CN112204488A - Working method and device of self-moving equipment and self-moving equipment - Google Patents
Working method and device of self-moving equipment and self-moving equipment Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
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- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
A method of operation from a mobile device (1), comprising: receiving a marking message from the remote terminal, the marking message being usable for selecting a plurality of target operating points located on said boundary (2); receiving a work schedule from a remote terminal, starting from each of a plurality of target work points; respectively starts from a target working point, walks and works in the working range (4) according to the arrangement of the working schedule. It also relates to a corresponding self-moving device and an automatic working system. The working method can control the self-moving equipment to start from different target working points and arrange to work in the working range according to the set working schedule, so that grass in the working range can be uniformly cut, the maintenance of the lawn is facilitated, and the overall working efficiency of the self-moving equipment is improved.
Description
The invention relates to the technical field of automatic work, in particular to a working method and a working device of self-moving equipment and the self-moving equipment.
With the continuous progress of computer technology and artificial intelligence technology, more and more people choose to use automatic working systems in daily life. Self-moving devices that automatically work in automatic work systems, such as: intelligent lawn mowers and sweeping robots, etc. generally can automatically work in a user's lawn or indoors after being set once, thereby freeing users from tedious and time-consuming housework such as cleaning rooms, maintaining lawns, etc.
When working with self-moving devices, it is common to walk in a random path over an area. When a narrow passage exists in the working range, the self-moving equipment cannot reach other parts in the working range through the narrow passage, so that certain areas in the working range cannot be cut; or the lawn mower can successfully pass through the narrow channel only by consuming a large amount of time, the occupied area of the narrow channel is small, the lawn mower cuts unevenly due to repeated cutting when the self-moving device turns back for multiple times in the narrow channel, lawn maintenance is not facilitated, and energy loss is accelerated.
Disclosure of Invention
The invention aims to provide a working method and a working device of self-moving equipment, the self-moving equipment and an automatic working system for cutting a lawn by using the working method, wherein the working method and the device can ensure that the whole lawn is uniformly cut.
The invention provides a working method of self-moving equipment, wherein the self-moving equipment walks and works within a working range limited by a boundary, and the working method comprises the following steps: receiving a marking message from a remote terminal, wherein the marking message is used for selecting a plurality of target working points located on the boundary; acquiring the work schedule of the self-moving equipment starting from each target work point in a plurality of target work points; and respectively starting from the target working point, walking and working in the working range according to the working schedule.
Preferably, the obtaining of the work schedule of the self-moving device from each of the plurality of target work points may include: a work schedule from a remote terminal is received from each of a plurality of target work points.
Preferably, the target working points can correspond to working areas in the working range;
correspondingly, respectively starting from the target working point, walking and working within the working range according to the working schedule, may include: and respectively starting from the target working point, walking and working in each working area.
Preferably, determining a plurality of working regions within the working range in the following manner may include: determining a plurality of working areas within the working range based on the boundaries and/or the channels within the working range that meet preset requirements.
Preferably, there is no overlap between the plurality of working areas.
Preferably, the work schedule may include, but is not limited to, at least one of: the working time of sending work from each target working point from the mobile equipment, the working frequency of sending work from each target working point from the mobile equipment and the working area of each working area.
Preferably, the distance from the mobile device to the target working point along the boundary from the initial working point is determined based on the plurality of target working points.
Preferably, respectively starting from the target work point, walking and working within the work scope according to the work schedule, may include: starting from the initial working point and driving to the target working point according to the distance; and walking and working within the working range according to the working schedule arrangement by taking the target working point as a starting point.
Preferably, the initial operating point may be a charging station.
Preferably, selecting a plurality of target operating points located on the boundary may include: acquiring a map of the working range; selecting the plurality of target working points in the map; and mapping a plurality of target working points marked in the map into the working range.
Preferably, respectively starting from the target work point, walking and working within the work scope according to the work schedule, may include: and respectively starting from the target working points mapped to the working range, and walking and working in the working range.
Preferably, respectively starting from the target work point, walking and working within the work scope according to the work schedule, may include: starting from a first target working point, walking and working in a working area corresponding to the first target working point; returning to the charging station for charging, and entering a working area corresponding to a next target working point to walk and work, wherein the next target working point comprises the first target working point.
An embodiment of the present invention further provides a self-moving device, where the self-moving device walks and works within a working range defined by a boundary, and the self-moving device may include: a housing; the traveling mechanism supports the shell and drives the self-moving equipment to travel; the power module provides driving force for walking and working for the self-moving equipment; a working module installed on the housing to perform a predetermined work; the control module is electrically connected with and controls the power module so as to realize automatic walking and automatic work of the self-moving equipment; the self-moving equipment also comprises a communication module, the communication module receives a marking message from a remote terminal, the self-moving equipment acquires a work schedule and transmits the marking message and the work schedule to the control module, the control module controls the mower to respectively start from the target working point, walk and work in the working range according to the work schedule based on the marking message and the work schedule, and the marking message is used for selecting a plurality of target working points located on the boundary.
Preferably, the communication module may receive a work schedule from the remote terminal, starting from each of the plurality of target work points.
Preferably, the plurality of target working points can correspond to a plurality of working areas within the working range, and accordingly, the working schedule can include, but is not limited to, at least one of the following: the working time of sending work from each target working point from the mobile equipment, the working frequency of sending work from each target working point from the mobile equipment and the working area of each working area.
Preferably, the self-moving device may further include: a navigation mechanism for forming a map of the working range.
Preferably, based on a plurality of target operating points selected by the user on the map, a plurality of target operating points located on the boundary may be determined.
Preferably, the self-moving device may further include: an energy module, the energy module operable to be mounted on the housing, the energy module operable to provide energy for walking and working of the self-moving device.
The embodiment of the present invention further provides a working apparatus for a self-moving device, where the self-moving device walks and works within a working range defined by a boundary, and the working apparatus may include: an operating point receiving module operable to receive a marker message from a remote terminal, the marker message being for selecting a plurality of target operating points located on the boundary; the schedule acquiring module can be used for acquiring the work schedule from each target work point in the plurality of target work points; and the working module can be used for respectively starting from the target working point, walking and working in the working range according to the working schedule.
The embodiment of the invention also provides an automatic working system, such as the self-moving equipment; and a working device of the self-moving apparatus as described above; the self-moving device operates as described above.
Compared with the prior art, the invention has the beneficial effects that: the mobile equipment receives the marking information of the multiple target working points selected to be located on the boundary from the remote terminal, obtains the working schedule arrangement from each target working point, walks to different target working points according to the set working schedule arrangement to work, ensures that grass in a working range can be uniformly cut, is beneficial to the maintenance of a lawn, and improves the overall working efficiency of the mobile equipment. Furthermore, the remote message is received from the mobile equipment, and the required message is received through communication with the external equipment, namely, the user can control the mobile equipment to work through the external equipment without inputting a corresponding control instruction on the mobile equipment, so that the operation is simpler and more convenient, and the labor cost is saved.
The technical problems, technical solutions, and advantages of the present invention described above will be clearly understood from the following detailed description of preferred embodiments of the present invention, which is to be read in connection with the accompanying drawings.
The same reference numbers and symbols in the drawings and the description are used to indicate the same or equivalent elements.
FIG. 1 is a schematic diagram of an automated working system in an embodiment of the present invention.
FIG. 2 is a schematic block diagram of an embodiment of the robotic lawnmower of the present invention.
Fig. 3 is a flowchart of a method for operating a self-moving device according to an embodiment of the present invention.
Fig. 4-7 are schematic diagrams of scenarios provided herein.
Fig. 8 is a schematic structural diagram of an operating device of a self-moving apparatus according to an embodiment of the present invention.
Wherein the content of the first and second substances,
1. an autonomous mobile device; 2. a limit; 3. a charging station; 4. and (4) working range.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the automatic working system of the present embodiment may include a self-moving device 1, a limit 2, and a charging station 3. Wherein the limit 2 is used for limiting the working range of the automatic working system, the self-moving equipment walks and works within the working range 4 defined by the limit 2, namely walks and works in or between the limits, and the charging station 3 is used for returning supplementary energy when the self-moving equipment is short of energy.
The boundary 2 may be a general term for boundaries and obstacles. The boundary may be from the periphery of the mobile device's operating range, may be physical, electronic, or may be absent, i.e., may be formed by a wall, fence, or other entity; a virtual boundary signal, such as an electromagnetic signal or an optical signal, can also be emitted by the boundary signal generating device; or it may be the case that no boundary exists. The obstacle is a part or an area which is located in the working range and can not walk on, such as an indoor sofa, a bed cabinet, an outdoor pond, a flower stand (such as an area surrounded by a boundary 2 located in the working range in fig. 1) and the like, similarly, the obstacle can also be solid or electronic, the solid obstacle can be formed by the obstacle per se, and the electronic obstacle can be formed by a virtual obstacle signal sent by a boundary signal generating device. The virtual boundary signal and the virtual obstacle signal may be the same signal or different signals, and are selected according to specific requirements. The self-moving device detects its position situation with the boundary by the boundary detector existing in the self-moving device.
The self-moving device 1 may be an unattended device such as an automatic mower, a sweeping robot, an automatic snowplow, etc., which automatically travels on the ground or surface in the working range to perform mowing, dust collecting or snow sweeping operations. Of course, the self-moving device 1 is not limited to an automatic mower, a sweeping robot, and an automatic snowplow, but may be other devices suitable for unattended operation, which is not limited in the present application.
In the following embodiments of the present application, a self-moving device is described as a robotic lawnmower.
As shown in fig. 2, the lawn mower 20 has a housing (not shown), and the lawn mower 20 may further include a traveling mechanism 21, an operating module 22, a power module 23, an energy module 28, a control module 24, a communication module 25, and a navigation mechanism 26. The control module 24 is connected to and controls the power module 23.
In this embodiment, the traveling mechanism 21 includes a wheel set and a traveling motor for driving the wheel set. There are many setting methods for the wheel set. Typically, the wheel set comprises a drive wheel driven by the travel motor and an auxiliary wheel of the auxiliary support housing, the number of drive wheels may be 1, 2 or more, and the number of auxiliary wheels may be 1, 2 or more accordingly. In the present embodiment, the number of drive wheels of the mower 20 is 2, and the drive wheels are a right drive wheel on the right side and a left drive wheel on the left side. The right and left drive wheels are symmetrically disposed about a central axis of the mower 20. The center of the auxiliary wheel is positioned on the central axis. The right and left drive wheels are preferably located at the rear of the housing and the auxiliary wheels at the front. Of course in other embodiments the drive wheels and auxiliary wheels may be provided instead. In this embodiment, the right and left drive wheels are each coupled to a drive motor to achieve differential output to control steering. The driving motor can be directly connected with the driving wheel, but a transmission device such as a planetary gear train and the like which are common in the technical field can also be arranged between the driving motor and the driving wheel. In other embodiments, there may be 2 drive wheels and 1 drive motor, in which case the drive motor drives the right drive wheel via a first transmission and the left drive wheel via a second transmission. I.e. the same motor drives the right and left drive wheels through different transmission means.
The operating module 22 is a mowing module, in particular a cutting member, such as a cutting blade. The operation module 22 is driven by a cutting motor (not shown). The operating module 22 is centered on the central axis of the mower 20, is disposed below the housing, and is located between the auxiliary wheels and the drive wheels. The energy module 28 is optionally used to power the mower, which optionally charges the energy module 28. The energy source of the energy module 28 may be gasoline, a battery pack, or the like, and in this embodiment the energy module 28 includes a rechargeable battery pack disposed within the housing. During operation, the battery pack releases electrical energy to maintain the mower 20 in operation and walking. During non-operation, the battery pack may be connected to an external power source to supplement power. In particular, for a more humanized design, the lawn mower 20 automatically seeks a charging station to replenish the power when a low battery charge is detected. The power module 23 may include a motor and a transmission mechanism connected to the motor, the transmission mechanism is connected to the traveling mechanism, the motor drives the transmission mechanism to operate, and the traveling mechanism moves due to a transmission function of the transmission mechanism, wherein the transmission mechanism may be a worm gear mechanism, a bevel gear mechanism, or the like. The power module 23 may be provided with two sets of motors, one set of motors drives the traveling mechanism to move, and the other set of motors drives the working module 22 to work. It will be appreciated that the number of motors per set is not limiting and may be, for example, one or two.
The control module 24 is, for example, a controller, and may be an embedded Digital Signal Processor (DSP), a Microprocessor (MPU), an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a System On Chip (SOC), a Central Processing Unit (CPU), a Field Programmable Gate Array (FPGA), or the like. The control module 24 is electrically connected to and controls the power module 23 to realize automatic walking and automatic operation of the lawn mower 20.
The controller can control the operation of the mower according to a preset program or received instructions. Specifically, the controller can control the traveling mechanism to travel in a preset traveling path within the working range of the mower, and the mower can perform mowing and other work while the traveling mechanism drives the mower to travel. When the mower finishes walking in the preset path and finishes related work, the controller can control the mower to stop mowing work and control the travelling mechanism to travel, so that the travelling mechanism drives the mower to leave the working range. The walking path and the parking position of the mower can be set in the controller in advance, and the controller controls the walking mechanism to execute work.
Fig. 3 is a flowchart of a working method of a self-moving device (in this embodiment, the self-moving device takes a lawn mower as an example), which specifically includes:
s301: a marker message is received from a remote terminal.
In one embodiment of the present application, the self-mobile device may first receive a marker message sent by the remote terminal, and the marker message may be used to select a plurality of target operating points located on the boundary. The remote terminal can comprise a hardware device with a data information processing function and necessary software for driving the hardware device to work; the mobile equipment can receive a plurality of target working points sent by the client and send the target working points to the mobile equipment; and a plurality of predetermined ports may be provided, and a plurality of target operating points provided by the client may be received and/or transmitted to the self-moving device through the predetermined ports. For example, network data interaction with the client and/or the self-mobile device can be carried out based on network protocols such as HTTP, TCP/IP, MQTT or FTP and a network communication module. Further, when the connected network is a local area network, the remote terminal may also be a client capable of implementing communication in the local area network and having a data transceiving function.
In this embodiment, the client may be a terminal device that can access a communication network based on a network protocol and has a device information acquisition function. Specifically, for example, the client may be a mobile smart phone, a computer (including a laptop computer and a desktop computer), a tablet electronic device, a Personal Digital Assistant (PDA), or a smart wearable device. In addition, the client can also be an APP (including a mobile APP) running on any one of the above listed devices and capable of controlling the operation of the mobile device, for example: sweeping APP, mowing APP, snow sweeping APP, mopping APP and the like.
In one embodiment of the present application, the plurality of target working points can correspond to a plurality of working areas within the working range, that is, the plurality of target working points located on the boundary can be starting points when the mobile device performs mowing work and respectively enters each working area from the boundary. When the self-moving equipment is used for walking for the first time, the self-moving equipment does not enter a mowing area to work, only marks target working points corresponding to all working areas, and then returns to a charging station. For self-moving devices, the target operating point represents an initial operating point when work is performed later on into the respective area from a charging station.
In this embodiment, a plurality of target operating points located on the boundary may be selected during the walking along the boundary since the mobile device started from the initial operating point. Meanwhile, when the mobile device is in a working state or a non-working state, a plurality of target working points and working schedules can be set remotely in advance, so that automatic working can be realized even if a user is not at home. And when each target working point is selected, recording the distance from the initial working point to the target working point along the boundary. In one embodiment, the initial operating point is a charging station, but the initial operating point may be other fixed location points, which is not limited in this application.
As an implementation manner of this embodiment, during the process of walking along the boundary from the mobile device, when the mobile device moves to each target working point, the user may press a "mark" key in the mobile application to mark the corresponding target working point. After the mobile application receives the marking signal, the distance from the initial working point to each target working point when the machine travels to the target working points can be calculated according to the traveling time of the mobile device and the average speed of the traveling mechanism. And when the self-moving equipment walks for a circle along the boundary, the mobile application sends a plurality of mark information related to the distance to the self-moving equipment, receives the plurality of mark information in the client from the self-moving equipment so as to select a target working point positioned on the boundary, and records the distance into the memory.
As another implementation manner of this embodiment, the start-stop operation of the self-moving device may be controlled by a mobile application in the client for controlling the self-moving device, and at this time, the self-moving device may access the network through the wireless network. When moving from the mobile device to the corresponding target working point, the user can press a 'mark' key in the mobile application, receive mark information in the client from the mobile device, and select the target working point on the boundary. At this time, the self-moving device can record the distance traveled from the initial working point, mark the position and record the distance into the memory. When the self-moving equipment walks for the first time, the target working points corresponding to all the working areas are marked, and the distances from the initial working points to all the target working points are recorded.
When the self-moving equipment determines the distance, the self-moving equipment can be obtained by calculation according to the walking time and the rotating speed of the walking mechanism. It can also be calculated by using a displacement sensor in the mobile device in combination with a gyroscope or a nine-axis sensor for detecting angles.
In one embodiment of the present application, selecting a plurality of target operating points located on the boundary may include:
s1-1: and acquiring a map of the working range.
In one embodiment of the application, a plurality of beacons can be arranged on a boundary, and a map of a working range is determined by acquiring coordinate information of the beacons; or coordinate information of the self-moving device when walking around the boundary can be recorded by the positioning device, a map of the working range is drawn according to the coordinate information, and the map is stored in a memory of the self-moving device. In another embodiment of the present application, a navigation mechanism 26 may also be included in the self-moving device, and the navigation mechanism 26 may be used to form an operating range map of the self-moving device. In particular, the navigation mechanism may include, but is not limited to, at least one of: ultrasonic sensors, radar sensors, optical sensors (laser or infrared sensors, etc.), UWB sensors, inertial navigation systems, etc., may be used to provide environmental control data, control the operation of the robotic lawnmower, and to form a map of the range of operation of the robotic lawnmower.
S1-2: and calibrating a plurality of target working points in the map.
S1-3: and mapping a plurality of target working points calibrated in the map into a working range.
In an embodiment of the application, the self-mobile device may obtain a plurality of target working points calibrated in a map by a user, and may map the plurality of target working points calibrated in the map into a working range according to a position relationship between the map and an actual working range. Therefore, the self-moving equipment can enter the corresponding working area to work according to the marked target working points. Similarly, when the user selects to make the self-moving device work in a certain working area of the plurality of working areas, the self-moving device can enter the corresponding working area to work according to the marked target working point in the working area.
As another implementation manner of the present application, a start key (the key is a physical or virtual key) for controlling the mobile device to start walking exists on the mobile device, and the mobile device starts walking after the key is pressed according to a preset requirement; and a Stop key (the key is a physical or virtual key) for controlling the mobile device to Stop walking, and after the key is pressed, the mobile device stops working. When the self-moving equipment starts from the initial working point and walks to the target working point along the boundary, a user can trigger a stop key on the self-moving equipment, at the moment, the self-moving equipment can record the walking distance from the initial working point and mark the stop position, and the distance is recorded into a memory of the self-moving equipment; when the mobile device needs to start again, the mobile device can continue to walk to the next target working point after the start key is pressed, the distance from the initial working point to the next target working point is recorded, the stop position is marked, and the distance is recorded in the memory. Therefore, when the user selects to make the self-moving equipment work in a certain work area of the plurality of work areas, the self-moving equipment can enter the corresponding work area to work according to the marked target work point in the work area.
In this embodiment, a plurality of target operating points located on the boundary are obtained, and the plurality of target operating points respectively represent corresponding operating regions. The method comprises the steps of obtaining a plurality of target working points located on a boundary, and controlling the mobile device to work in each working area respectively according to a plurality of working areas corresponding to the target working points, so that a user can select the target working points according to actual grassland conditions, cutting of grasslands is facilitated, and the overall working efficiency of the mobile device is improved.
S302: a work schedule is obtained from the mobile device starting from each of the plurality of target work points.
In an embodiment of the present application, the work schedule from the mobile device starting from each of the multiple target work points may be calculated by the mobile device based on the received multiple target work points, in combination with the work area locally stored by the mobile device or the location information obtained when forming the map of the work area, or from default work schedule settings in the mobile device.
In another embodiment of the present application, the work schedule obtained from the mobile device from each of the plurality of target work points may be a case where the work schedule is received from a remote terminal.
In one embodiment of the present application, the plurality of target operating points can represent a plurality of operating regions within the operating range. When the automatic mower starts to work in the working range from each target working point in the plurality of target working points, all working areas where the target working points start to work can be overlapped or not overlapped. Preferably, there is no overlap between the plurality of identified work areas. Therefore, the self-moving equipment can work independently in each working area, and the mowing conditions in each working area are not affected with each other, so that the self-moving equipment can mow uniformly in each working area better.
In one embodiment of the present application, the respective working areas represented by the plurality of target working points may be determined according to boundaries and/or channels within the working range that meet preset requirements. Specifically, when there is a channel with a width smaller than the preset threshold in the working range, the working areas may be determined according to the target working points, the boundaries, and the channels of the mobile device. Generally, the narrow passage within the working range smaller than the preset threshold value is regarded as an obstacle, and then the working area is divided according to the principle that no narrow passage with the width smaller than the preset threshold value exists within the boundaries which are connected end to end in each divided working area. The preset threshold may be determined based on the lateral distance between the boundary detectors of the self-moving device, for example: if the lateral distance between the boundary detectors is 10cm, the preset threshold is 10cm or other channel widths that need to be folded back from the mobile device for multiple times to pass through, which is not limited in the present application.
The self-moving equipment can respectively walk and work in each working area represented by each target working point from the target working point. For the narrow passage without division of the working area, the self-moving device can cut grass in the narrow passage in the process of going to and returning from a plurality of working areas. For example: and carrying out mowing work on the channel passing by and with the width smaller than the preset threshold value in the process of walking from the first target working point to the next target working point along the boundary.
In one embodiment of the present application, the robotic lawnmower may receive a work schedule from the remote terminal that departs from each of a plurality of target work points. Wherein the work schedule may include, but is not limited to, at least one of: the working time of sending work from each target working point from the mobile equipment, the working frequency of sending work from each target working point from the mobile equipment and the working area of each working area. After the robotic lawnmower receives the work schedule, the performance of the robotic lawnmower when it issues from the target work point into the work area can be determined by software and/or hardware calculations based on the work schedule.
In this embodiment, the work schedule may be: user-defined and/or preset. For the working time (which may also be a percentage of the working time, wherein the sum of the percentages of the working time of the working areas in the plurality of working areas is 100%), the user may set different working times for the respective areas according to the lawn growth conditions in the respective areas of the yard. For example: if the lawn in the first area grows vigorously, the working time can be set to be 5 h; the second area may have poor lawn growth and may be set to 1 h. The user can also directly adopt default working time preset by a manufacturer in the mobile equipment. The working method when the working schedule is the working time percentage is not described herein again.
In one implementation of the present application, when the work schedule is a work area (which may also be a work area percentage) of each region, obtaining the work schedule may include:
s2-1-1: acquiring the working area of each working area;
s2-1-2: and determining the work of each working area corresponding to each target working point based on the working area of each working area.
The total working time corresponding to the area in the self-moving device can be determined according to the area of the lawn of the user. Then, the user can respectively calculate and determine the working condition of the mobile equipment which is sent from the target working point to enter each region according to the area of each region, and the mobile equipment enters the working range to work according to the working schedule.
In one implementation manner of the present application, when the work schedule is the work times or the work frequency, receiving the work schedule from the remote terminal, which starts from each of the target work points, may include:
s2-2-1: acquiring the starting working times of each target working point in a plurality of target working points;
s2-2-2: and determining the work of each working area corresponding to each target working point according to the working times.
Similar to the principle of setting the working time, the user can set the working times of each region according to the region area corresponding to each target working point and set the working time percentage, wherein the sum of the working time percentages of each working region in the plurality of working regions is 100%. The number of operations indicates the number of times the mobile device has traveled from the initial operating point to the respective target operating point.
In this embodiment, after the plurality of target working points have been obtained in step S301, the working schedule arrangement starting from each target working point is obtained, so that the self-moving device can respectively start from each target working point according to the actual situation of the lawn, walk and work within the working range according to the working schedule arrangement, which is beneficial to the uniform cutting of the lawn, and improves the overall working efficiency of the self-moving device.
S303: respectively starting from the target working point, walking in the working range according to the working schedule and working.
In an embodiment of the application, after obtaining the target work points and the work schedules of the target work points, the self-mobile device may perform multi-region work, and respectively start from the target work points and work according to the work schedules.
In this embodiment, a communication module 25 may be further included in the self-moving device, and the self-moving device may be connected to the wireless routing device through the communication module 25 and communicate with the remote terminal through the communication module 25. The communication module 25 can receive a message sent by a remote terminal, and in this embodiment, may include: the plurality of target operating points located on the boundary and transmitted by the remote terminal are received through the communication module 25, the work schedule transmitted by the remote terminal from the mobile device from each of the plurality of target operating points is received through the communication module 25, and the communication module 25 transmits the messages to the control module 24 after receiving the messages, so that the control module 24 controls the mobile device 20 to walk and work within the working range from the target operating point.
In an embodiment of the present application, walking and working in each working area from the target working point may include:
s3-1-1: starting from the initial working point, and driving to a target working point according to the distance;
s3-1-2: and walking and working in each working area corresponding to the target working point by taking the target working point as a starting point.
In this embodiment, after obtaining the distance of each target working point and the working time corresponding to each target working point from the mobile device, when the mobile device is in the multi-region working mode, the mobile device starts from the initial working point according to the working time or working frequency input by the user, randomly selects one of the target working points according to each target working point marked in step S301, walks the distance along the boundary to reach the corresponding target working point based on the target working point and the corresponding distance, and then enters the working region corresponding to the target working point to walk and work with the target working point as a starting point.
In another embodiment of the present application, walking and working in each working area from the target working point may include:
s3-2-1: starting from a first target working point, walking and working in a first working area;
s3-2-2: and the return charging station charges and enters a next working area to walk and work, and the next working area comprises a first working area.
In this embodiment, the self-moving device may start from the first target working point according to a working schedule (which may be working time, working frequency, working area, etc.) input by the user, walk and work in a working area corresponding to the first target working point until the electric quantity is insufficient, and return to the charging station for charging; after the charging is completed, the mobile terminal enters a working area corresponding to a next target working point, and walks and works, and the next target working point may include, but is not limited to, the first target working point. Similarly, one of the target working points may be randomly selected according to the target working points marked in step S201, and based on the target working point and the corresponding distance, the user walks the distance along the boundary to reach the corresponding working area, and then, with the target working point as a starting point, enters the working area corresponding to the target working point and walks and works.
Specifically, the self-moving device may return to the charging station along the boundary to charge when the self-moving device operates in the working area corresponding to the first target working point and the electric quantity is insufficient. And after the charging station finishes charging, randomly walking to the next target working point, and entering a corresponding next working area to walk and work. The next target operating point may be the first target operating point, or may be another target operating point. After the mobile device completes charging, the work schedule arrangement corresponding to each target work point can be obtained first, and if the work of a certain work area meets the setting requirement, the target work point of the area can be excluded when the next target work point is randomly selected. It should be noted that, when the self-moving device works in the working area corresponding to the first target working point, it may enter another working area because the working area is communicated with another working area, and the work (which may be working time, working frequency, working area, etc.) at this time still takes into account the working condition corresponding to the target working point. The self-moving equipment can work until the work condition of the work sent from each target work point in the work range meets the work schedule required by the user.
Compared with the prior art, the invention has the beneficial effects that: the mobile equipment receives the marking information of the multiple target working points selected to be located on the boundary from the remote terminal, sets the working schedule arrangement starting from each target working point, controls the mobile equipment to walk to different target working points according to the set working schedule arrangement to work, ensures that grass in a working range can be uniformly cut, is beneficial to the maintenance of a lawn, and improves the overall working efficiency of the mobile equipment. Furthermore, the remote message is received from the mobile equipment, and the required message is received through communication with the external equipment, namely, the user can control the mobile equipment to work through the external equipment without inputting a corresponding control instruction on the mobile equipment, so that the operation is simpler and more convenient, and the labor cost is saved.
The method of the embodiment of the present application is described below by a specific application scenario.
Fig. 4-7 are schematic diagrams of the scenarios provided herein. The queen wants to control the self-moving device with the client L. First, the queen selects the number of work areas to be divided from the mobile device, after clicking the determination key in the client L, the mobile device starts to walk along the boundary, and as shown in fig. 4, the mobile device walks from the charging station to the target work point 1 corresponding to the area a (A, B, C in the figure is only an exemplary description, and the area a, the area B and the area C are not divided in practical application, and A, B, C in the figure is a case of work areas corresponding to the target work point 1, the target work point 2 and the target work point 3, respectively), and the queen clicks the "mark" key to control the mobile device to stop and mark the target work point 1. Then the queen can click a "start" key to control the mobile device to continue walking, further, the queen walks to a target working point 2 in an area B from the mobile device as shown in fig. 5, and the queen clicks a "mark" key to control the mobile device to stop and mark the target working point 2. Similarly, the queen can click the "start" key to control the mobile device to continue walking, and further, as shown in fig. 6, the queen can click the "mark" key to control the mobile device to stop and mark the target working point 3 in the area C, so that the working area corresponding to the "mark" key in the whole working range can be three areas, namely area a, area B and area C, and the mobile device will return to the charging station along the boundary. After each area is divided, the client L jumps to a multi-area time setting interface shown in fig. 7 (in the application scenario, the work schedule may be set based on time, or other situations included in the work schedule described in the embodiment of the present application, which is not limited by the present application), and the queen selects and stores the work time of entering each area from 3 target work points. Specifically, as shown in fig. 7, the operating time ratio from the target operating point 1 to the operating range is set to 30%, the operating time ratio from the target operating point 2 to the operating range is set to 20%, and the operating time ratio from the target operating point 3 to the operating range is set to 50%. Then, the self-moving equipment respectively walks and works within the working range according to the working time setting until the corresponding working time proportion is met.
After the above parameter setting is performed, the self-moving device can walk along the boundary from the charging station and select any one of the three target working points to enter the working area for working. For example: and when the target working point 1 enters the area corresponding to the target working point 1 and works according to a preset path, returning to a charging station for charging when the self-moving equipment is in an insufficient electric quantity state, and recording the working time of the self-moving equipment at the target working point 1. After charging, the self-moving equipment continues to walk along the boundary line from the charging station, whether the working time proportion of each mark position point meets the set requirement is detected, if the working time proportion does not meet the set requirement, one mark position point is selected, if the position point corresponding to the target working point 2 enters the area corresponding to the target working point 2 to work until the electric quantity is insufficient, the charging station returns to charge, and the working time of the self-moving equipment at the target working point 2 is recorded. And repeating the actions until the working time meets the requirement of time parameter setting, and returning to the charging station for charging.
Fig. 8 is a schematic structural diagram of an operating device of a self-moving apparatus according to an embodiment of the present invention.
Referring to fig. 8, the working device of the self-moving apparatus may include:
an operating point receiving module 801, which may be configured to receive a marker message from a remote terminal, the marker message being used to select a plurality of target operating points located on a boundary;
a schedule obtaining module 802, configured to obtain a work schedule starting from each target work point in the plurality of target work points;
and the work module 803 may be configured to respectively start from the target work point, schedule to walk and work within a work range according to the work schedule.
In one embodiment, the schedule acquisition module can include: a work schedule from a remote terminal is received from each of a plurality of target work points.
In one embodiment, the plurality of target operating points can correspond to a plurality of operating regions within the operating range; accordingly, the regional work module may include: respectively starting from the target working point, walking and working in each working area.
In one embodiment, the area work module determines a plurality of work areas within the work scope in the following manner, which may include: a plurality of working regions within the working range are determined based on the boundaries and/or the channels within the working range that meet the preset requirements.
In one embodiment, there is no overlap between the multiple working regions.
In one embodiment, the work schedule may include, but is not limited to, at least one of: the working time of sending work from each target working point from the mobile equipment, the working frequency of sending work from each target working point from the mobile equipment and the working area of each working area.
In one embodiment, the distance traveled by the self-moving device from the initial operating point to the target operating point along the boundary may be determined based on the plurality of target operating points.
In one embodiment, the regional work module may include: the first running unit can be used for running to the target working point according to the distance from the initial working point; and the second driving unit can be used for walking and working within the working range according to the working schedule by taking the target working point as a starting point.
In one embodiment, the initial operating point may be a charging station.
In one embodiment, the operating point receiving module may include: the map acquisition unit can be used for acquiring a map of the working range; the working point calibration unit can be used for calibrating a plurality of target working points in a map; the working point mapping unit may be configured to map a plurality of target working points calibrated in the map into the working range.
In one embodiment, the regional work module may include: respectively starting from the target working point mapped to the working range, walking and working in the working range
In one embodiment, the regional work module may include: the third traveling unit can be used for traveling and working in a working area corresponding to the first target working point from the first target working point; and the fourth traveling unit can be used for charging the return charging station, and enters the working area corresponding to the next target working point to travel and work, and the next target working point can comprise the first target working point.
An embodiment of the present invention further relates to an automatic work system, which may include the self-moving apparatus as described above; the self-moving device operates as described above.
In the above automatic working system, the self-moving apparatus is an automatic lawnmower.
Compared with the prior art, the invention has the beneficial effects that: the mobile equipment receives the marking information of the multiple target working points selected to be located on the boundary from the remote terminal, sets the working schedule arrangement starting from each target working point, controls the mobile equipment to walk to different target working points according to the set working schedule arrangement to work, ensures that grass in a working range can be uniformly cut, is beneficial to the maintenance of a lawn, and improves the overall working efficiency of the mobile equipment. Furthermore, the remote message is received from the mobile equipment, and the required message is received through communication with the external equipment, namely, the user can control the mobile equipment to work through the external equipment without inputting a corresponding control instruction on the mobile equipment, so that the operation is simpler and more convenient, and the labor cost is saved.
In addition to the above methods and devices, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the method of operation of a self-moving device according to various embodiments of the present invention as described in the "method of operation of a self-moving device" section of this specification above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to perform the steps in the method of operating a self-moving device according to various embodiments of the present invention described in the section "method of operating a self-moving device" above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
While only a few embodiments of the present inventions have been described and illustrated herein, those skilled in the art will readily envision other means or structures for performing the functions and/or obtaining the structures described herein, and each such variation or modification is deemed to be within the scope of the present inventions.
Claims (20)
- An operating method of a self-moving device, wherein the self-moving device walks and works within an operating range defined by a boundary, comprising the following steps:receiving a marking message from a remote terminal, wherein the marking message is used for selecting a plurality of target working points located on the boundary;acquiring the work schedule of the self-moving equipment starting from each target work point in a plurality of target work points;and respectively starting from the target working point, walking and working in the working range according to the working schedule.
- The method of claim 1, wherein obtaining the work schedule for the self-moving device from each of a plurality of target work points comprises:a work schedule from a remote terminal is received from each of a plurality of target work points.
- The method of claim 1, wherein the plurality of target operating points can correspond to a plurality of operating regions within the operating envelope;accordingly, the method can be used for solving the problems that,respectively starting from the target working point, walking and working in the working range according to the working schedule, and comprising the following steps:and respectively starting from the target working point, walking and working in each working area.
- The method of claim 3, wherein determining a plurality of work zones within the work scope comprises:determining a plurality of working areas within the working range based on the boundaries and/or the channels within the working range that meet preset requirements.
- The method of claim 3, wherein there is no overlap between the plurality of work areas.
- The method of claim 3, wherein the work schedule comprises at least one of: the working time of sending work from each target working point from the mobile equipment, the working frequency of sending work from each target working point from the mobile equipment and the working area of each working area.
- The method of claim 1, wherein the distance traveled by the autonomous mobile device from an initial operating point to the target operating point along the boundary is determined based on the plurality of target operating points.
- The method of claim 7, wherein walking and working within the work scope according to the work schedule, respectively, starting from the target work point comprises:starting from the initial working point and driving to the target working point according to the distance;and walking and working within the working range according to the working schedule arrangement by taking the target working point as a starting point.
- The method of any of claims 7-8, wherein the initial operating point is a charging station.
- The method of claim 1, wherein selecting a plurality of target operating points located on the boundary comprises:acquiring a map of the working range;selecting the plurality of target working points in the map;and mapping a plurality of target working points marked in the map into the working range.
- The method of claim 10, wherein walking and working within the work scope according to the work schedule, respectively, starting from the target work point comprises:and respectively starting from the target working points mapped to the working range, and walking and working in the working range.
- The method of claim 9, wherein walking and working within the work scope according to the work schedule, respectively, starting from the target work point comprises:starting from a first target working point, walking and working in a working area corresponding to the first target working point;returning to the charging station for charging, and entering a working area corresponding to a next target working point to walk and work, wherein the next target working point comprises the first target working point.
- A self-moving device that walks and works within an operating range defined by boundaries, the self-moving device comprising:a housing;the traveling mechanism supports the shell and drives the self-moving equipment to travel;the power module provides driving force for walking and working for the self-moving equipment;a working module installed on the housing to perform a predetermined work;the control module is electrically connected with and controls the power module so as to realize automatic walking and automatic work of the self-moving equipment; it is characterized in that the preparation method is characterized in that,the self-moving equipment also comprises a communication module, the communication module receives a marking message from a remote terminal, the self-moving equipment acquires a work schedule and transmits the marking message and the work schedule to the control module, the control module controls the mower to respectively start from a target working point, walk and work in the working range according to the work schedule based on the marking message and the work schedule, and the marking message is used for selecting a plurality of target working points located on the boundary.
- The self-moving device of claim 13, wherein the communication module receives a work schedule from a remote terminal from each of a plurality of target work points.
- The self-moving device as recited in claim 13, wherein the plurality of target work points can correspond to a plurality of work areas within the work scope, and wherein the work schedule comprises at least one of: the working time of sending work from each target working point from the mobile equipment, the working frequency of sending work from each target working point from the mobile equipment and the working area of each working area.
- The self-moving device of claim 13, wherein the self-moving device further comprises: a navigation mechanism for forming a map of the working range.
- The self-moving device of claim 16, wherein the plurality of target operating points located on the boundary are determined based on a plurality of target operating points selected by a user on the map.
- The self-moving device of claim 13, wherein the self-moving device further comprises: the energy module is used for being installed on the shell and used for providing energy for walking and working of the self-moving equipment.
- An operating device for a self-moving device, wherein the self-moving device walks and operates within an operating range defined by a boundary, comprising:the working point receiving module is used for receiving a marking message from a remote terminal, and the marking message is used for selecting a plurality of target working points located on the boundary;the schedule obtaining module is used for obtaining the work schedule from each target work point in the plurality of target work points;and the working module is used for respectively starting from the target working point, walking and working in the working range according to the working schedule.
- An automatic work system, the automatic moving device according to any one of claims 13 to 18; and working means of the self-moving device of claim 19; the autonomous mobile device operating according to the method of any of claims 1 to 12.
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| CN112204488B (en) | 2024-05-31 |
| WO2020155862A1 (en) | 2020-08-06 |
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