WO2021031405A1 - Automatic working system, automatic travelling device and control method therefor, computer device, and computer readable storage medium - Google Patents

Automatic working system, automatic travelling device and control method therefor, computer device, and computer readable storage medium Download PDF

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Publication number
WO2021031405A1
WO2021031405A1 PCT/CN2019/117851 CN2019117851W WO2021031405A1 WO 2021031405 A1 WO2021031405 A1 WO 2021031405A1 CN 2019117851 W CN2019117851 W CN 2019117851W WO 2021031405 A1 WO2021031405 A1 WO 2021031405A1
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Prior art keywords
boundary
automatic
equipment
trimming
autonomous vehicle
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PCT/CN2019/117851
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French (fr)
Chinese (zh)
Inventor
胡诚
王成
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苏州科瓴精密机械科技有限公司
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Publication of WO2021031405A1 publication Critical patent/WO2021031405A1/en

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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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the invention relates to the field of intelligent control, in particular to an automatic working system, an automatic traveling device and a control method thereof, a computer device and a computer-readable storage medium.
  • intelligent robots With the continuous advancement of computer technology and artificial intelligence technology, automatic walking equipment and automatic working systems of intelligent robots have slowly entered people's lives, such as intelligent sweeping robots and intelligent lawn mower robots.
  • intelligent robots are small in size, and are integrated with sensing devices, driving devices, batteries, etc., without manual manipulation, and can travel and work in a prescribed area.
  • the battery power when the battery power is insufficient, it can automatically return to the charging station, dock with the charging station and charge, and continue to travel and work after the charging is completed. Therefore, the work system of this kind of intelligent robot does not need to invest in management after unified setting, so that the user can be liberated from housework and bring great convenience to the user's life.
  • Intelligent lawn mowing robots When the intelligent robot walks randomly in the work area, it is usually impossible to clean or trim the edge part of the boundary as a whole, especially, it is especially obvious in the intelligent lawn mower robot.
  • Intelligent lawn mowing robots usually trim randomly along the path in the work area and turn when they are adjacent to the boundary. As a result, the mowing at the boundary is usually not neat enough, resulting in poor mowing effect and not beautiful enough.
  • the present invention provides a control method of an automatic traveling equipment, the control method includes: when it is judged to be a trimming state, controlling the automatic traveling equipment to enter a trimming mode, and the trimming mode is an automatic traveling equipment Walk and work along the boundary; the step of "determining the trimming state” includes: receiving a position signal at least partially on or outside of the boundary on one side of the central axis of the automatic traveling device in the forward direction.
  • the step of “receiving a position signal at least partially on or outside the boundary on one side of the central axis of the autonomous vehicle in the forward direction” is specifically: receiving the central axis of the autonomous vehicle in the forward direction There is a position signal at least partly located on or outside the boundary on one side and a position signal at least partly located on or within the boundary is received on the other side of the autonomous vehicle along the central axis.
  • the “position signal partially located on or within the boundary” specifically refers to: receiving the position signal of the front wheel on one side of the central axis of the autonomous vehicle in the forward direction being outside the boundary and receiving the position signal of the central axis of the autonomous vehicle in the forward direction.
  • the position signal that the front wheel on the other side is within the boundary.
  • the step of "determining the trimming state” further includes: receiving a direction signal of the charging station entrance on the path that the autonomous traveling equipment walks along the boundary.
  • control method includes: when it is not judged as the trimming state, the automatic traveling device enters the normal working mode; in the normal working mode, if the automatic traveling device is judged to be the pre-planned state, the automatic traveling device walks toward the boundary, And judge the trimming state; the normal working mode is that the automatic walking equipment walks and works in the working space formed by the boundary.
  • control method further includes: in the normal working mode, counting the work plan completed by the automatic walking equipment and forming the first count information; the step "judge as the pre-planned state" is specifically: confirm the first One count information reaches n times.
  • control method further includes: in the trimming mode, confirming the initial position of the automatic traveling equipment; counting the number of times the automatic traveling equipment reaches the initial position and forming second count information; The counting information reaches m times, and the automatic walking equipment is controlled to enter the normal working mode.
  • control method further includes: in the trimming mode, detecting the battery power of the automatic traveling equipment; judging whether the automatic traveling equipment is in a low-power state; if it is not in a low-power state, judging the automatic traveling equipment and The distance d between charging stations and the size of the preset distance d1; when it is judged that d ⁇ d1, the automatic traveling equipment turns to the inside of the boundary and continues to drive for T1 time, then turns to the side close to the adjacent boundary and continues along the boundary Walk and work.
  • the present invention provides a self-propelled equipment, which includes a main body, a walking module, and a power supply module. There is a position signal at least partly on or outside the boundary on one side of the central axis; the control module is used to receive the position signal of the detection module and determine whether it is a trimming state, and when it is judged to be a trimming state, control the automatic The walking equipment enters the trimming mode.
  • the detection module further includes at least two boundary sensing elements arranged on the front side of the automatic traveling equipment, the automatic traveling equipment has a central axis along its advancing direction, and the boundary sensing elements are distributed thereon. The left and right sides of the central axis.
  • the autonomous walking device includes two front wheels arranged on the front side below the body, the front wheels are symmetrically arranged on the left and right sides of the central axis, and at least two of the boundary sensing elements are respectively Set on the two front wheels.
  • the autonomous walking device further includes a direction sensing element for sensing the entrance of the charging station.
  • the present invention provides a computer device, including a memory and a processor, the memory stores a computer program that can run on the processor, and is characterized in that the processor executes the computer program
  • the steps of the control method of the autonomous walking device as described above can be realized at the time.
  • the present invention provides a computer-readable storage medium storing a computer program, which is characterized in that, when the computer program is executed by a processor, it can realize the control method of autonomous walking equipment as described above Steps in.
  • the present invention provides an automatic working system, the automatic working system includes: the automatic walking equipment as described above; a boundary to limit the working range of the automatic walking equipment, the automatic walking equipment Travel and work within the aforementioned boundaries.
  • the boundary is surrounded to form a ring;
  • the automatic working system further includes a charging station, the charging station is arranged on the boundary, and the entrance of the charging station is located on the extended path of the boundary.
  • the self-propelled equipment of the present invention can judge whether it needs trimming according to the positional relationship between the self-propelled equipment and the boundary.
  • the self-propelled equipment can walk along the boundary and work , which can make the work of the automatic walking equipment within the working range enclosed by the boundary more complete.
  • the lawn mower robot can also trim the grass at the boundary, making the trimming effect better and the overall appearance more beautiful.
  • Fig. 1 is a flow chart of the control method of the autonomous walking equipment of the present invention.
  • the self-propelled equipment of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the work area for mowing and vacuuming.
  • the self-propelled equipment is a lawn mower as an example.
  • the working area may be a lawn.
  • the self-propelled equipment is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment, etc., suitable for unattended equipment.
  • the present invention provides a control method of an autonomous walking device, the control method includes:
  • control the automatic traveling equipment to enter the trimming mode, and the trimming mode is that the automatic traveling equipment walks and works along the boundary
  • the steps "judged as trimming state” include:
  • a position signal that is at least partly located on or outside of the boundary is received on one side of the central axis of the autonomous vehicle along the advancing direction.
  • the autonomous vehicle in the present invention can determine whether trimming is required based on the positional relationship between the autonomous vehicle and the boundary. When it is determined that trimming is required, the autonomous vehicle can walk and work along the boundary, thereby enabling the automatic The work of walking equipment within the working range enclosed by the boundary is more complete. For the lawn mower robot, the lawn mower robot can also trim the grass at the boundary, making the trimming effect better and the overall appearance more beautiful.
  • the autonomous walking device has a body on which a central axis along the advancing direction is formed, and the body is basically symmetrical with respect to the central axis.
  • autonomous devices since autonomous devices usually move forward in the direction of their central axis, if one side of the central axis is at least partially located on or outside the boundary, it means that the autonomous device overlaps the boundary and the center of the autonomous device The axis also closely coincides with the boundary, and the automatic walking device can walk and work along the boundary. Therefore, in order to allow the autonomous vehicle to enter the trimming mode, the autonomous vehicle can be placed on the boundary so that the central axis and the boundary roughly coincide.
  • the step of “receiving a position signal that is at least partly on or outside the boundary of the central axis of the automatic traveling equipment in the forward direction” is specifically: receiving automatic One side of the central axis of the walking equipment along the advancing direction has a position signal at least partly on or outside the boundary, and the other side of the received autonomous vehicle along the central axis has a position signal at least partly on or inside the boundary.
  • the autonomous vehicle has a detection module and a control module, and the control module needs to receive the position signals detected by the detection module twice, one of which is that one side of the central axis of the autonomous vehicle is located on or outside the boundary, The second is that the other side is located on or within the boundary, so that it can be further determined that the autonomous vehicle is already located on the boundary.
  • the detection module includes at least two boundary sensing elements arranged on the front side of the autonomous vehicle, and the boundary sensing elements are distributed on the left and right sides of the central axis. Therefore, for the autonomous vehicle, the boundary sensing element is arranged on the front side, so that the boundary sensing elements on both sides of the central axis can better reflect the positional relationship between the forward direction of the autonomous vehicle and the central axis, thereby ensuring the autonomous vehicle
  • the direction of advancement coincides with the direction of extension of the border, so that the automatic walking equipment can be controlled to enter the trimming mode.
  • the boundary sensing element is arranged closer to the central axis, the process of determining the trimming state is more accurate.
  • the automatic traveling equipment has at least two boundary sensing elements distributed along one side of its axis, and if at least two boundary sensing elements on the same side are both sensed outside the boundary, it can also be described as the automatic traveling equipment
  • the direction of advancement coincides with the direction of extension of the boundary, so that the automatic walking equipment can also be controlled to enter the trimming mode.
  • this is also within the protection scope of the present invention.
  • the step “receives a position signal at least partly located on or outside the boundary on one side of the central axis of the autonomous vehicle in the advancing direction, and receives another position signal of the autonomous vehicle along the central axis.
  • One side has a position signal at least partially on or within the boundary” specifically: receiving the position signal that the front wheel on the side of the central axis of the autonomous vehicle is located outside the boundary and receiving the autonomous vehicle along the forward direction The position signal of the front wheel on the other side of the central axis is located within the boundary.
  • the automatic traveling equipment includes two front wheels arranged on the front side below the body, the front wheels are symmetrically arranged on the left and right sides of the central axis, and at least two of the boundary sensing elements are respectively arranged on the two front wheels . Therefore, the relationship between the autonomous vehicle and the boundary can be determined by sensing the positions of the two front wheels and the boundary.
  • the boundary sensing element is arranged on the body or other positions, as long as the above effects can be satisfied, the objective of the present invention can be achieved.
  • the step of "determining the trimming state” further includes: receiving a direction signal indicating that there is an entrance to the charging station on the path along which the autonomous vehicle travels along the boundary. Therefore, in this specific embodiment, in order for the autonomous vehicle to enter the trimming state, the autonomous vehicle must also meet the above-mentioned conditions in the direction. Therefore, in conjunction with the position signal sensed by the boundary sensor, the judgment can be made more accurate, and it can be more ensured that the autonomous vehicle is already located on the boundary and can walk along the boundary.
  • the self-propelled equipment walks along the boundary in the direction toward the entrance of the charging station. When the self-propelled equipment is in a low power state with insufficient power, it can also directly drive into the charging station.
  • the step of "determining the trimming state” also includes: receiving a direction signal that the autonomous traveling device walks along the boundary away from the entrance of the charging station, the objective of the present invention can also be achieved.
  • the above has introduced the work flow when determining the trimming state in the control method of the automatic traveling equipment of the present invention.
  • the following further introduces the working process of the automatic traveling equipment when it is not judged as the trimming state.
  • control method includes:
  • the automatic walking equipment When it is not judged as the trimming state, the automatic walking equipment enters the normal working mode
  • the normal working mode is that the automatic traveling equipment walks and works in the working space formed by the boundary.
  • the autonomous vehicle when the autonomous vehicle is not judged to be in the trimming state, the autonomous vehicle is in the normal working mode. But in the normal working mode, you can still enter the trimming mode. As long as it is judged as the pre-planned state, the automatic walking device will walk to the boundary. If it is judged to be the trimming state during the process of walking to the boundary, the trimming will be triggered mode.
  • the autonomous vehicle has at least one work plan that needs to be completed every day, and when the work plan is completed n times, it starts to judge that the border needs to be trimmed. For example, one finishing job needs to be completed every day. If n is 7, it means that after the automatic traveling equipment has been working for seven days, the boundary will be trimmed once.
  • the initial position of the automatic walking equipment on the boundary can be confirmed;
  • the automatic walking device is controlled to enter the normal working mode.
  • the autonomous vehicle starts from the initial position on the boundary and works along the boundary. After returning to the initial position, it can be determined that the autonomous vehicle has circled the boundary.
  • the boundary enclosure in the present invention forms a ring shape, as described above, the charging station is arranged on the boundary, and the entrance of the charging station is located on the extension path of the boundary. Therefore, when the automatic working device is powered, it certainly does not need to be charged, so when it encounters a charging station, it will bypass the charging station and continue walking.
  • the control method further includes:
  • the automatic traveling equipment When it is judged that d ⁇ d1, the automatic traveling equipment turns to the inside of the boundary and continues to drive for T1 time, then turns to the side close to the adjacent boundary and continues to walk along the boundary and work.
  • the parameters d1 and T1 should be determined according to the rotation speed, moving speed of the specific autonomous vehicle, and the sensing distance of the direction sensing element at the entrance of the inductive charging station.
  • the automatic traveling equipment if the automatic traveling equipment is not in a low-power state and is close to the charging station, the automatic traveling equipment will turn into the boundary. After bypassing the charging station, turn back to the original direction and return to the boundary, continue Walk and work.
  • the self-propelled equipment is in a low-power state, the self-propelled equipment will travel along the boundary to the charging station.
  • the present invention also includes a self-propelled equipment, which includes a body, a walking module, and a power supply module;
  • the self-propelled equipment includes: a detection module for detecting that one side of the central axis of the self-propelled equipment along the forward direction has at least Part of the position signal located on or outside the boundary;
  • the control module is used to receive the position signal of the detection module and determine whether it is in the trimming state, and when it is judged to be the trimming state, control the automatic traveling equipment to enter the trimming mode.
  • the detection module can judge whether it is necessary to enter the trimming state according to the positional relationship between the central axis of the autonomous vehicle and the boundary. If it is the trimming state, it can control the autonomous vehicle to enter the trimming mode. .
  • the detection module further includes at least two boundary sensing elements arranged on the front side of the automatic traveling equipment, the automatic traveling equipment has a central axis along its advancing direction, and the boundary sensing element Distributed on the left and right sides of the central axis.
  • the automatic traveling equipment includes two front wheels arranged on the front side below the body, the front wheels are symmetrically arranged on the left and right sides of the central axis, and at least two of the boundary sensing elements are respectively arranged on the two On the front wheels.
  • the autonomous walking device further includes a direction sensing element for sensing the entrance of the charging station.
  • the automatic walking equipment in the present invention corresponds to the above-mentioned control method, and will not be repeated here.
  • the present invention also provides a computer device, including a memory and a processor, the memory stores a computer program that can be run on the processor, and is characterized in that the processor can implement the aforementioned The steps of the control method of autonomous walking equipment.
  • the present invention may also provide a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the steps in the control method of the autonomous walking device described above can be realized. Therefore, the control method of the autonomous walking device described above can be stored in a computer device, and can also be stored in a computer mobile readable storage medium for use by the computer device.
  • the present invention also provides an automatic working system, which includes:
  • the boundary is used to define the working range of the autonomous vehicle, and the autonomous vehicle travels and works within the boundary.
  • the boundary is enclosed to form a ring;
  • the automatic working system further includes a charging station, the charging station is arranged on the boundary, and the entrance of the charging station is located on the extension path of the boundary. This is also consistent with the above description, and the details are not repeated here.
  • the present invention provides an automatic working system, an automatic traveling device and a control method thereof, a computer device, and a computer-readable storage medium.
  • the present invention when at least part of one side of the central axis of the autonomous vehicle is located on or outside the boundary, it can be judged as a trimming state, and the autonomous vehicle can walk and work along the boundary.
  • boundary sensors are respectively arranged on the left and right sides of the autonomous vehicle along the central axis to sense the boundary, so as to ensure that the walking direction of the autonomous vehicle can roughly match the boundary.
  • the autonomous vehicle in the present invention may further include a direction sensor, so as to ensure that the walking direction of the autonomous vehicle is along the entrance direction of the charging station, so that the accuracy of the judgment of the trimming state is further improved.
  • the automatic traveling equipment in the present invention can also be in the normal working mode when it is not in the trimming state, and in the normal working mode, the trimming mode can also be triggered, so that the automatic traveling device can automatically and actively Perform trimming operations.

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Abstract

An automatic working system, an automatic travelling device and a control method therefor, a computer device, and a computer readable storage medium, the control method comprising: when determining a trimming state, controlling an automatic travelling device to enter a trimming mode, the trimming mode being the automatic travelling device travelling and working along a boundary; the step "determining a trimming state" comprises: receiving a position signal of at least part of the automatic travelling device being positioned on a boundary or outside a boundary on one side of the central axis in the forward direction. On the basis of the positional relationship between the automatic travelling device and the boundary, the automatic travelling device can determine whether trimming is needed and, when determining that trimming is needed, the automatic travelling device can travel and work along the boundary, so that the work of the automatic travelling device in the working range enclosed by the boundary is more complete. For a lawn mowing robot, the lawn mowing robot can completely trim the grass at the boundary, so that the trimming effect is better and more aesthetically pleasing overall.

Description

自动工作***、自动行走设备及其控制方法及计算机设备和计算机可读存储介质Automatic working system, automatic walking equipment and control method thereof, computer equipment and computer readable storage medium 技术领域Technical field
本发明涉及智能控制领域，特别是一种涉及自动工作***、自动行走设备及其控制方法及计算机设备和计算机可读存储介质。The invention relates to the field of intelligent control, in particular to an automatic working system, an automatic traveling device and a control method thereof, a computer device and a computer-readable storage medium.
背景技术Background technique
随着计算机技术和人工智能技术的不断进步，智能机器人的自动行走设备、自动工作***已经慢慢进入人们的生活，例如智能扫地机器人、智能割草机器人等。通常的，此类智能机器人体积较小，且集成有传感装置、驱动装置、电池等，无需人工操控，并可在规定的区域内行进并工作。并且，在电池电量不够时，可自动返回充电站，与充电站对接并充电，充电完成后继续行进和工作。从而，这种智能机器人的工作***在统一设置之后无需再投入精力管理，使得用户可从家务工作中解放出来，给用户的生活带来极大的便利。With the continuous advancement of computer technology and artificial intelligence technology, automatic walking equipment and automatic working systems of intelligent robots have slowly entered people's lives, such as intelligent sweeping robots and intelligent lawn mower robots. Generally, such intelligent robots are small in size, and are integrated with sensing devices, driving devices, batteries, etc., without manual manipulation, and can travel and work in a prescribed area. Moreover, when the battery power is insufficient, it can automatically return to the charging station, dock with the charging station and charge, and continue to travel and work after the charging is completed. Therefore, the work system of this kind of intelligent robot does not need to invest in management after unified setting, so that the user can be liberated from housework and bring great convenience to the user's life.
智能机器人在工作区域内随机行走时，通常无法将边界的边沿部分也进行整体的清扫或修剪，特别的，在智能割草机器人中尤为明显。智能割草机器人通常会在工作区域内沿路径随机修剪，并在邻近边界时即转向，从而通常边界处的割草不够整齐，导致割草效果差，不够美观。When the intelligent robot walks randomly in the work area, it is usually impossible to clean or trim the edge part of the boundary as a whole, especially, it is especially obvious in the intelligent lawn mower robot. Intelligent lawn mowing robots usually trim randomly along the path in the work area and turn when they are adjacent to the boundary. As a result, the mowing at the boundary is usually not neat enough, resulting in poor mowing effect and not beautiful enough.
因此，必须设计一种可对边界处也可进行自动割草的自动行走设备。Therefore, it is necessary to design a self-propelled equipment that can automatically cut grass at the boundary.
发明内容Summary of the invention
为解决上述问题之一，本发明提供了一种自动行走设备的控制方法，所述控制方法包括：当判断为修边状态时，控制自动行走设备进入修边模式，修边模式为自动行走设备沿边界行走并工作；步骤“判断为修边状态”包括：接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置 信号。In order to solve one of the above-mentioned problems, the present invention provides a control method of an automatic traveling equipment, the control method includes: when it is judged to be a trimming state, controlling the automatic traveling equipment to enter a trimming mode, and the trimming mode is an automatic traveling equipment Walk and work along the boundary; the step of "determining the trimming state" includes: receiving a position signal at least partially on or outside of the boundary on one side of the central axis of the automatic traveling device in the forward direction.
作为本发明的进一步改进，步骤“接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号”具体为：接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号及接收到自动行走设备沿中轴线的另一侧有至少部分位于边界上或边界内的位置信号。As a further improvement of the present invention, the step of “receiving a position signal at least partially on or outside the boundary on one side of the central axis of the autonomous vehicle in the forward direction” is specifically: receiving the central axis of the autonomous vehicle in the forward direction There is a position signal at least partly located on or outside the boundary on one side and a position signal at least partly located on or within the boundary is received on the other side of the autonomous vehicle along the central axis.
作为本发明的进一步改进，步骤“接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号及接收到自动行走设备沿中轴线的另一侧有至少部分位于边界上或边界内的位置信号”具体为：接收到自动行走设备沿前进方向的中轴线的一侧的前轮位于边界外的位置信号以及接收到自动行走设备沿前进方向的中轴线的另一侧的前轮位于边界内的位置信号。As a further improvement of the present invention, the step “receives that one side of the central axis of the autonomous vehicle along the advancing direction has a position signal that is at least partly located on or outside the boundary, and receives that the other side of the autonomous vehicle along the central axis has at least The “position signal partially located on or within the boundary” specifically refers to: receiving the position signal of the front wheel on one side of the central axis of the autonomous vehicle in the forward direction being outside the boundary and receiving the position signal of the central axis of the autonomous vehicle in the forward direction. The position signal that the front wheel on the other side is within the boundary.
作为本发明的进一步改进，步骤“判断为修边状态”还包括：接收到自动行走设备沿边界行走的路径上具有充电站入口的方向信号。As a further improvement of the present invention, the step of "determining the trimming state" further includes: receiving a direction signal of the charging station entrance on the path that the autonomous traveling equipment walks along the boundary.
作为本发明的进一步改进，所述控制方法包括：当未判断为修边状态时，自动行走设备进入正常工作模式；在正常工作模式下，若判断为预计划状态，自动行走设备向边界行走，并对修边状态进行判断；正常工作模式为自动行走设备在边界围设形成的工作空间内行走并工作。As a further improvement of the present invention, the control method includes: when it is not judged as the trimming state, the automatic traveling device enters the normal working mode; in the normal working mode, if the automatic traveling device is judged to be the pre-planned state, the automatic traveling device walks toward the boundary, And judge the trimming state; the normal working mode is that the automatic walking equipment walks and works in the working space formed by the boundary.
作为本发明的进一步改进，所述控制方法还包括：在正常工作模式下，对自动行走设备完成的工作计划进行计数并形成第一计数信息；步骤“判断为预计划状态”具体为：确认第一计数信息达到n次。As a further improvement of the present invention, the control method further includes: in the normal working mode, counting the work plan completed by the automatic walking equipment and forming the first count information; the step "judge as the pre-planned state" is specifically: confirm the first One count information reaches n times.
作为本发明的进一步改进，所述控制方法还包括：在修边模式下，确认自动行走设备的初始位置；对自动行走设备到达初始位置的次数进行计数并形成第二计数信息；当确认第二计数信息达到m次，控制自动行走设备进入正常工作模式。As a further improvement of the present invention, the control method further includes: in the trimming mode, confirming the initial position of the automatic traveling equipment; counting the number of times the automatic traveling equipment reaches the initial position and forming second count information; The counting information reaches m times, and the automatic walking equipment is controlled to enter the normal working mode.
作为本发明的进一步改进，所述控制方法还包括：在修边模式下，检测自动行走设备的电池电量；判断自动行走设备是否为低电状态；若不为低电状态，判断自动行走设备和充电站之间的距离d和预设距离d1的大小；当判断d≤d1 时，自动行走设备向边界内侧转向后并继续行驶T1时间，再向靠近相邻边界的一侧转向并继续沿边界行走并工作。As a further improvement of the present invention, the control method further includes: in the trimming mode, detecting the battery power of the automatic traveling equipment; judging whether the automatic traveling equipment is in a low-power state; if it is not in a low-power state, judging the automatic traveling equipment and The distance d between charging stations and the size of the preset distance d1; when it is judged that d≤d1, the automatic traveling equipment turns to the inside of the boundary and continues to drive for T1 time, then turns to the side close to the adjacent boundary and continues along the boundary Walk and work.
为解决上述问题之一，本发明提供了一种自动行走设备，其包括本体、行走模块、电源模块；其特征在于，所述自动行走设备包括：检测模块，用于检测自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号；控制模块，用以接收检测模块的位置信号并判断是否为修边状态，当判断为修边状态时，控制所述自动行走设备进入修边模式。In order to solve one of the above-mentioned problems, the present invention provides a self-propelled equipment, which includes a main body, a walking module, and a power supply module. There is a position signal at least partly on or outside the boundary on one side of the central axis; the control module is used to receive the position signal of the detection module and determine whether it is a trimming state, and when it is judged to be a trimming state, control the automatic The walking equipment enters the trimming mode.
作为本发明的进一步改进，所述检测模块还包括设置于自动行走设备前侧的至少两个边界感应元件，所述自动行走设备具有沿其前进方向的中轴线，所述边界感应元件分布于该中轴线的左右两侧。As a further improvement of the present invention, the detection module further includes at least two boundary sensing elements arranged on the front side of the automatic traveling equipment, the automatic traveling equipment has a central axis along its advancing direction, and the boundary sensing elements are distributed thereon. The left and right sides of the central axis.
作为本发明的进一步改进，所述自动行走设备包括两个设置于本体下方前侧的前轮，所述前轮对称设置于该中轴线的左右两侧，所述边界感应元件的至少两个分别设置于两个前轮上。As a further improvement of the present invention, the autonomous walking device includes two front wheels arranged on the front side below the body, the front wheels are symmetrically arranged on the left and right sides of the central axis, and at least two of the boundary sensing elements are respectively Set on the two front wheels.
作为本发明的进一步改进，所述自动行走设备还包括用以感应充电站入口的方向感应元件。As a further improvement of the present invention, the autonomous walking device further includes a direction sensing element for sensing the entrance of the charging station.
为解决上述问题之一，本发明提供了一种计算机设备，包括存储器和处理器，所述存储器存储有可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时可实现如上述所述的自动行走设备的控制方法的步骤。In order to solve one of the above-mentioned problems, the present invention provides a computer device, including a memory and a processor, the memory stores a computer program that can run on the processor, and is characterized in that the processor executes the computer program The steps of the control method of the autonomous walking device as described above can be realized at the time.
为解决上述问题之一，本发明提供了一种计算机可读存储介质，其存储有计算机程序，其特征在于，该计算机程序被处理器执行时可实现如上述所述的自动行走设备的控制方法中的步骤。In order to solve one of the above-mentioned problems, the present invention provides a computer-readable storage medium storing a computer program, which is characterized in that, when the computer program is executed by a processor, it can realize the control method of autonomous walking equipment as described above Steps in.
为解决上述问题之一，本发明提供了一种自动工作***，所述自动工作***包括：如上述所述的自动行走设备；边界，用以限定自动行走设备的工作范围，所述自动行走设备在上述边界内行进并工作。In order to solve one of the above-mentioned problems, the present invention provides an automatic working system, the automatic working system includes: the automatic walking equipment as described above; a boundary to limit the working range of the automatic walking equipment, the automatic walking equipment Travel and work within the aforementioned boundaries.
作为本发明的进一步改进，所述边界围设形成环状；所述自动工作***还包括有充电站，所述充电站设置于边界上，且充电站的入口位于边界的延伸路 径上。As a further improvement of the present invention, the boundary is surrounded to form a ring; the automatic working system further includes a charging station, the charging station is arranged on the boundary, and the entrance of the charging station is located on the extended path of the boundary.
与现有技术相比，本发明中的自动行走设备可根据自动行走设备与边界之间的位置关系判断是否需要修边，当判断需要修边的时候，自动行走设备即可沿边界行走并工作，从而可使得自动行走设备在边界所围设成的工作范围内的工作更加完整。对于割草机器人来说，割草机器人可将边界处的草也修剪完成，使得修剪效果更好，整体也更加美观。Compared with the prior art, the self-propelled equipment of the present invention can judge whether it needs trimming according to the positional relationship between the self-propelled equipment and the boundary. When it is judged that trimming is needed, the self-propelled equipment can walk along the boundary and work , Which can make the work of the automatic walking equipment within the working range enclosed by the boundary more complete. For the lawn mower robot, the lawn mower robot can also trim the grass at the boundary, making the trimming effect better and the overall appearance more beautiful.
附图说明Description of the drawings
图1为本发明自动行走设备的控制方法的流程图。Fig. 1 is a flow chart of the control method of the autonomous walking equipment of the present invention.
具体实施例Specific embodiment
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。In order to enable those skilled in the art to better understand the technical solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
本发明的自动行走设备可以是自动割草机，或者自动吸尘器等，其自动行走于工作区域以进行割草、吸尘工作，本发明具体示例中，以自动行走设备为割草机为例做具体说明，相应的，所述工作区域可为草坪。当然，自动行走设备不限于割草机和吸尘器，也可以为其它设备，如喷洒设备、除雪设备、监视设备等等适合无人值守的设备。The self-propelled equipment of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the work area for mowing and vacuuming. In the specific example of the present invention, the self-propelled equipment is a lawn mower as an example. Specifically, correspondingly, the working area may be a lawn. Of course, the self-propelled equipment is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment, etc., suitable for unattended equipment.
如图1所示，本发明提供了一种自动行走设备的控制方法，所述控制方法包括：As shown in Figure 1, the present invention provides a control method of an autonomous walking device, the control method includes:
当判断为修边状态时，控制自动行走设备进入修边模式，修边模式为自动行走设备沿边界行走并工作；When it is judged as the trimming state, control the automatic traveling equipment to enter the trimming mode, and the trimming mode is that the automatic traveling equipment walks and works along the boundary;
步骤“判断为修边状态”包括：The steps "judged as trimming state" include:
接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号。A position signal that is at least partly located on or outside of the boundary is received on one side of the central axis of the autonomous vehicle along the advancing direction.
因而，本发明中的自动行走设备可根据自动行走设备与边界之间的位置关 系判断是否需要修边，当判断需要修边的时候，自动行走设备即可沿边界行走并工作，从而可使得自动行走设备在边界所围设成的工作范围内的工作更加完整。对于割草机器人来说，割草机器人可将边界处的草也修剪完成，使得修剪效果更好，整体也更加美观。在本发明中，自动行走设备具有本体，本体上形成有沿前进方向的中轴线，本体基本上相对该中轴线左右对称。并且，由于自动行走设备通常均沿其中轴线的方向向前行进，因此，若中轴线的一侧有至少部分位于边界上或边界外，即说明自动行走设备与边界相重叠，自动行走设备的中轴线也与边界接近吻合，自动行走设备可沿该边界行走并工作。从而，为了可以让自动行走设备进入修边模式，即可将自动行走设备放置于边界上，并且使得中轴线与边界大致重合。Therefore, the autonomous vehicle in the present invention can determine whether trimming is required based on the positional relationship between the autonomous vehicle and the boundary. When it is determined that trimming is required, the autonomous vehicle can walk and work along the boundary, thereby enabling the automatic The work of walking equipment within the working range enclosed by the boundary is more complete. For the lawn mower robot, the lawn mower robot can also trim the grass at the boundary, making the trimming effect better and the overall appearance more beautiful. In the present invention, the autonomous walking device has a body on which a central axis along the advancing direction is formed, and the body is basically symmetrical with respect to the central axis. In addition, since autonomous devices usually move forward in the direction of their central axis, if one side of the central axis is at least partially located on or outside the boundary, it means that the autonomous device overlaps the boundary and the center of the autonomous device The axis also closely coincides with the boundary, and the automatic walking device can walk and work along the boundary. Therefore, in order to allow the autonomous vehicle to enter the trimming mode, the autonomous vehicle can be placed on the boundary so that the central axis and the boundary roughly coincide.
具体的，为了使得对修边状态的判断更精准判断，步骤“接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号”具体为：接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号及接收到自动行走设备沿中轴线的另一侧有至少部分位于边界上或边界内的位置信号。在本实施方式中，自动行走设备具有检测模块和控制模块，则控制模块需要接收到两次检测模块所检测到位置信号，其一为自动行走设备中轴线的一侧位于边界上或边界外，其二为另一侧位于边界上或边界内，从而可以进一步判断该自动行走设备已经位于边界线上。Specifically, in order to make the judgment of the trimming state more accurate, the step of “receiving a position signal that is at least partly on or outside the boundary of the central axis of the automatic traveling equipment in the forward direction” is specifically: receiving automatic One side of the central axis of the walking equipment along the advancing direction has a position signal at least partly on or outside the boundary, and the other side of the received autonomous vehicle along the central axis has a position signal at least partly on or inside the boundary. In this embodiment, the autonomous vehicle has a detection module and a control module, and the control module needs to receive the position signals detected by the detection module twice, one of which is that one side of the central axis of the autonomous vehicle is located on or outside the boundary, The second is that the other side is located on or within the boundary, so that it can be further determined that the autonomous vehicle is already located on the boundary.
并且，进一步的，所述自动行走设备，所述检测模块包括设置于自动行走设备前侧的至少两个边界感应元件，所述边界感应元件分布于该中轴线的左右两侧。因而，对于自动行走设备来说，边界感应元件设置于前侧，从而中轴线两侧的边界感应元件更能体现出自动行走设备的前进方向与中轴线之间的位置关系，从而确保自动行走设备的前进方向与边界的延伸方向相吻合，从而可控制自动行走设备进入修边模式。当然，若上述边界感应元件越靠近该中轴线设置，上述判断为修边状态的这一过程更加精准。Furthermore, in the autonomous vehicle, the detection module includes at least two boundary sensing elements arranged on the front side of the autonomous vehicle, and the boundary sensing elements are distributed on the left and right sides of the central axis. Therefore, for the autonomous vehicle, the boundary sensing element is arranged on the front side, so that the boundary sensing elements on both sides of the central axis can better reflect the positional relationship between the forward direction of the autonomous vehicle and the central axis, thereby ensuring the autonomous vehicle The direction of advancement coincides with the direction of extension of the border, so that the automatic walking equipment can be controlled to enter the trimming mode. Of course, if the boundary sensing element is arranged closer to the central axis, the process of determining the trimming state is more accurate.
另外，若该自动行走设备沿其中轴线的一侧均分布有至少两个边界感应元件，并且，同一侧的至少两个边界感应元件若均感应到在边界外，则也可说明 该自动行走设备的前进方向与边界的延伸方向相吻合，从而也可控制自动行走设备进入修边模式。当然，这也在本发明的保护范围之内。In addition, if the automatic traveling equipment has at least two boundary sensing elements distributed along one side of its axis, and if at least two boundary sensing elements on the same side are both sensed outside the boundary, it can also be described as the automatic traveling equipment The direction of advancement coincides with the direction of extension of the boundary, so that the automatic walking equipment can also be controlled to enter the trimming mode. Of course, this is also within the protection scope of the present invention.
并且，在本发明的一实施例中，步骤“接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号及接收到自动行走设备沿中轴线的另一侧有至少部分位于边界上或边界内的位置信号”具体为：接收到自动行走设备沿前进方向的中轴线的一侧的前轮位于边界外的位置信号以及接收到自动行走设备沿前进方向的中轴线的另一侧的前轮位于边界内的位置信号。Moreover, in an embodiment of the present invention, the step "receives a position signal at least partly located on or outside the boundary on one side of the central axis of the autonomous vehicle in the advancing direction, and receives another position signal of the autonomous vehicle along the central axis. “One side has a position signal at least partially on or within the boundary” specifically: receiving the position signal that the front wheel on the side of the central axis of the autonomous vehicle is located outside the boundary and receiving the autonomous vehicle along the forward direction The position signal of the front wheel on the other side of the central axis is located within the boundary.
所述自动行走设备包括两个设置于本体下方前侧的前轮，所述前轮对称设置于该中轴线的左右两侧，所述边界感应元件的至少两个分别设置于两个前轮上。从而，即可通过感应两个前轮与边界的位置来判断该自动行走设备与边界的关系。当然，若所述边界感应元件设置在本体上或其他位置，只要能满足上述效果，则即可达到本发明的目的。The automatic traveling equipment includes two front wheels arranged on the front side below the body, the front wheels are symmetrically arranged on the left and right sides of the central axis, and at least two of the boundary sensing elements are respectively arranged on the two front wheels . Therefore, the relationship between the autonomous vehicle and the boundary can be determined by sensing the positions of the two front wheels and the boundary. Of course, if the boundary sensing element is arranged on the body or other positions, as long as the above effects can be satisfied, the objective of the present invention can be achieved.
另外，进一步的，在本发明中，步骤“判断为修边状态”还包括：接收到自动行走设备沿边界行走的路径上具有充电站入口的方向信号。因此，在本具体实施方式中，为了使得自动行走设备进入修边状态，自动行走设备还必须得满足上述方向上的条件。从而，配合上述边界传感器的所感应到的位置信号，可使得判断更加精确，更加能确保所述自动行走设备已经位于边界上并可沿边界进行行走。并且，自动行走设备朝向充电站入口的方向沿边界行走，在自动行走设备电量不足处于低电状态时，还可以直接驶入充电站内。当然，若步骤“判断为修边状态”还包括：接收到自动行走设备沿边界行走的路径上背离充电站入口的方向信号，也也可达到本发明的目的。In addition, further, in the present invention, the step of "determining the trimming state" further includes: receiving a direction signal indicating that there is an entrance to the charging station on the path along which the autonomous vehicle travels along the boundary. Therefore, in this specific embodiment, in order for the autonomous vehicle to enter the trimming state, the autonomous vehicle must also meet the above-mentioned conditions in the direction. Therefore, in conjunction with the position signal sensed by the boundary sensor, the judgment can be made more accurate, and it can be more ensured that the autonomous vehicle is already located on the boundary and can walk along the boundary. In addition, the self-propelled equipment walks along the boundary in the direction toward the entrance of the charging station. When the self-propelled equipment is in a low power state with insufficient power, it can also directly drive into the charging station. Of course, if the step of "determining the trimming state" also includes: receiving a direction signal that the autonomous traveling device walks along the boundary away from the entrance of the charging station, the objective of the present invention can also be achieved.
以上介绍了本发明中自动行走设备的控制方法中在判断为修边状态时的工作流程。以下进一步的介绍所述自动行走设备在未被判断为修边状态时的工作流程。The above has introduced the work flow when determining the trimming state in the control method of the automatic traveling equipment of the present invention. The following further introduces the working process of the automatic traveling equipment when it is not judged as the trimming state.
具体的，所述控制方法包括：Specifically, the control method includes:
当未判断为修边状态时，自动行走设备进入正常工作模式；When it is not judged as the trimming state, the automatic walking equipment enters the normal working mode;
在正常工作模式下，若判断为预计划状态，自动行走设备向边界行走，并 对修边状态进行判断；In the normal working mode, if it is judged to be the pre-planned state, the automatic traveling equipment will walk to the boundary and judge the trimming state;
正常工作模式为自动行走设备在边界围设形成的工作空间内行走并工作。The normal working mode is that the automatic traveling equipment walks and works in the working space formed by the boundary.
因此，当所述自动行走设备未判断为修边状态时，所述自动行走设备即为正常工作模式。但是在正常工作模式下，依然可以进入修边模式，只要判断为预计划状态之后，自动行走设备即向边界行走，在向边界行走的过程中若判断为修边状态，则即触发了修边模式。Therefore, when the autonomous vehicle is not judged to be in the trimming state, the autonomous vehicle is in the normal working mode. But in the normal working mode, you can still enter the trimming mode. As long as it is judged as the pre-planned state, the automatic walking device will walk to the boundary. If it is judged to be the trimming state during the process of walking to the boundary, the trimming will be triggered mode.
具体的，在正常工作模式下，对自动行走设备完成的工作计划进行计数并形成第一计数信息；Specifically, in the normal working mode, count the work plans completed by the automatic traveling equipment and form the first count information;
步骤“判断为预计划状态”具体为：The specific steps of "Judging as the pre-planned state" are:
确认第一计数信息达到n次。Confirm that the first count information reaches n times.
因此，在正常工作模式下，自动行走设备具有至少一个每日需要完成的工作计划，当完成n次该工作计划后，即开始判断需要对边界进行修边。例如，每日均要完成一个完成工作，若n为7，则即为，在自动行走设备工作七天后，即对边界进行一次修边工作。Therefore, in the normal working mode, the autonomous vehicle has at least one work plan that needs to be completed every day, and when the work plan is completed n times, it starts to judge that the border needs to be trimmed. For example, one finishing job needs to be completed every day. If n is 7, it means that after the automatic traveling equipment has been working for seven days, the boundary will be trimmed once.
并且，在进入修边模式后，可确认自动行走设备在边界上的初始位置；Moreover, after entering the trimming mode, the initial position of the automatic walking equipment on the boundary can be confirmed;
对自动行走设备到达初始位置的次数进行计数并形成第二计数信息；Counting the number of times the automatic traveling equipment reaches the initial position and forming second counting information;
当确认第二计数信息达到m次后，则控制自动行走设备进入正常工作模式。When the second count information is confirmed to reach m times, the automatic walking device is controlled to enter the normal working mode.
通常的，自动行走设备进入修边模式后，仅需要围绕边界一圈即可修边完成，则m为1。因此，在本实施例中，自动行走设备自边界上的初始位置出发，并沿边界进行工作，在重新回到该初始位置后，即可判断为该自动行走设备已经围绕边界一圈。Generally, after the automatic traveling equipment enters the trimming mode, it only needs to circle the boundary to complete the trimming, so m is 1. Therefore, in this embodiment, the autonomous vehicle starts from the initial position on the boundary and works along the boundary. After returning to the initial position, it can be determined that the autonomous vehicle has circled the boundary.
另外，由于本发明中的边界围设形成环状，又如上述所述，充电站设置于边界上，且充电站的入口位于边界的延伸路径上。因此，所述自动工作设备在有电的情况下，当然不需要进行充电，因而在遇到充电站时，会绕开充电站继续行走。具体的，所述控制方法还包括：In addition, since the boundary enclosure in the present invention forms a ring shape, as described above, the charging station is arranged on the boundary, and the entrance of the charging station is located on the extension path of the boundary. Therefore, when the automatic working device is powered, it certainly does not need to be charged, so when it encounters a charging station, it will bypass the charging station and continue walking. Specifically, the control method further includes:
在修边模式下，检测自动行走设备的电池电量；In the trimming mode, detect the battery power of the automatic walking equipment;
判断自动行走设备是否为低电状态；Determine whether the automatic traveling equipment is in a low power state;
若不为低电状态，判断自动行走设备和充电站之间的距离d和预设距离d1的大小；If it is not in a low-power state, determine the distance d between the autonomous vehicle and the charging station and the size of the preset distance d1;
当判断d≤d1时，自动行走设备向边界内侧转向后并继续行驶T1时间，再向靠近相邻边界的一侧转向并继续沿边界行走并工作。When it is judged that d≤d1, the automatic traveling equipment turns to the inside of the boundary and continues to drive for T1 time, then turns to the side close to the adjacent boundary and continues to walk along the boundary and work.
当然，参数d1、T1均要按照具体的自动行走设备的转速、移动速度、感应充电站入口的方向感应元件的感应距离来决定。在上述控制方法中，若自动行走设备不为低电状态且距离充电站较近时，自动行走设备即向边界内转向，在绕开充电站后，再重新向原方向转向并回到边界，继续行走及工作。当然，若自动行走设备为低电状态时，则自动行走设备沿边界正好行驶至充电站内。Of course, the parameters d1 and T1 should be determined according to the rotation speed, moving speed of the specific autonomous vehicle, and the sensing distance of the direction sensing element at the entrance of the inductive charging station. In the above control method, if the automatic traveling equipment is not in a low-power state and is close to the charging station, the automatic traveling equipment will turn into the boundary. After bypassing the charging station, turn back to the original direction and return to the boundary, continue Walk and work. Of course, if the self-propelled equipment is in a low-power state, the self-propelled equipment will travel along the boundary to the charging station.
相应的，本发明还包括一种自动行走设备，其包括本体、行走模块、电源模块；所述自动行走设备包括：检测模块，用于检测自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号；控制模块，用以接收检测模块的位置信号并判断是否为修边状态，当判断为修边状态时，控制所述自动行走设备进入修边模式。Correspondingly, the present invention also includes a self-propelled equipment, which includes a body, a walking module, and a power supply module; the self-propelled equipment includes: a detection module for detecting that one side of the central axis of the self-propelled equipment along the forward direction has at least Part of the position signal located on or outside the boundary; the control module is used to receive the position signal of the detection module and determine whether it is in the trimming state, and when it is judged to be the trimming state, control the automatic traveling equipment to enter the trimming mode.
因此，同样的，所述检测模块可通过自动行走设备的中轴线与边界的位置关系来判断是否需要进入修边状态，若为修边状态时，则可控制所述自动行走设备进入修边模式。Therefore, in the same way, the detection module can judge whether it is necessary to enter the trimming state according to the positional relationship between the central axis of the autonomous vehicle and the boundary. If it is the trimming state, it can control the autonomous vehicle to enter the trimming mode. .
并且，与上述控制方法相对应的，所述检测模块还包括设置于自动行走设备前侧的至少两个边界感应元件，所述自动行走设备具有沿其前进方向的中轴线，所述边界感应元件分布于该中轴线的左右两侧。并且进一步的，所述自动行走设备包括两个设置于本体下方前侧的前轮，所述前轮对称设置于该中轴线的左右两侧，所述边界感应元件的至少两个分别设置于两个前轮上。另外，所述自动行走设备还包括用以感应充电站入口的方向感应元件。In addition, corresponding to the above-mentioned control method, the detection module further includes at least two boundary sensing elements arranged on the front side of the automatic traveling equipment, the automatic traveling equipment has a central axis along its advancing direction, and the boundary sensing element Distributed on the left and right sides of the central axis. And further, the automatic traveling equipment includes two front wheels arranged on the front side below the body, the front wheels are symmetrically arranged on the left and right sides of the central axis, and at least two of the boundary sensing elements are respectively arranged on the two On the front wheels. In addition, the autonomous walking device further includes a direction sensing element for sensing the entrance of the charging station.
以上，本发明中的自动行走设备均与上述控制方法相对应，在此不再赘述。Above, the automatic walking equipment in the present invention corresponds to the above-mentioned control method, and will not be repeated here.
本发明还提供了一种计算机设备，包括存储器和处理器，所述存储器存储有可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时可实现上述所述的自动行走设备的控制方法的步骤。或者，本发明也可 提供一种计算机可读存储介质，其存储有计算机程序，该计算机程序被处理器执行时可实现上述所述的自动行走设备的控制方法中的步骤。因此，上述自动行走设备的控制方法可被存储于计算机设备中，也可存储于计算机移动可读存储介质中，以供计算机设备使用。The present invention also provides a computer device, including a memory and a processor, the memory stores a computer program that can be run on the processor, and is characterized in that the processor can implement the aforementioned The steps of the control method of autonomous walking equipment. Alternatively, the present invention may also provide a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the steps in the control method of the autonomous walking device described above can be realized. Therefore, the control method of the autonomous walking device described above can be stored in a computer device, and can also be stored in a computer mobile readable storage medium for use by the computer device.
本发明还提供了一种自动工作***，该自动工作***包括：The present invention also provides an automatic working system, which includes:
如上述所述的自动行走设备；Automatic walking equipment as described above;
边界，用以限定自动行走设备的工作范围，所述自动行走设备在上述边界内行进并工作。并且，所述边界围设形成环状；所述自动工作***还包括有充电站，所述充电站设置于边界上，且充电站的入口位于边界的延伸路径上。这与上述描述也相一致，具体的不再赘述。The boundary is used to define the working range of the autonomous vehicle, and the autonomous vehicle travels and works within the boundary. In addition, the boundary is enclosed to form a ring; the automatic working system further includes a charging station, the charging station is arranged on the boundary, and the entrance of the charging station is located on the extension path of the boundary. This is also consistent with the above description, and the details are not repeated here.
因此，综上所述，本发明提供了一种自动工作***、自动行走设备及其控制方法及计算机设备和计算机可读存储介质。在本发明中，所述自动行走设备的中轴线一侧有至少部分位于边界上或边界外时，即可判断为修边状态，自动行走设备可沿边界行走并工作。进一步的，为了使得判断更加精准，在自动行走设备沿中轴线的左右两侧分别设置有边界传感器来感应边界，以确保自动行走设备的行走方向能够大致与边界相吻合。并且，本发明中的自动行走设备还可包括有方向传感器，从而可以确保自动行走设备的行走方向是沿充电站的入口方向，使得对修边状态的判断的精确性进一步得到提升。当然，本发明中的自动行走设备在不是修边状态的情况下，也可进行正常工作模式，并且在正常工作模式的状态下，一样可以触发修边模式，使得自动行走设备可以自动、主动的进行修边操作。Therefore, in summary, the present invention provides an automatic working system, an automatic traveling device and a control method thereof, a computer device, and a computer-readable storage medium. In the present invention, when at least part of one side of the central axis of the autonomous vehicle is located on or outside the boundary, it can be judged as a trimming state, and the autonomous vehicle can walk and work along the boundary. Further, in order to make the judgment more accurate, boundary sensors are respectively arranged on the left and right sides of the autonomous vehicle along the central axis to sense the boundary, so as to ensure that the walking direction of the autonomous vehicle can roughly match the boundary. In addition, the autonomous vehicle in the present invention may further include a direction sensor, so as to ensure that the walking direction of the autonomous vehicle is along the entrance direction of the charging station, so that the accuracy of the judgment of the trimming state is further improved. Of course, the automatic traveling equipment in the present invention can also be in the normal working mode when it is not in the trimming state, and in the normal working mode, the trimming mode can also be triggered, so that the automatic traveling device can automatically and actively Perform trimming operations.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described in accordance with the implementation manners, not each implementation manner only contains an independent technical solution. This narration in the specification is only for clarity, and those skilled in the art should regard the specification as a whole The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等 效实施方式或变更均应包含在本发明的保护范围之内。The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present invention, and are not intended to limit the scope of protection of the present invention. Any equivalent implementations or changes made without departing from the technical spirit of the present invention All should be included in the protection scope of the present invention.

Claims (16)

  1. 一种自动行走设备的控制方法，其特征在于，所述控制方法包括：首先判断是否为修边状态，当判断为修边状态时，控制自动行走设备进入修边模式，修边模式为自动行走设备沿边界行走并工作；A control method of an automatic traveling equipment, characterized in that the control method includes: first determining whether it is a trimming state, and when it is judged as a trimming state, controlling the automatic traveling equipment to enter the trimming mode, and the trimming mode is automatic walking The equipment walks along the boundary and works;
    步骤“判断为修边状态”包括：The steps "judged as trimming state" include:
    接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号。A position signal that is at least partly located on or outside of the boundary is received on one side of the central axis of the autonomous vehicle along the advancing direction.
  2. 根据权利要求1所述的自动行走设备的控制方法，其特征在于，步骤“接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号”具体为：The method for controlling an autonomous vehicle according to claim 1, wherein the step of "receiving a position signal at least partially on or outside the boundary on one side of the central axis of the autonomous vehicle in the forward direction" is specifically:
    接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号及接收到自动行走设备沿中轴线的另一侧有至少部分位于边界上或边界内的位置信号。Receive a position signal that is at least partly on or outside the boundary on one side of the central axis of the autonomous vehicle in the forward direction, and receives a position at least partially on or within the boundary on the other side of the autonomous vehicle along the central axis signal.
  3. 根据权利要求2所述的自动行走设备的控制方法，其特征在于，步骤“接收到自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号及接收到自动行走设备沿中轴线的另一侧有至少部分位于边界上或边界内的位置信号”具体为：The method for controlling an autonomous vehicle according to claim 2, wherein the step “receives that one side of the central axis of the autonomous vehicle in the forward direction has a position signal that is at least partly located on or outside the boundary and receives the automatic The other side of the walking equipment along the central axis has a position signal at least partially located on or within the boundary" specifically:
    接收到自动行走设备沿前进方向的中轴线的一侧的前轮位于边界外的位置信号以及接收到自动行走设备沿前进方向的中轴线的另一侧的前轮位于边界内的位置信号。The position signal that the front wheel on one side of the central axis of the autonomous vehicle is located outside the boundary is received and the position signal that the front wheel on the other side of the central axis of the autonomous vehicle is located within the boundary is received.
  4. 根据权利要求1或2所述的自动行走设备的控制方法，其特征在于，步骤“判断为修边状态”还包括：The control method of the autonomous walking equipment according to claim 1 or 2, wherein the step of "determining the trimming state" further comprises:
    接收到自动行走设备沿边界行走的路径上具有充电站入口的方向信号。Receive the direction signal of the charging station entrance on the path that the autonomous traveling equipment walks along the boundary.
  5. 根据权利要求1所述的自动行走设备的控制方法，其特征在于，所述控制方法包括：The control method of an autonomous walking device according to claim 1, wherein the control method comprises:
    当未判断为修边状态时，自动行走设备进入正常工作模式；When it is not judged as the trimming state, the automatic walking equipment enters the normal working mode;
    在正常工作模式下，若判断为预计划状态，自动行走设备向边界行走，并对修边状态进行判断；In the normal working mode, if it is judged to be the pre-planned state, the automatic traveling equipment will walk to the boundary and judge the trimming state;
    正常工作模式为自动行走设备在边界围设形成的工作空间内行走并工作。The normal working mode is that the automatic walking equipment walks and works in the working space formed by the boundary.
  6. 根据权利要求5所述的自动行走设备的控制方法，其特征在于，所述控制方法还包括：The control method of autonomous walking equipment according to claim 5, wherein the control method further comprises:
    在正常工作模式下，对自动行走设备完成的工作计划进行计数并形成第一计数信息；In the normal working mode, count the work plans completed by the automatic walking equipment and form the first count information;
    步骤“判断为预计划状态”具体为：The specific steps of "Judging as pre-planned state" are:
    确认第一计数信息达到n次。Confirm that the first count information reaches n times.
  7. 根据权利要求1或5所述的自动行走设备的控制方法，其特征在于，所述控制方法还包括：The control method of an autonomous walking device according to claim 1 or 5, wherein the control method further comprises:
    在修边模式下，确认自动行走设备的初始位置；In the trimming mode, confirm the initial position of the automatic walking equipment;
    对自动行走设备到达初始位置的次数进行计数并形成第二计数信息；Count the number of times that the automatic traveling equipment reaches the initial position and form the second count information;
    当确认第二计数信息达到m次，控制自动行走设备进入正常工作模式。When it is confirmed that the second count information reaches m times, the automatic walking device is controlled to enter the normal working mode.
  8. 根据权利要求1或5所述的自动行走设备的控制方法，其特征在于，所述控制方法还包括：The control method of an autonomous walking device according to claim 1 or 5, wherein the control method further comprises:
    在修边模式下，检测自动行走设备的电池电量；In the trimming mode, detect the battery power of the automatic walking equipment;
    判断自动行走设备是否为低电状态；Determine whether the automatic traveling equipment is in a low power state;
    若不为低电状态，判断自动行走设备和充电站之间的距离d和预设距离d1的大小；If it is not in a low-power state, determine the distance d between the autonomous vehicle and the charging station and the preset distance d1;
    当判断d≤d1时，自动行走设备向边界内侧转向后并继续行驶T1时间，再向靠近相邻边界的一侧转向并继续沿边界行走并工作。When it is judged that d≤d1, the automatic traveling equipment turns to the inside of the boundary and continues to drive for T1 time, then turns to the side close to the adjacent boundary and continues to walk along the boundary and work.
  9. 一种自动行走设备，其包括本体、行走模块、电源模块；其特征在于，所述自动行走设备包括：A self-propelled equipment, which includes a body, a walking module, and a power supply module; characterized in that, the self-propelled equipment includes:
    检测模块，用于检测自动行走设备沿前进方向的中轴线的一侧有至少部分位于边界上或边界外的位置信号；The detection module is used to detect that one side of the central axis of the automatic traveling equipment in the forward direction has a position signal at least partially located on or outside the boundary;
    控制模块，用以接收检测模块的位置信号并判断是否为修边状态，当判断为修边状态时，控制所述自动行走设备进入修边模式。The control module is used to receive the position signal of the detection module and determine whether it is in the trimming state, and when it is judged to be the trimming state, control the automatic traveling equipment to enter the trimming mode.
  10. 根据权利要求9所述的自动行走设备，其特征在于，所述检测模块还包括设置于自动行走设备前侧的至少两个边界感应元件，所述自动行走设备具有沿其前进方向的中轴线，所述边界感应元件分布于该中轴线的左右两侧。The autonomous vehicle according to claim 9, wherein the detection module further comprises at least two boundary sensing elements arranged on the front side of the autonomous vehicle, and the autonomous vehicle has a central axis along its advancing direction, The boundary sensing elements are distributed on the left and right sides of the central axis.
  11. 根据权利要求10所述的自动行走设备，其特征在于，所述自动行走设备包括两个设置于本体下方前侧的前轮，所述前轮对称设置于该中轴线的左右两侧，所述边界感应元件的至少两个分别设置于两个前轮上。The automatic traveling equipment according to claim 10, wherein the automatic traveling equipment comprises two front wheels arranged on the front side under the main body, and the front wheels are symmetrically arranged on the left and right sides of the central axis. At least two boundary sensing elements are respectively arranged on the two front wheels.
  12. 根据权利要求9或10所述的自动行走设备，其特征在于，所述自动行走设备还包括用以感应充电站入口的方向感应元件。The self-propelled equipment according to claim 9 or 10, wherein the self-propelled equipment further comprises a direction sensing element for sensing the entrance of the charging station.
  13. 一种计算机设备，包括存储器和处理器，所述存储器存储有可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时可实现权利要求1至8中任意一项所述的自动行走设备的控制方法的步骤。A computer device comprising a memory and a processor, the memory storing a computer program that can be run on the processor, wherein the processor can implement any one of claims 1 to 8 when the computer program is executed The steps of the control method of the autonomous walking equipment described in the item.
  14. 一种计算机可读存储介质，其存储有计算机程序，其特征在于，该计算机程序被处理器执行时可实现权利要求1至8中任意一项所述的自动行走设备的控制方法中的步骤。A computer-readable storage medium storing a computer program, wherein the computer program can implement the steps in the method for controlling an autonomous walking device according to any one of claims 1 to 8 when the computer program is executed by a processor.
  15. 一种自动工作***，其特征在于，所述自动工作***包括：An automatic working system, characterized in that the automatic working system includes:
    如权利要求9至12中任意一项所述的自动行走设备；The automatic walking equipment according to any one of claims 9 to 12;
    边界，用以限定自动行走设备的工作范围，所述自动行走设备在上述边界内行进并工作。The boundary is used to define the working range of the autonomous vehicle, and the autonomous vehicle travels and works within the boundary.
  16. 根据权利要求15所述的自动工作***，其特征在于，包括：The automatic working system according to claim 15, characterized in that it comprises:
    所述边界围设形成环状；所述自动工作***还包括有充电站，所述充电站设置于边界上，且充电站的入口位于边界的延伸路径上。The boundary is surrounded to form a ring; the automatic working system further includes a charging station, the charging station is arranged on the boundary, and the entrance of the charging station is located on the extension path of the boundary.
PCT/CN2019/117851 2019-08-16 2019-11-13 Automatic working system, automatic travelling device and control method therefor, computer device, and computer readable storage medium WO2021031405A1 (en)

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