WO2021031405A1 - Système à fonctionnement automatique, dispositif à déplacement automatique et procédé de commande associé, dispositif informatique et support de stockage lisible par ordinateur - Google Patents

Système à fonctionnement automatique, dispositif à déplacement automatique et procédé de commande associé, dispositif informatique et support de stockage lisible par ordinateur 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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WO
WIPO (PCT)
Prior art keywords
boundary
automatic
equipment
trimming
autonomous vehicle
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Application number
PCT/CN2019/117851
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English (en)
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/fr

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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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système à fonctionnement automatique, un dispositif à déplacement automatique et un procédé de commande associé, un dispositif informatique et un support de stockage lisible par ordinateur, le procédé de commande comprenant les étapes suivantes : lors de la détermination d'un état de taille, amener un dispositif à déplacement automatique à passer en mode taille, le mode taille consistant à ce que le dispositif à déplacement automatique se déplace et travaille le long d'une bordure. L'étape de « détermination d'un état de taille » comprend : la réception d'un signal de position d'au moins une partie du dispositif à déplacement automatique qui est positionné sur une bordure ou à l'extérieur d'une bordure d'un côté de l'axe central dans le sens d'avancement. Sur la base de la relation de position entre le dispositif à déplacement automatique et la bordure, le dispositif à déplacement automatique peut déterminer si une taille est nécessaire et, le cas échéant, le dispositif à déplacement automatique peut se déplacer et travailler le long de la bordure, de sorte que le travail du dispositif à déplacement automatique dans la plage de travail délimitée par la bordure est plus complet. Dans le cas d'un robot de tonte, celui-ci peut tailler l'intégralité de l'herbe au niveau de la bordure, de sorte que l'effet de taille est meilleur et globalement plus esthétique.
PCT/CN2019/117851 2019-08-16 2019-11-13 Système à fonctionnement automatique, dispositif à déplacement automatique et procédé de commande associé, dispositif informatique et support de stockage lisible par ordinateur WO2021031405A1 (fr)

Applications Claiming Priority (2)

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CN201910760562.9 2019-08-16
CN201910760562.9A CN112445213B (zh) 2019-08-16 2019-08-16 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

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