CN113093745A - Control method of cross-regional automatic walking equipment and automatic walking equipment - Google Patents
Control method of cross-regional automatic walking equipment and automatic walking 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
The application provides a cross-regional automatic walking equipment control method and automatic walking equipment. According to the method and the device, the map information of each independent working area is firstly and respectively acquired, and then the cross-area walking paths are respectively set between different working areas according to the map information, so that the corresponding paths can be directly taken to walk when the working areas need to be switched by the automatic walking equipment, and the automatic cross-area operation is realized. The automatic walking equipment can be controlled to automatically traverse a plurality of mutually independent working areas, manual transregional conveying of the automatic walking equipment is not needed, and the operation efficiency of the machine can be improved. Because automatic walking equipment can automatic cross-regional walking, therefore, only need a location basic station in certain extent in this application, the user can arrange as few charging stations as possible according to the place demand in order to reduce use cost.
Description
Technical Field
The application relates to the technical field of control of automatic walking equipment, in particular to a cross-regional automatic walking equipment control method and automatic walking equipment.
Background
The existing automatic walking equipment can only automatically run in a fixed working area to realize the operations of mowing and the like.
For application scenes with a plurality of unconnected fields, automatic walking equipment in the market can realize automatic operation in a working area only by setting each field into an independent working area. The switching between different working areas can be realized only by manually moving the automatic walking equipment between different working areas. After the mowing operation is completed in the first field, the automatic walking equipment needs to be manually carried to the next field, so that the operation on the other field can be realized, and time and labor are wasted.
When using automatic walking equipment in different places, under the prior art, still need the user to arrange a charging base station respectively in each place respectively. The equipment cost is high.
Disclosure of Invention
The control method and the automatic walking equipment aim at the defects of the prior art, and the control method and the automatic walking equipment for the cross-region automatic walking equipment are provided. The technical scheme is specifically adopted in the application.
Firstly, in order to achieve the above object, a control method for a trans-regional automatic walking device is provided, which comprises the steps of: obtaining map information of each working area of the automatic walking equipment; setting at least one cross-region walking path between different working areas; when the automatic walking equipment needs to switch the working area, a cross-region walking path connecting the current working area of the automatic walking equipment and the target working area is called, and the automatic walking equipment is driven to run along the cross-region walking path.
Optionally, the method for controlling a trans-regional automatic walking device according to any one of the above descriptions, wherein the step of setting the trans-regional walking path between different working regions includes: and selecting two boundary points which are respectively positioned on the boundary lines of the two working areas according to the map information of the working areas, connecting the boundary points, recording the map information of a connecting line between the two boundary points, and generating the cross-region walking path.
Optionally, the method for controlling a trans-regional automatic walking device according to any one of the above descriptions, wherein the step of setting the trans-regional walking path between different working regions includes: receiving a path setting signal, acquiring path nodes corresponding to the cross-regional walking path according to the path setting signal, recording map information of connecting lines among the path nodes, and generating the cross-regional walking path.
Optionally, the method for controlling a trans-regional automatic walking device according to any one of the above descriptions, wherein the step of setting the trans-regional walking path between different working regions includes: judging whether an impassable area exists between the working areas, if so, acquiring path nodes corresponding to the cross-region walking path according to the path setting signal, and recording map information of connection lines between the path nodes to generate the cross-region walking path; and if the region which cannot pass through does not exist, selecting two boundary points which are respectively positioned on the boundary lines of the two working regions, connecting the boundary points, recording map information of a connecting line between the two boundary points, and generating the cross-region walking path.
Optionally, the method for controlling a trans-regional automatic walking device may specifically select two boundary points located on boundary lines of two working regions and having the shortest distance therebetween, connect the boundary points in a straight line, record map information of a connection line between the two boundary points, and generate the trans-regional walking path.
Optionally, the method for controlling a transregional automatic walking device according to any one of the above, wherein the path setting signal includes: driving a control signal for the cross-regional operation of the automatic walking equipment, or selecting a control signal for a cross-regional walking path on a map; the path node includes: starting points and end points corresponding to the cross-region walking path and turning positions in the cross-region walking path; the connection lines between the path nodes include straight line connection lines between the path nodes, curved line connection lines between the path nodes, or a combination thereof.
Optionally, in the method for controlling a trans-regional automatic traveling device, during the process of driving the automatic traveling device to operate along the trans-regional traveling path, if it is detected that the automatic traveling device deviates from the trans-regional traveling path and exceeds a set range, an alarm is triggered, and if it is detected that the automatic traveling device deviates from the trans-regional traveling path and does not exceed the set range, the automatic traveling device is triggered to turn and return to the trans-regional traveling path.
Optionally, in the method for controlling a trans-regional automatic traveling device, during the process of driving the automatic traveling device to travel along the trans-regional traveling path, if it is detected that the positioning unit of the automatic traveling device fails, the automatic traveling device stops traveling and triggers an alarm.
Optionally, in the method for controlling a trans-regional automatic walking device, during the process of driving the automatic walking device to run along the trans-regional walking path, if it is detected that an obstacle exists or the automatic walking device cannot pass through the current trans-regional walking path during running, another trans-regional walking path between a work region where the automatic walking device is located before trans-regional walking and a target work region is called, and the automatic walking device is driven to adjust the direction and run along the newly called trans-regional walking path.
Optionally, in the method for controlling a trans-regional automatic traveling apparatus, during a process of driving the automatic traveling apparatus to travel along a trans-regional traveling path, the operation unit of the automatic traveling apparatus keeps a stopped state.
Simultaneously, for realizing above-mentioned purpose, this application still provides an automatic walking equipment, and it includes: the storage unit is used for storing map information of each working area of the automatic walking equipment and corresponding cross-region walking paths among the working areas; the positioning unit is used for acquiring the position information of the automatic walking equipment; and the control unit is used for calling a corresponding cross-region walking path for connecting the current working region of the automatic walking equipment with the target working region according to any one of the method steps according to the position information of the automatic walking equipment when the automatic walking equipment needs to switch the working region, and driving the automatic walking equipment to run along the cross-region walking path.
Optionally, the automatic walking device as described in any of the above, further comprising a working unit configured to: and stopping operation in the process that the automatic walking equipment runs along the cross-region walking path.
Optionally, the automatic walking device as described in any of the above, wherein the positioning unit includes an inertial navigation positioning module and a positioning signal receiving module, and when the positioning signal receiving module does not receive an effective positioning signal, the inertial navigation positioning module is triggered to obtain the position information of the automatic walking device; and when the positioning signal receiving module still does not receive the effective positioning signal after exceeding the preset time length, judging that the positioning unit fails, and triggering the automatic walking equipment to stop running and give an alarm.
Advantageous effects
According to the cross-regional control method of the automatic walking equipment, the map information of each independent working region is obtained firstly, and then cross-regional walking paths are set between different working regions according to the map information, so that the automatic walking equipment can directly call corresponding paths to walk when the working regions need to be switched, and automatic cross-regional operation is achieved. The automatic walking equipment can be controlled to automatically traverse a plurality of mutually independent working areas, manual transregional conveying of the automatic walking equipment is not needed, and the operation efficiency of the machine can be improved. Because automatic walking equipment can automatic cross-regional walking, therefore, only need a location basic station in certain extent in this application, the user can arrange as few charging stations as possible according to the place demand in order to reduce use cost.
Further, when the cross-region walking path is set, the shortest path can be automatically generated directly according to the map information, and a plurality of alternative paths can be stored simultaneously, so that once an obstacle or positioning difficulty is met during cross-region walking, the cross-region walking can be smoothly completed by automatically switching to other alternative paths.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a schematic diagram of the automated walking device of the present application performing cross-regional walking;
fig. 2 is a schematic block diagram of an internal circuit of an automatic walking device according to the present application.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1 is a schematic operation process diagram of a cross-regional automatic walking device control method according to the present application. Before the cross-regional walking is executed, the method needs to firstly drive automatic walking equipment to respectively walk along each mutually independent working region for a circle by a user to obtain, calibrate and record map information of each working region; or in other modes, before the user walks across the regions, the user directly marks the map information of each working region corresponding to the automatic walking equipment through various electronic maps such as Google or the like or the image processing unit automatically calculates and acquires the map information of each working region corresponding to the automatic walking equipment.
After the map information of each working area of the automatic walking equipment is obtained, the map information can be correspondingly stored so as to respectively plan internal traversal paths for each working area and correspondingly drive the automatic walking equipment to operate in each working area to correspondingly operate.
In order to automatically realize the cross-region walking, at least one cross-region walking path is set between different working regions through various modes such as manual selection or automatic calculation. Therefore, when the automatic walking equipment needs to switch the working areas, the cross-region walking path connecting the current working area of the automatic walking equipment and the target working area can be automatically called, the automatic walking equipment is driven to run along the corresponding path according to the cross-region walking path, and automatic switching between different working areas is realized.
Referring to fig. 2, in order to implement the above functions, various functional units shown in fig. 2 need to be arranged inside an automatic walking device system such as an intelligent mowing robot, and the like, including:
the device comprises a walking unit, an operation unit, a control unit, a positioning unit, a storage unit and a path planning unit.
The walking unit is connected with the control unit, and the rotating speed of the walking motor is correspondingly adjusted under the control of instructions of the control unit so as to drive the walking wheels to drive the automatic walking equipment to walk.
The positioning unit can be realized by various positioning modes such as an RTK module, a UWB positioning module, a GNSS positioning module, an inertial navigation positioning module and the like, and is used for acquiring real-time position information of the automatic walking equipment and realizing the operation of the running position of the automatic walking equipment.
The storage unit is used for storing map information corresponding to each working area of the automatic walking equipment. The map information of each work area may be stored in advance in the following manner: one way is that a user controls automatic walking equipment such as an intelligent mower to walk for one circle along the boundary of a working area, the map information of each point passing through the boundary is correspondingly acquired in the process of walking for one circle, and map coordinates corresponding to each position on the boundary are extracted, so that regional map information is generated by an algorithm according to corresponding map coordinate fitting; the second way is: map information of a work area corresponding to automatic walking equipment such as an intelligent mower is directly drawn from an electronic map such as Google or is automatically calculated and generated.
The path planning unit is connected with the storage unit so as to correspondingly call the map information of the working area corresponding to the automatic walking equipment from the storage unit, thereby automatically planning the traversal operation path of the automatic walking equipment in each working area according to a preset algorithm and automatically planning the cross-area walking path of the automatic walking equipment between two adjacent working areas according to the preset algorithm. The path planning unit can also store the map information corresponding to the planned traversal operation path and the map information corresponding to the trans-regional walking path in the storage unit, so that the automatic walking equipment can be automatically called when needed.
The control unit is respectively connected with the walking units, the cutting unit, the positioning unit and the storage unit, and is used for correspondingly outputting control signals according to the received positioning information of the positioning unit, the map information of the traversing operation path and the map information of the cross-region walking path in the storage unit, controlling the walking units to drive the automatic walking equipment to walk according to the set walking path, and correspondingly controlling the operation units such as the mowing device and the like to execute corresponding working modes in the process.
Wherein, the operation unit can correspond to the operation demand of mowing and corresponding the setting to include: the lawn mower comprises a lawn mower disc, a lawn mowing motor and a driving circuit. The operation unit with the mowing function can be set to two working modes, wherein one mode is a normal mowing mode and is used for driving the mowing motor to normally drive the mowing cutter head to rotate to realize mowing operation in the process that the automatic walking equipment traverses an operation path; the second mode is a cross-region walking mode, which is used for keeping the mowing motor to stop rotating in the process that the automatic walking equipment executes a cross-region walking path so as to avoid damaging the ground among different working regions or avoiding accidentally damaging obstacles among different working regions.
In other implementation manners, the setting of the trans-regional walking path between different working areas can be specifically realized through any of the following manners:
in the first mode, two boundary points which are respectively positioned on the boundary line of two working areas can be selected according to the map information of the working areas, the boundary points are connected, the map information of the connecting line between the two boundary points is recorded, and a linear cross-area walking path is generated;
in a second mode, a setting signal of a user for a cross-regional walking path can be received, path nodes corresponding to the cross-regional walking path are obtained according to the setting signal, map information of connecting lines among the path nodes is recorded, and the cross-regional walking path is generated;
in a third mode, whether an impassable region exists between the working regions can be judged, when the impassable region exists, a path node corresponding to the cross-region walking path is obtained according to the path setting signal, and the map information of the connection line between the path nodes is recorded to generate the cross-region walking path; and when no region which can not pass exists between the regions, directly selecting two boundary points which are respectively positioned on the boundary lines of the two working regions, connecting the boundary points in a straight line or a curve or any form, and recording map information of a connecting line between the two boundary points to generate the cross-region walking path.
In each of the above manners, in order to further shorten the length of the cross-region traveling path, when selecting the boundary point, the path length between the two boundary points may be shortened as much as possible by selecting the two boundary points located closest to each other on the boundary line of the two working areas. Under the condition that the road condition between the working areas allows, the two boundary points which are closest to each other in different working areas can be directly and linearly connected, the map information of the connection line between the two boundary points is recorded, and the shortest path is automatically generated.
The setting signal of the user for the cross-region walking path received in the second mode includes:
driving a control signal for the cross-regional operation of the automatic walking equipment, or selecting a control signal for a cross-regional walking path on a map;
corresponding to the setting signals of the types, the path node corresponding to the cross-region walking path acquired in the second manner may include: starting points and end points corresponding to the cross-region walking path and turning positions in the cross-region walking path; or, each corresponding position point on the cross-region walking path can be obtained according to a preset period, and the cross-region walking path is correspondingly generated by fitting a connecting line between the position points.
The connections between the path nodes should not be limited to any particular form. The setting of the cross-region walking path can be realized by straight line connecting lines among all path nodes, curve connecting lines among all path nodes, or the combination of all the connecting modes.
Thus, in some more specific implementations, the automatic walking device of the present application can operate according to the following steps by setting the control unit thereof:
s1, storing the map corresponding to each working area in a storage unit of the automatic walking equipment, determining the specific working area in which the equipment is located according to the positioning information of the equipment, calling the map corresponding to the working area correspondingly, and driving the automatic walking equipment to traverse and operate in the working area according to the planned operation path through the position information and the path planning information included in the map of the working area;
and S2, when the traversing operation is completed in the preset working area and the working area needs to be replaced, switching the automatic walking equipment to a cross-area walking mode, correspondingly controlling the automatic walking equipment to transfer from one working area to another independent working area according to a cross-area walking path between the corresponding working areas in the mode, and simultaneously keeping the operation unit to stop operating on the way that the automatic walking equipment runs along the cross-area walking path and in a stop state in the cross-area walking process in order to avoid the damage of the ground or accidents of the operation unit.
The path planning for the cross-region walking path in step S2 can be implemented in any of the following manners.
The method I comprises the following steps of specifying an inter-region walking path:
the specific mode comprises the following steps: sending a walking path learning command through a mobile phone APP or a remote controller; the automatic walking equipment is controlled to walk along the appointed path through the mobile phone APP or the remote control machine, the position information corresponding to the automatic walking equipment is recorded at each characteristic point corresponding to the starting point, the turning point and the terminal point of the path in the walking process, and finally the inter-area walking path is generated.
Therefore, after mowing in the first working area in fig. 1, the automatic walking device can firstly walk to a position point on the first working area corresponding to the trans-regional walking path, then walk according to the path according to the positioning signal to reach other working areas, and correspondingly call the map of the new working area in the other working areas, so as to normally perform mowing operation and traversal process.
During the period, if the machine detects that the automatic walking equipment deviates from the cross-region walking path and exceeds a set range through various modes such as RTK (real-time kinematic) and inertial navigation calculation positioning, stopping and triggering alarm; otherwise, if only the automatic walking equipment is detected to deviate from the cross-region walking path but not exceed the set range, the heading can be automatically calibrated by triggering the automatic walking equipment to turn and return to the cross-region walking path. If no RTK positioning exists on the path, the inertial navigation device is used for continuing to advance, and if the RTK cannot be effectively positioned after a certain time, the positioning unit of the automatic walking device is judged to be invalid. At this point, further shutdown and alarm triggering may be performed to avoid accidents.
In the second mode, no non-accessible region exists between different working regions, and the working regions can pass through freely
When the automatic walking equipment needs to run from the first working area to the second working area in fig. 1, two working areas are found by calling map information, the boundary point with the nearest distance between the two areas can be selected at will under the condition that the two areas can pass by any route, the starting point on the boundary of the first working area and the end point on the boundary of the second working area are obtained, and the two areas are connected in a straight line to form a cross-area walking path. When the cross-region movement is executed, the automatic walking equipment can be correspondingly driven to autonomously run to the starting point of the boundary of the first working region and then move to the end point of the boundary of the second working region along a straight line.
In the process, if the automatic walking device encounters an obstacle or a situation that the automatic walking device cannot pass through the shortest path connected in a straight line, for example, an accurate positioning signal cannot be obtained, the control unit may be triggered to control the automatic walking device to return to the first working area first, and then other routes are selected randomly, for example, a cross-region walking path with the farthest distance is selected for trying. If the automatic walking equipment still cannot pass through the target work area after the attempt, other cross-area walking paths between the work area where the automatic walking equipment is located and the target work area before cross-area walking can be called again, for example, a path with a middle distance is selected, the direction of the automatic walking equipment is driven to be adjusted, and the automatic walking equipment is driven to run along the newly called cross-area walking path.
The selection of the planning mode of the walking path between the two areas can be selected by the user according to the actual situation. For example, when the user observes that there is an area that cannot be walked between two areas, the first method may be preferred for path planning, and when the user observes that there is no area that cannot be walked between two areas, the second method may be preferred for path planning.
Therefore, after the device automatically walks to the next working area, the specific working area where the device is located can be determined through the positioning information of the machine, so that the map corresponding to the working area is correspondingly called, and then the traversing operation work is continuously carried out in the working area according to the path planning information recorded in the map.
The cross-region walking scheme provided by the application can realize the following effects:
1. and judging whether an impassable area exists on the cross-region walking path through artificial observation, and adopting different path planning modes according to different conditions. Therefore, when the region which cannot pass exists, a cross-region walking path can be set in a designated mode; when there is no impassable area, a manner of automatically generating the shortest distance route may be employed. The technique of this patent can control automatic walking equipment such as intelligent lawn mower and walk to a plurality of mutually independent regions voluntarily, reduces the manpower and carries automatic walking equipment between different work areas to raise the efficiency. This application can make can keep sharing same basic station to fix a position or charge between a plurality of independent work area through crossing regional walking, and from this, this application only needs a location basic station in certain extent, can make the user arrange according to the place demand and reduce charging station hardware expenditure cost as far as.
2. When the automatic walking equipment moves across areas according to the appointed cross-area walking path, if the machine judges that the offset course of the positioning position of the machine exceeds the limited distance through RTK and/or inertial navigation calculation, the equipment can be set to automatically stop and alarm, otherwise, the heading can be automatically calibrated under the condition of small deviation. If there is an area on the path without the RTK positioning signal, the inertial navigation system can be used to continue the travel. If after a period of time of guidance is carried out through inertial navigation, an effective RTK signal can not be obtained after a certain period of time, and effective positioning can not be carried out, the automatic walking equipment can also be set to stop to give an alarm, so that the problem that the automatic walking equipment gets lost or is stuck is avoided. Therefore, the safety of cross-region walking of the automatic walking equipment can be improved.
3. In the automatic route planning mode, the shortest route can be automatically generated, an optimal cross-area walking route scheme can be formed according to different site conditions, meanwhile, through setting a plurality of alternative routes, when the automatic walking equipment meets emergency situations that a positioning signal is not good, an obstacle cannot pass through and the like, a proper alternative route can be selected, and the success rate and the safety of cross-area passing of the machine are improved.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (13)
1. A control method for cross-regional automatic walking equipment is characterized by comprising the following steps:
obtaining map information of each working area of the automatic walking equipment;
setting at least one cross-region walking path between different working areas;
when the automatic walking equipment needs to switch the working area, a cross-region walking path connecting the current working area of the automatic walking equipment and the target working area is called, and the automatic walking equipment is driven to run along the cross-region walking path.
2. The method of claim 1, wherein the step of setting the cross-regional travel path between different work areas comprises:
and selecting two boundary points which are respectively positioned on the boundary lines of the two working areas according to the map information of the working areas, connecting the boundary points, recording the map information of a connecting line between the two boundary points, and generating the cross-region walking path.
3. The method of claim 1, wherein the step of setting the cross-regional travel path between different work areas comprises:
receiving a path setting signal, acquiring path nodes corresponding to the cross-regional walking path according to the path setting signal, recording map information of connecting lines among the path nodes, and generating the cross-regional walking path.
4. The method of claim 1, wherein the step of setting the cross-regional travel path between different work areas comprises:
it is determined whether there is an impenetrable region between the work areas,
if the region which cannot pass exists, acquiring path nodes corresponding to the cross-region walking path according to the path setting signal, and recording map information of connection lines among the path nodes to generate the cross-region walking path;
and if the region which cannot pass through does not exist, selecting two boundary points which are respectively positioned on the boundary lines of the two working regions, connecting the boundary points, recording map information of a connecting line between the two boundary points, and generating the cross-region walking path.
5. The method according to claim 2 or 4, wherein two boundary points that are closest to each other on the boundary lines of the two working areas are specifically selected, the boundary points are connected in a straight line, and map information of a connection line between the two boundary points is recorded, so that the trans-regional walking path is generated.
6. The method for controlling transregional automated walking devices according to claim 3 or 4, wherein said path setting signal comprises: driving a control signal for the cross-regional operation of the automatic walking equipment, or selecting a control signal for a cross-regional walking path on a map;
the path node includes: starting points and end points corresponding to the cross-region walking path and turning positions in the cross-region walking path;
the connection lines between the path nodes include straight line connection lines between the path nodes, curved line connection lines between the path nodes, or a combination thereof.
7. The method according to any one of claims 2 to 4, wherein in the process of driving the automatic traveling device to travel along the trans-regional traveling path, if it is detected that the automatic traveling device deviates from the trans-regional traveling path and exceeds a set range, an alarm is triggered, and if it is detected that the automatic traveling device deviates from the trans-regional traveling path and does not exceed the set range, the automatic traveling device is triggered to turn and return to the trans-regional traveling path.
8. The method for controlling trans-regional automatic walking equipment according to any one of claims 2 to 4, wherein in the process of driving the automatic walking equipment to run along the trans-regional walking path, if the positioning unit of the automatic walking equipment is detected to be out of order, the automatic walking equipment stops running and triggers an alarm.
9. The method for controlling trans-regional automatic walking equipment according to any one of claims 2 to 4, wherein in the process of driving the automatic walking equipment to run along the trans-regional walking path, if it is detected that an obstacle exists or cannot pass through the current trans-regional walking path of the automatic walking equipment during running, another trans-regional walking path between the working region where the automatic walking equipment is located before trans-regional walking and the target working region is called, and the automatic walking equipment is driven to adjust the direction and run along the newly called trans-regional walking path.
10. The transregional automatic walking device control method according to any one of claims 2 to 4, wherein the operation unit of the automatic walking device is kept in a stopped state during driving the automatic walking device to run along the transregional walking path.
11. An automated walking device, comprising:
the storage unit is used for storing map information of each working area of the automatic walking equipment and corresponding cross-region walking paths among the working areas;
the positioning unit is used for acquiring the position information of the automatic walking equipment;
a control unit, configured to, when the automatic traveling apparatus needs to switch the working area, call, according to the position information of the automatic traveling apparatus, a cross-region traveling path connecting the current working area of the automatic traveling apparatus and the target working area according to the method steps of any one of claims 1 to 10, and drive the automatic traveling apparatus to operate along the cross-region traveling path.
12. The automated walking device of claim 11, further comprising a work unit configured to: and stopping operation in the process that the automatic walking equipment runs along the cross-region walking path.
13. The automatic walking device of claim 11, wherein the positioning unit comprises an inertial navigation positioning module and a positioning signal receiving module, and when the positioning signal receiving module does not receive a valid positioning signal, the inertial navigation positioning module is triggered to obtain the position information of the automatic walking device; and when the positioning signal receiving module still does not receive the effective positioning signal after exceeding the preset time length, judging that the positioning unit fails, and triggering the automatic walking equipment to stop running and give an alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110348943.3A CN113093745A (en) | 2021-03-31 | 2021-03-31 | Control method of cross-regional automatic walking equipment and automatic walking equipment |
Applications Claiming Priority (1)
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