中以右沿边方式进行移动，则第三预设方向可以为向左的方向，即以向左旋转第三预设角度的方式从左侧边L下线。第三预设角度可以是随机角度，也可以是预先设定的角度，本说明书对此不做限定。位姿信息可以包括位置信息和姿态信息，位置信息可以包括当前所在的地理位置，姿态信息可以包括当前所在方向。
在一些实施场景中，在从目标位置下线(从目标位置向工作区域移动)后，可以进入沿边切割模式，开始沿边切割。
在一些实施场景中，在从目标位置下线(从目标位置向工作区域移动)后，可以关闭刀盘。进一步，在进入沿边切割模式时，再开启刀盘进行沿边切割。在一些实施场景中，在从目标位置下线(从目标位置向工作区域移动)后，可以不关刀盘，直接进入沿边切割模式进行沿边切割。
本申请实施例提供的技术方案中，在确认自主工作机器从充电站退出时，打开刀盘，然后控制自主工作机器向充电站移动并工作。这样，在机器后退时不开刀盘，可以保证机器在后退过程中不会对人或其它物体造成伤害，从而保证安全。
本申请实施例提供的技术方案中，在自主工作机器向充电站的底板52移动时，控制自主工作机器移动到充电站底板的中心点，由于刀盘是开着的，所以可以将充电站底板上的留草割掉。在进一步的实施例中，自主工作机器还能够沿着底板的前侧边M和指定侧边移动，以将前侧边M和指定侧边上的留草割掉，在确定移动到充电站底盘的边界上时，控制自主工作机器沿充电站底盘的边界移动并工作，直至移动到目标位置时，控制自主工作机器从目标位置向工作区域移动。由于在确认自主工作机器从充电站出站后，不是直接进入沿边模式，而是控制自主工作机器沿充电站的侧边进行切割，这样可以实现对充电站周围草的有效切割，从而保证整体割草效率和草坪的美观。
在一个实施例中，请参考图21，自主工作机器的控制方法还包括：
S5:判断底板的至少部分侧边和/或底板上是否需要执行工作任务；
S51:是，则控制自主工作机器沿至少部分侧边和/或在底板上工作；
S52:否，则控制自主工作机器向工作区域移动和/或工作。在自主工作机器对充电站底板52上或底板52周围的草进行切割前，先判断充电站底板52上或底板52周围需不需要割草，需要进行割草时再执行割草动作，以此既能有效切割充电站周围和/或底板52上的留草，又能提高自主工作机器的工作效率。控制自主工作机器沿至少部分侧边和/或在底板52上工作的实施方式可以参考上述的实施例，控制自主工作机器向工作区域移动和/或工作的方式也可以参考上述实施例，在此不再赘述。
在一种实施方式中，判断底板的至少部分侧边和/或底板上是否需要执行工作任务，可以包括如下方法：
控制自主工作机器从充电站退出至暂停位置；
获取自主工作机器在暂停位置拍摄的图像。所述图像包括至少部分侧边和/或底板上的草的情况；
基于所述图像判断至少部分侧边和/或底板上是否存在高草；存在高草，则控制自主工作机器沿至少部分侧边和/或在底板上割草；不存在高草，则控制自主工作机器向工作区域移动和/或工作。
在本实施方式中，自主工作机器退出基站至一暂停位置，例如可是上述实施例中的A点位置， 在A点位置获取充电站以及充电站周围的图像，该图像包含充电站底板的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板上的草的信息，对该图像进行数据分析，可以得出底板的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板上是否存在高草。至于具体的分析过程，可以是自主工作机器内部的存储器存储有高草模型，自主工作机器的控制模块将该图像导入高草模型，进而输出图像中是否存在高草的结果，以此判断底板的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上是否存在高草。底板52上存在高草高草可能会影响自主工作机器识别充电桩51，或者说会影响自主工作机器识别充电桩51上的二维条形码，当底板52上存在高草时，对底板52上的高草进行切割，能够避免高草影响自主工作机器识别充电桩51；当底板52上不存在高草时，自主工作机器直接进入工作区域执行任务。自主工作机器在需要进行割草时再执行割草动作，不需要割草时直接进入工作区域，以此提高自主工作机器的工作效率。
在一些实施例中，所述自主工作机器从充电站退出后，根据所述摄像头采集的图像，确定所述充电站指定侧边的预设范围内是否包括草；确认包括时，控制所述自主工作机器以第二方向向充电站移动并工作。其中，以自主工作机器在工作区域内右沿边为例，指定侧边至少可以包括充电站的左侧边。
在一些实施例中，确定充电站指定侧边的预设范围内不包括草时，控制所述自主工作机器进入沿边模式。
具体的，在一些实施场景中，通过智能识别，若检测到充电站指定侧边包括草，可以认为充电站位于边界内，控制自主工作机器先执行本实施例的技术方案后，再进入沿边模式。若检测到充电站指定侧边不包括草，可以认为充电站位于边界外，此时，可以直接控制自主工作机器进入沿边模式。
在一种实施方式中，判断底板的至少部分侧边和/或底板上是否需要执行工作任务，还可以包括如下方法：
累计自主工作机器退出所述充电站的次数，判断自主工作机器退出充电站的次数是否达到预设次数；达到预设次数，则控制自主工作机器沿至少部分侧边和/或在底板上工作；未达到预设次数，则控制自主工作机器向工作区域移动和/或工作。
可以理解的，自主工作机器每次完成充电后会退出充电站5进入到工作区域进行工作，自主工作机器对工作区域执行一次完整的切割任务，可能需要回到充电站进行几次充电，如果自主工作机器每次退出充电站都对底板52的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草进行切割，那么自主工作机器对充电站的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草切割的频率，会远远大于对工作区域的草切割的频率，使得两个区域的草长不相等，割草效果不佳。因此无需自主工作机器每次退出充电站都对充电站的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草进行切割，而是在自主工作机器退出充电站的次数达到预设次数，才对充电站的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草切割一次，在自主工作机器退出充电站的次数未达到预设次数时，控制自主工作机器向工作区域移动和/或工作，以此保证自主工作机器对充电站周围以及底板52上的草的切割效果。需要说明的是，预设次数可以根据实际场景设定，本说明书对此不作限定。例如是2次、3次或5次。
进一步的，自主工作机器完成一次沿至少部分侧边和/或在底板52上工作后，对自主工作机器退出充电站的次数进行清零。
在一种实施方式中，判断底板的至少部分侧边和/或底板上是否需要执行工作任务，还可以包括如下方法：
判断所述自主工作设备是否接收到所述用户的指示；接收到所述用户的指示，则控制自主工作机器沿至少部分侧边和/或在底板上工作；未接收到用户的指示，则控制自主工作机器向工作区域移动和/或工作。在本实施方式中，用户可以按照自身的需求选择是否对充电站的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板上的草进行切割，自主性更强，增强了人机交互的效果。
在一些实施例中，控制所述自主工作机器沿充电站底板的至少部分侧边和/或在底板上工作的过程中，还包括：检测是否遇到障碍物。
在一些实施场景中，在检测到自主工作机器遇到障碍物的情况下，通知用户自主工作机器处于异常状态。进而由用户选择是否关闭自主工作机器沿至少部分侧边和/或在底板上工作的任务，用户可以选择永久关闭上述任务，也可以选择一段时间内关闭上述任务。
在一些实施场景中，在检测到自主工作机器遇到障碍物的情况下，控制自主工作机器后退第一预设距离后，进入沿边模式。其中，第一预设距离可以根据实际场景设定，本说明书对此不作限定。后退第一预设距离可以使自主工作机器远离障碍物，避免损坏设备。
需要说明的是，上述实施场景中的障碍物可以是布置在充电站上方及周围的棚子，或设置在充电站周围的其他障碍物。
以自主工作机器为自动割草机为例，当自主工作机器从充电站离开(也可以称为“出站”)返回割草区域工作时，会在出站后直接沿着工作区域的边界进行移动/工作。然而，在充电站周围存在草时，这种方法会使充电站周围存在大量草未割，从而影响整体割草效率和草坪的美观。但是如果每一次自主工作机器出站时，都对充电站周围的草进行切割，会降低自主工作机器的工作效率。
为了既能有效切割充电站周围的留草，又能提高自主工作机器的工作效率，本公开还提供一种自主工作机器的控制方法，自主工作机器被配置为在工作区域中移动和/或工作。具体的，可应用于自主工作机器中的控制模块，当然，在某些情况下，也可以应用于布置于网络侧且能够对自主工作机器运行过程进行控制的服务器。如图21所示，本实施例提供的自主工作机器的控制方法，可以包括以下步骤。
S1:控制自主工作机器从充电站退出；
S5:判断底板的至少部分侧边和/或底板上是否需要执行工作任务；
S51:是，则控制自主工作机器沿至少部分侧边和/或在底板上工作；
S52:否，则控制自主工作机器向工作区域移动和/或工作。在自主工作机器对充电站底板52上或底板52周围的草进行切割前，先判断充电站底板52上或底板52周围需不需要割草，需要进行割草时再执行割草动作，以此既能有效切割充电站周围的留草，又能提高自主工作机器的工作效率。控制自主工作机器沿至少部分侧边和/或在底板52上工作的实施方式可以参考上述的实施例，控制自主工作机器向工作区域移动和/或工作的方式也可以参考上述实施例，在此不再赘述。
在一种实施方式中，判断底板的至少部分侧边和/或底板上是否需要执行工作任务，可以包括如下方法：
控制自主工作机器从充电站退出至暂停位置；
获取自主工作机器在暂停位置拍摄的图像。所述图像包括至少部分侧边和/或底板上的草的情况；
基于所述图像判断至少部分侧边和/或底板上是否存在高草；存在高草，则控制自主工作机器沿至少部分侧边和/或在底板上割草；不存在高草，则控制自主工作机器向工作区域移动和/或工作。
在本实施方式中，自主工作机器退出基站至一暂停位置，例如可是上述实施例中的A点位置，在A点位置获取充电站以及充电站周围的图像，该图像包含底板52的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草的信息，对该图像进行数据分析，可以得出底板52的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上是否存在高草。至于具体的分析过程，可以是自主工作机器内部的存储器存储有高草模型，自主工作机器的控制模块将该图像导入高草模型，进而输出图像中是否存在高草的结果，以此判断底板52的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上是否存在高草。底板52上存在高草高草可能会影响自主工作机器识别充电桩51，或者说会影响自主工作机器识别充电桩51上的二维条形码，当底板52上存在高草时，对底板52上的高草进行切割，能够避免高草影响自主工作机器识别充电桩51；当底板52上不存在高草时，自主工作机器直接进入工作区域执行任务。自主工作机器在需要进行割草时再执行割草动作，不需要割草时直接进入工作区域，以此提高自主工作机器的工作效率。
在一些实施例中，所述自主工作机器从充电站退出后，根据所述摄像头采集的图像，确定所述充电站指定侧边的预设范围内是否包括草；确认包括时，控制所述自主工作机器以第二方向向充电站移动并工作。其中，以自主工作机器在工作区域内右沿边为例，指定侧边至少可以包括充电站的左侧边。
在一些实施例中，确定充电站指定侧边的预设范围内不包括草时，控制所述自主工作机器进入沿边模式。
具体的，在一些实施场景中，通过智能识别，若检测到充电站指定侧边包括草，可以认为充电站位于边界内，控制自主工作机器先执行本实施例的技术方案后，再进入沿边模式。若检测到充电站指定侧边不包括草，可以认为充电站位于边界外，此时，可以直接控制自主工作机器进入沿边模式。
在一种实施方式中，判断底板的至少部分侧边和/或底板上是否需要执行工作任务，还可以包括如下方法：
累计自主工作机器退出所述充电站的次数，判断自主工作机器退出充电站的次数是否达到预设次数；达到预设次数，则控制自主工作机器沿至少部分侧边和/或在底板上工作；未达到预设次数，则控制自主工作机器向工作区域移动和/或工作。
可以理解的，自主工作机器每次完成充电后会退出充电站5进入到工作区域进行工作，自主工作机器对工作区域执行一次完整的切割任务，可能需要回到充电站进行几次充电，如果自主工作机器每次退出充电站都对底板52的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草进行切割，那么自主工作机器对底板52的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草切割的频率，会远远大于对工作区域的草切割的频率，使得两个区域的草长不相等，割草效果不佳。因此无需自主工作机器每次退出充电站都对底板52的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草进行切割，而是在自主工作机器退出充电站的次数达到预设次数，才对底板52的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板52上的草切割一次，在自主工作机器退出充电站的次数未达到预设次数时，控制自主工作机器向工作区域移动和/或工作，以此保证自主工作机器对充电站周围以及底板上的草的切割效果。需要说明的是，预设次数可以根据实际场景设定，本说明书对此不作限定。例如是2次、3次或5次。
进一步的，自主工作机器完成一次沿至少部分侧边和/或在底板上工作后，对自主工作机器退出充电站的次数进行清零。
在一种实施方式中，判断底板的至少部分侧边和/或底板上是否需要执行工作任务，还可以包括如下方法：
判断所述自主工作设备是否接收到所述用户的指示；接收到所述用户的指示，则控制自主工作机器沿至少部分侧边和/或在底板上工作；未接收到用户的指示，则控制自主工作机器向工作区域移动和/或工作。在本实施方式中，用户可以按照自身的需求选择是否对充电站的至少部分侧边(如前侧边M和/或指定侧边)和/或充电站的底板上的草进行切割，自主性更强，增强了人机交互的效果。
基于同样的发明构思，本申请实施例还提供了一自主工作机器，被配置为在工作区域中移动和/或工作，自主工作机器包括：
移动单元，被配置为带动自主工作机器在工作区域内移动，还被配置为带动自主工作机器进入退出充电站，以及在充电站附近移动；
控制器，被配置为控制自主工作机器从充电站退出；还被配置为在自主工作机器从充电站退出后，控制自主工作机器沿充电站的底板的至少部分侧边和/或在底板上工作。
该自主工作机器所提供的解决问题的实现方案与上述方法中所记载的实现方案相似，故下面所提供的设备实施例中的具体限定可以参见上文中对于方法的限定，在此不再赘述。
本申请实施例提供的一种作业设备，包括：
处理器；
用于存储所述处理器可执行指令的存储器；
所述处理器，用于执行上述任一项自主工作机器的控制方法。
在另一个实施例中，本申请还提供了一种计算机设备，该计算机设备可以是终端或系统，如自主工作机器的软件控制系统，其内部结构图可以如图14所示。该计算机设备包括通过系统总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、移动蜂窝网络、NFC(近场通信)或其他技术实现。该计算机程序被处理器执行时以实现本申请任一方法实施例的方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图14中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，本申请还提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现上述各方法实施例中的步骤。
在一个实施例中，本申请还提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述各方法实施例中的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存、光存储器、高密度嵌入式非易失性存储器、阻变存储器(ReRAM)、磁变存储器(Magnetoresistive Random Access Memory，MRAM)、铁电存储器(Ferroelectric Random Access Memory，FRAM)、相变存储器(Phase Change Memory，PCM)、石墨烯存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器等。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。本申请所提供的各实施例中所涉及的数据库可包括关系型数据库和非关系型数据库中至少一种。非关系型数据库可包括基于区块链的分布式数据库等，不限于此。本申请所提供的各实施例中所涉及的处理器可为通用处理器、中央处理器、图形处理器、数字信号处理器、可编程逻辑器、基于量子计算的数据处理逻辑器等，不限于此。
基于同样的发明构思，本申请实施例还提供一种自主工作机器的控制方法，以实现对充电站周围草的有效切割。如图5所示，本实施例提供的自主工作机器的控制方法，可以包括以下步骤。S100、控制所述自主工作机器从充电站退出；
S102、在确认从充电站退出时，控制所述自主工作机器沿充电站底板的指定侧边工作；所述指定侧边根据所述自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定；
S104、在沿所述指定侧边移动到目标位置时，控制所述自主工作机器从所述目标位置向工作区域移动。
本申请实施例，由于在确认自主工作机器从充电站出站后，不是直接进入沿边模式，而是控制自主工作机器沿充电站一侧进行切割，这样可以实现对充电站周围草的有效切割，从而保证整体割草效率和草坪的美观。
基于同样的发明构思，本申请实施例还提供一种自主工作机器的控制方法，以实现对充电站周围草的有效切割。
如图7所示，本实施例的自主工作机器设有摄像头，自主工作机器被配置为在工作区域中移动和/或工作，自主工作机器的控制方法可以包括：
S200、根据所述摄像头采集的图像中包括标识信息的情况，控制所述自主工作机器以第一方向从充电站退出；其中，所述充电站上设有标识信息；所述第一方向为远离所述标识信息的方向；
S202、确认所述自主工作机器从充电站退出时，开刀盘并基于所述摄像头采集的图像以及所述标识信息距充电站底板的指定侧边的距离，调整所述自主工作机器的位姿，以使所述自主工作机器向所述指定侧边的指定端点移动；其中，所述指定侧边根据所述自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定；
S204、在移动到指定端点时，控制所述自主工作机器以第二方向沿所述指定侧边工作；其中，所述第二方向与所述第一方向相反；
S206、根据所述摄像头采集的图像确定所述自主工作机器移动到目标位置时，控制所述自主工作机器从所述目标位置向工作区域移动。
需要说明的是，本实施例提供的自主工作机器的控制方法的具体实施过程与上述方法中所记载的实现方案相似，故上述所提供的方法实施例中的具体限定可以参见上文中描述，在此不再赘述。
本申请实施例，由于在确认自主工作机器从充电站出站后，不是直接进入沿边模式，而是控制自主工作机器沿充电站一侧进行切割，这样可以实现对充电站周围草的有效切割，从而保证整体割草效率和草坪的美观。
本申请实施例，在从充电站退出时，控制自主工作机器不开刀盘，在确认从充电站退出时(即，到达距标识信息一定距离的位置时)开刀盘，可以保证机器在后退过程中不会对人或其它物体造成伤害，从而保证安全。
基于同样的发明构思，本申请实施例还提供一种自主工作机器的控制方法，以实现对充电站周围草的有效切割。
如图8所示，本实施例可以应用于自主工作机器，自主工作机器设有摄像头，自主工作机器被配置为在工作区域中移动和/或工作，自主工作机器的控制方法可以包括：
S300、根据所述摄像头采集的图像中包括标识信息的情况，控制所述自主工作机器以第一方向从充电站退出；其中，所述充电站上设有标识信息；所述第一方向为远离所述标识信息的方向；
S302、确认所述自主工作机器从充电站退出时，控制所述自主工作机器以第二方向向充电站移动并工作，其中，所述第二方向与所述第一方向相反；
S304、在移动到充电站边界上时，控制所述自主工作机器改变移动方向，并沿所述充电站边界移动并工作；
S306、确认沿所述充电站移动预设距离时，控制所述自主工作机器从所述充电站边界向工作区域移动。
基于同样的发明构思，本申请实施例还提供一种自主工作机器的控制方法，以实现对充电站周围草的有效切割。
如图11所示，本实施例可以应用于自主工作机器，所述自主工作机器被配置为在工作区域中移动和/或工作，具体的，可应用于自主工作机器中的控制模块，当然，在某些情况下，也可以应用于布置于网络侧且能够对自主工作机器运行过程进行控制的服务器。如图11所示，本实施例提供的自主工作机器的控制方法，可以包括以下步骤。
S400、控制所述自主工作机器以第一方向从充电站退出；其中，所述充电站上设有标识信息；所述第一方向为远离所述标识信息的方向；
S402、确认从所述充电站退出时，控制所述自主工作机器向所述充电站移动并工作；
S404、在确定移动到充电站底盘的边界上时，控制所述自主工作机器沿所述充电站底盘的边界移动并工作；
S406、确认沿所述充电站底盘的边界移动预设距离时，控制所述自主工作机器从所述充电站底盘的边界向工作区域移动。
在一些实施例中，控制所述自主工作机器以第一方向从充电站退出，包括：根据所述图像采集装置采集的图像中包括所述标识信息的情况，控制所述自主工作机器以第一方向从充电站退出。
具体的，如图12所示，自主工作机器1在完成充电时，控制模块可以基于摄像头采集的图像控制自主工作机器1以S1所指方向出站，其中，在出站过程中，控制模块可以基于所采集图像中的二维条形码，调整自主工作机器后退过程中的位姿，以保证自主工作机器出站过程中，不与充电站外围设备发生碰撞。
在一些实施例中，在从充电站退出过程中，控制模块可以基于摄像头采集的图像确定自主工作机器距二维条形码的距离，进而判断自主工作机器是否从充电站退出。
在一些实施场景中，在所述自主工作机器以第一方向从充电站退出的过程中，包括：根据所述图像采集装置采集的图像中所述标识信息的位置，确定所述自主工作机器与所述标识信息之间的第一距离；在所述第一距离达到预设阈值时，确认从充电站退出。其中，第一距离、预设阈值可以根据实际场景设定，本说明书对此不作限定。
继续参照图12，基于所采集图像中的二维条形码，控制模块可以确定自主工作机器距二维条形码的距离，且在距离达到预设阈值时(如图中A点)，可以认为自主工作机器从充电站退出。
在一些实施例中，在确认自主工作机器从充电站退出时，可以打开刀盘，然后控制自主工作机器向充电站移动并工作。这样，在机器后退时不开刀盘，可以保证机器在后退过程中不会对人或其它物体造成伤害，从而保证安全。
在一些实施例中，在确认从充电站退出时，打开刀盘，然后可以控制所述自主工作机器向所述充电站移动并工作。
在一些实施场景中，控制所述自主工作机器向所述充电站移动并工作，包括：获取所述自主工作机器在退出充电站时距所述标识信息的第三距离；获取所述充电站的参数信息；根据所述第三距离和所述参数信息，控制所述自主工作机器以第二方向向充电站移动并工作；其中，所述第二方向与所述第一方向相反。其中，参数信息可以包括充电站底板的长宽数据、中心位置数据、标识信息的位置信息等。
在一些实施场景中，根据所述第三距离和所述参数信息，控制所述自主工作机器以第二方向向充电站移动并工作，包括：根据所述第三距离和所述参数信息，确定第一目标距离；所述第一目标距离表示在确认退出充电站时，所述自主工作机器距所述充电站底板的前侧边的距离；所述前侧边表示充电站底板上远离所述标识信息的边界；控制所述自主工作机器以第二方向移动所述第一目标距离，以到达充电站底板的前侧边上。
具体的，例如一些实施场景中，由于充电站底板的长和宽是已知的，所以在确定自主工作机器在退出充电站时距标识信息的距离后，可以基于该距离和充电站的长和宽，确定自主工作机器距充电站底板的前侧边的距离。进一步，基于自主工作机器距充电站底板的前侧边的距离，可以控制自主工作机器以第二方向移动到充电站底板的前侧边上。
继续参照图12，在自主工作机器后退到A点时，开刀盘，然后基于充电站底板的长和宽，以及A点距二维条形码的距离，确定自主工作机器距充电站底板的前侧边M的距离。进一步，控制自主工作机器以S2所指方向移动到充电站底板的前侧边M上。
在一些实施场景中，根据所述第三距离和所述参数信息，控制所述自主工作机器以第二方向向充电站移动并工作，以到达充电站边界上，包括：根据所述第三距离和所述参数信息，确定第二目标距离；所述第二目标距离表示在确认退出充电站时，所述自主工作机器距充电站中心的距离；控制所述自主工作机器以第二方向移动所述第二目标距离，以到达充电站中心；确认到达充电站中心时，改变移动方向，以使所述自主工作机器以所述第一方向向所述充电站底板的前侧边移动并工作，以到达充电站底板的前侧边上；所述前侧边表示充电站底板上远离所述标识信息的边界。
具体的，例如一些实施场景中，由于充电站底板的中心位置数据是已知的，所以在确定自主工作机器在退出充电站时距标识信息的距离后，可以基于该距离和充电站底板的中心位置数据，确定自主工作机器距充电站底板中心的距离。进一步，基于自主工作机器距充电站底板中心的距离，可以控制自主工作机器以第二方向移动到充电站底板中心。接着，控制自主工作机器掉头，基于充电站底板的长、宽以及充电站底板的中心位置数据，控制自主工作机器以第一方向移动到充电站底板的前侧边上。
继续参照图12，在自主工作机器后退到A点时，开刀盘，然后基于充电站底板中心O的位置数据以及A点距二维条形码的距离，确定自主工作机器距充电站底板中心O的距离。接着，控制自主工作机器以S2所指方向移动到充电站底板中心O处。进一步，控制自主工作机器旋转180°，然后基于充电站底板的长、宽以及充电站底板中心O的位置数据，控制自主工作机器以S1所指方向移动到充电站底板的前侧边M上。
本实施例中，在自主工作机器向充电站边界移动时，先控制自主工作机器移动到充电站底板中心，由于刀盘是开着的，所以可以将充电站底板上的留草割掉。
在一些实施例中，在确定移动到充电站底盘的边界上时，可以控制自主工作机器沿所述充电站底盘的边界移动并工作。
本申请实施例提供的技术方案中，在确认从充电站退出时，开刀盘，然后控制自主工作机器向充电站移动并工作，在确定移动到充电站底盘的边界上时，控制自主工作机器沿充电站底盘的边界移动并工作，直至移动到目标位置时，控制自主工作机器从目标位置向工作区域移动。由于在确认自主工作机器从充电站出站后，不是直接进入沿边模式，而是控制自主工作机器沿充电站一侧进行切割，这样可以实现对充电站周围草的有效切割，从而保证整体割草效率和草坪的美观。
本申请实施例提供的技术方案中，在确认自主工作机器从充电站退出时，打开刀盘，然后控制自主工作机器向充电站移动并工作。这样，在机器后退时不开刀盘，可以保证机器在后退过程中不会对人或其它物体造成伤害，从而保证安全。
本申请实施例提供的技术方案中，在自主工作机器向充电站边界移动时，先控制自主工作机器移动到充电站底板中心，由于刀盘是开着的，所以可以将充电站底板上的留草割掉。
当然，上述只针对与前述方法不同的实施例进行了说明，相同实施例可以参照前述方法，对此不做限定。
应该理解的是，虽然附图的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，附图中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
基于同样的发明构思，本申请实施例还提供了一种自主工作机器的控制装置。该装置所提供的解决问题的实现方案与上述方法中所记载的实现方案相似，故下面所提供的装置实施例中的具体限定可以参见上文中对于方法的限定，在此不再赘述。
如图13所示，本申请实施例提供的一种自主工作机器的控制装置，应用于自主工作机器，所述自主工作机器被配置为在工作区域中移动和/或工作，所述装置包括：
第一控制模块301，用于控制所述自主工作机器从充电站退出；
第二控制模块302，用于在确认从充电站退出时，控制所述自主工作机器沿充电站底板的指定侧边工作；所述指定侧边根据所述自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定；
第三控制模块303，用于在沿所述指定侧边移动到目标位置时，控制所述自主工作机器从所述目标位置向工作区域移动。
上述设备中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
需要说明的是，本申请中，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件或者一个元件与另一个元件“相连”，它可以是直接连接到另一个元件或者可能同时存在居中元件，并且应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体式连接；可以是机械连接，也可以是电连接。对于本领域中的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
本文所使用的术语“垂直的”、“水平的”、“左”、“右”、“上”、“下”、“前”、“后”、“周向”、“行进方向”以及类似的表述是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
除非另有定义，本文所使用的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义可以相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”、“和/或”、“至少…之一”包括一个或多个相关的所列项目的任意的和所有的组合。
以上实施例的各技术特征也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法，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。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，本申请的保护范围应以所附权利要求为准。

Claims (27)

  1. 一种自主工作机器的控制方法，所述自主工作机器被配置为在工作区域中移动和/或工作，其特征在于，所述方法包括：
    控制所述自主工作机器从充电站退出；
    所述自主工作机器从充电站退出后，控制所述自主工作机器沿充电站的底板的至少部分侧边和/或在所述底板上工作。
  2. 如权利要求1所述的控制方法，其特征在于，所述方法包括：
    控制所述自主工作机器沿充电站的底板的至少部分侧边工作；
    所述控制所述自主工作机器沿充电站的底板的至少部分侧边工作，包括：
    控制所述自主工作机器沿充电站的底板的指定侧边工作，所述指定侧边根据所述自主工作机器在所述工作区域中沿边移动和/或工作时的移动方向确定。
  3. 如权利要求2所述的控制方法，其特征在于，所述控制所述自主工作机器沿充电站的底板的至少部分侧边工作，还包括：
    所述自主工作机器从充电站退出后，控制所述自主工作机器沿充电站的至少部分前侧边工作，所述充电站包括充电桩，所述前侧边为所述底板上远离所述充电桩的边界。
  4. 如权利要求2所述的控制方法，其特征在于，所述控制方法还包括：
    响应于所述自主工作机器沿所述指定侧边移动到目标位置，控制所述自主工作机器从所述目标位置向工作区域移动；或者，控制所述自主工作机器沿所述底板的至少部分的后侧边工作，所述充电站包括充电桩，所述后侧边为所述底板上靠近所述充电桩的边界。
  5. 如权利要求1所述的控制方法，其特征在于，控制所述自主工作机器从所述充电站退出，包括：
    确定所述自主工作机器与所述充电站的充电桩之间的距离；
    响应于所述自主工作机器与所述充电桩之间的距离达到预设阈值，确认所述自主工作机器从充电站退出。
  6. 如权利要求1所述的控制方法，其特征在于，控制所述自主工作机器从所述充电站退出，包括：
    控制所述自主工作机器与所述充电站的充电桩分离并退出充电站；
    确定所述自主工作机器退出充电站的时间，响应于退出充电站的时间达到预设时间，确认所述自主工作机器从充电站退出。
  7. 如权利要求1所述的控制方法，其特征在于，所述控制所述自主工作机器从所述充电站退出，还包括：
    控制所述自主工作机器以退出方向从充电站退出；其中，所述退出方向为以垂直角度远离所述充电桩的方向。
  8. 如权利要求1-7中任意一项所述的控制方法，其特征在于，所述控制方法还包括：
    所述自主工作机器从充电站退出后，控制所述自主工作机器打开工作模块。
  9. 如权利要求2所述的控制方法，其特征在于，所述控制方法还包括：
    所述自主工作机器从所述充电站退出后，控制所述自主工作机器向所述底板移动和/或工作；
    所述控制所述自主工作机器沿充电站的底板的指定侧边工作，包括：
    控制所述自主工作机器移动至所述指定侧边的第一端点，所述第一端点为所述指定侧边上任意的一点。
  10. 如权利要求3所述的控制方法，其特征在于，所述控制方法还包括：
    所述自主工作机器从所述充电站退出后，控制所述自主工作机器向所述底板移动和/或工作；
    所述控制所述自主工作机器沿充电站的底板的至少部分侧边工作，包括：
    控制所述自主工作机器移动至所述底板的前侧边，再沿所述前侧边移动至所述指定侧边的第一端点，所述前侧边为所述底板上远离所述充电桩的边界，所述第一端点为所述指定侧边上任意的一点。
  11. 如权利要求10所述的控制方法，其特征在于，所述第一端点为所述指定侧边与所述前侧边的交点；
    所述沿前侧边移动至所述指定侧边的第一端点，包括：
    获取所述充电桩与所述指定侧边之间的距离，定义为横向距离；
    控制所述自主工作机器沿前侧边移动所述横向距离,至所述第一端点。
  12. 如权利要求11所述的控制方法，其特征在于，所述控制方法包括：
    获取所述底板的长度；
    控制所述自动工作机器自所述第一端点起，沿所述指定侧边移动到目标位置，所述自主工作机器移动的距离不超过所述底板的长度。
  13. 如权利要求5所述的控制方法，其特征在于，所述控制方法还包括：
    获取所述自主工作机器在退出过程中采集的视场覆盖范围的图像；
    基于所述图像获取所述充电桩的标识信息；
    所述控制所述自主工作机器从充电站退出，包括：
    确定所述自主工作机器与所述标识信息之间的距离；
    响应于所述自主工作机器与所述标识信息之间的距离达到预设阈值，确认所述自主工作机器从充电站退出。
  14. 如权利要求1所述的控制方法，其特征在于，所述控制所述自主工作机器沿充电站的底板的至少部分侧边工作，包括：
    所述自主工作机器沿所述至少部分侧边工作时，控制所述自主工作机器的机身在宽度方向跨越所述至少部分侧边，所述宽度方向与所述自主工作机器的前进方向垂直。
  15. 如权利要求1所述的控制方法，其特征在于，所述控制方法包括：
    控制所述自主工作机器在所述底板上工作；
    所述控制所述自主工作机器在所述底板上工作，包括：
    控制所述自主工作机器人向前移动，并移动至所述底板上工作。
  16. 如权利要求15所述的控制方法，其特征在于，控制所述自主工作机器在所述底板上工作，还包括：
    控制所述自主工作机器向前移动至所述底板的预设区域后掉头；
    控制所述自主工作机器继续向前移动远离所述预设区域，所述自主工作机器远离所述预设区域的过程中处于工作状态。
  17. 如权利要求1-16中任意一项权利要求所述的控制方法，其特征在于，所述控制方法还包括：
    判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务；是，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；否，则控制所述自主工作机器向工作区域移动和/或工作。18.根据权利要求17所述的控制方法，其特征在于，所述控制方法还包括：
    控制所述自主工作机器从充电站退出至暂停位置；
    获取所述自主工作机器在所述暂停位置拍摄的图像，所述图像包括所述至少部分侧边和/或所述底板上的草的情况；
    判断所述充电站的底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：
    基于所述图像判断所述至少部分侧边和/或所述底板上是否存在高草；存在高草，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上割草；不存在高草，则控制所述自主工作机器向工作区域移动和/或工作。
  18. 根据权利要求17所述的控制方法，其特征在于，判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：
    累计所述自主工作机器退出所述充电站的次数，判断所述自主工作机器退出所述充电站的次数是否达到预设次数；达到预设次数，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；未达到预设次数，则控制所述自主工作机器向工作区域移动和/或工作。
  19. 根据权利要求19所述的控制方法，其特征在于，所述控制方法还包括：
    所述自主工作机器完成一次沿所述至少部分侧边和/或在所述底板上的工作后，对所述自主工作机器退出所述充电站的次数进行清零。
  20. 根据权利要求17所述的控制方法，其特征在于，判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：
    判断所述自主工作设备是否接收到所述用户的指示；接收到所述用户的指示，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；未接收到用户的指示，则控制所述自主工作机器向工作区域移动和/或工作。
  21. 一种自主工作机器，被配置为在工作区域中移动和/或工作，其特征在于，所述自主工作机器包括：
    移动单元，被配置为带动所述自主工作机器在所述工作区域内移动，还被配置为带动所述自主工作机器进入退出充电站，以及在所述充电站附近移动；
    控制器，被配置为控制所述自主工作机器从充电站退出；还被配置为在所述自主工作机器从充电站退出后，控制所述自主工作机器沿充电站的底板的至少部分侧边和/或在所述底板上工作。
  22. 一种计算机可读存储介质，其特征在于，所述存储介质存储有计算机程序，所述计算机程序用于执行上述权利要求1至21任一项所述的方法。
  23. 一种自主工作机器的控制方法，所述自主工作机器被配置为在工作区域中移动和/或工作，其特征在于，所述方法包括：
    控制所述自主工作机器从充电站退出；
    判断所述充电站的底板的至少部分侧边和/或所述底板上是否需要执行工作任务；是，则控制所述自主工作机器沿所述侧边工作；否，则控制所述自主工作机器向工作区域移动和/或工作。
  24. 根据权利要求24所述的控制方法，其特征在于，所述控制方法还包括：
    控制所述自主工作机器从充电站退出至暂停位置；
    获取所述自主工作机器在所述暂停位置拍摄的图像，所述图像包括所述至少部分侧边和/或所述底板上的草的情况；
    判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：
    基于所述图像判断所述至少部分侧边和/或所述底板上是否存在高草；存在草或高草，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上割草；不存在高草，则控制所述自主工作机器向工作区域移动和/或工作。
  25. 根据权利要求24所述的控制方法，其特征在于，判断所述底板的至少部分侧边是否需要执行工作任务，包括：
    累计所述自主工作机器退出所述充电站的次数，判断所述自主工作机器退出所述充电站的次数是否达到预设次数；达到预设次数，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；未达到预设次数，则控制所述自主工作机器向工作区域移动和/或工作。
  26. 根据权利要求26所述的控制方法，其特征在于，所述控制方法还包括：
    所述自主工作机器完成一次沿所述至少部分侧边和/或在所述底板上工作后，对所述自主工作机器退出所述充电站的次数进行清零。
  27. 根据权利要求24所述的控制方法，其特征在于，判断所述底板的至少部分侧边和/或所述底板上是否需要执行工作任务，包括：
    判断所述自主工作设备是否接收到所述用户的指示；接收到所述用户的指示，则控制所述自主工作机器沿所述至少部分侧边和/或在所述底板上工作；未接收到用户的指示，则控制所述自主工作机器向工作区域移动和/或工作。
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