WO2024093362A1 - 自主作业设备制动控制方法、自主作业设备及存储介质 - Google Patents

自主作业设备制动控制方法、自主作业设备及存储介质 Download PDF

Info

Publication number
WO2024093362A1
WO2024093362A1 PCT/CN2023/107907 CN2023107907W WO2024093362A1 WO 2024093362 A1 WO2024093362 A1 WO 2024093362A1 CN 2023107907 W CN2023107907 W CN 2023107907W WO 2024093362 A1 WO2024093362 A1 WO 2024093362A1
Authority
WO
WIPO (PCT)
Prior art keywords
braking
autonomous
working equipment
autonomous working
equipment
Prior art date
Application number
PCT/CN2023/107907
Other languages
English (en)
French (fr)
Inventor
王志成
周昶
Original Assignee
浙江白马科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 浙江白马科技有限公司 filed Critical 浙江白马科技有限公司
Publication of WO2024093362A1 publication Critical patent/WO2024093362A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power

Definitions

  • the present invention relates to the technical field of autonomous operating equipment, and in particular to a braking control method for autonomous operating equipment, autonomous operating equipment and a storage medium.
  • the purpose of the present invention is to provide a braking control method for autonomous operating equipment and autonomous operating equipment, which controls the autonomous operating equipment to execute a first braking strategy or a second braking strategy by triggering two different types of events for braking the autonomous operating equipment.
  • Different braking strategies apply different braking forces to the autonomous operating equipment, and when the autonomous operating equipment is in a returning state, controls the autonomous operating equipment to execute the first braking strategy, and further controls the autonomous operating equipment to execute the first braking strategy or the second braking strategy by judging the relationship between the walking speed of the autonomous equipment and a preset speed threshold, so as to avoid instantaneous forward tilt and Maintain a short moving distance between triggering braking and completely stopping, and ensure a small gap between the wireless receiving end and the wireless charging transmitting end when wireless charging is performed in the return state to obtain a higher wireless charging efficiency.
  • the present invention provides a braking control method for autonomous operating equipment, comprising: detecting that the autonomous operating equipment is triggered to brake; determining whether the event type that triggers the braking of the autonomous operating equipment is a first event type or a second event type; if the event type that triggers the braking of the autonomous operating equipment is the first event type, controlling the autonomous operating equipment to execute a first braking strategy; if the event type that triggers the braking of the autonomous operating equipment is the second event type, controlling the autonomous operating equipment to execute a second braking strategy; the first braking strategy and the second braking strategy apply different braking forces to the autonomous operating equipment.
  • the method also includes: when the autonomous operating equipment is in a regression state, if it is detected that the autonomous operating equipment is triggered to brake, cutting off the operating power source of the autonomous operating equipment, and controlling the autonomous operating equipment to execute a first braking strategy; when the autonomous operating equipment is not in a regression state, if it is detected that the autonomous operating equipment is triggered to brake, cutting off the operating power source of the autonomous operating equipment, and entering the step of determining whether the event type that triggers the braking of the autonomous operating equipment is the first event type or the second event type.
  • the autonomous operating equipment after detecting that the autonomous operating equipment enters the regression state, it also includes: detecting whether the distance between the autonomous operating equipment and the docking station is less than a preset distance threshold; when it is detected that the distance between the autonomous operating equipment and the docking station is less than the preset distance threshold, controlling the autonomous operating equipment to execute a first braking strategy.
  • the autonomous working equipment before determining that the event type of braking of the autonomous working equipment is the second event type and controlling the autonomous working equipment to execute the second braking strategy, or when the autonomous working equipment is in a return state, it also includes: obtaining the walking speed of the autonomous working equipment, and determining whether the walking speed is less than a preset speed threshold; if the walking speed is less than the preset speed threshold, controlling the autonomous working equipment to execute the first braking strategy; if the walking speed is greater than or equal to the preset speed threshold, controlling the autonomous working equipment to execute the second braking strategy.
  • timing is started, and when the timing has not reached a preset time, it is detected whether the walking speed is less than the preset speed threshold; if it is detected that the walking speed is less than the preset speed threshold when the timing has not reached the preset time, the step of controlling the autonomous operating equipment to execute the first braking strategy is entered; if the walking speed is greater than or equal to the preset speed threshold when the timing reaches the preset time, the step of controlling the autonomous operating equipment to execute the first braking strategy is entered.
  • the preset speed threshold is less than 0.06 m/s.
  • the preset speed threshold is greater than 0.03 m/s and less than 0.05 m/s.
  • the autonomous working equipment is controlled to execute a second braking strategy.
  • a braking force is applied to the autonomous operating device so that the autonomous operating device generates a first deceleration
  • a braking force is applied to the autonomous operating device so that the autonomous operating device generates a second deceleration, and the absolute value of the first deceleration is greater than the absolute value of the second deceleration.
  • the braking methods adopted by the first braking strategy and the second braking strategy include one of active electronic braking, active mechanical braking, passive electronic braking, passive friction braking, or a combination thereof.
  • the braking method of the first braking strategy is active electronic braking
  • the braking method of the second braking strategy is passive friction braking
  • the absolute value of the first deceleration is greater than or equal to 1.7 m/s2.
  • the absolute value of the first deceleration is greater than or equal to 3 m/s2.
  • the first event type includes security-related events and the second event type includes non-security-related events.
  • the safety-related event includes at least one of a collision event and a lift event.
  • the present invention also provides an autonomous working equipment braking control device, which is used to execute the autonomous working equipment control method provided by the present invention.
  • the present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program can implement the steps of the above method when executed by a processor.
  • the present invention also provides an autonomous operating device, including a control module, the control module including a processor and the above-mentioned computer-readable storage medium.
  • FIG1 is a specific flow chart of a braking control method for autonomous working equipment according to a first embodiment of the present invention
  • FIG. 2 is a specific flow chart of a braking control method for autonomous working equipment according to a second embodiment of the present invention.
  • the first embodiment of the present invention relates to a braking control method for autonomous working equipment, which is applied to autonomous application equipment.
  • the autonomous working equipment is a robot that can move autonomously within a preset area and perform specific operations, such as a smart sweeper/vacuum cleaner that performs cleaning operations, or a smart lawn mower that performs mowing operations.
  • FIG1 it is a specific flow chart of the braking control method of the autonomous working equipment of this embodiment.
  • Step 101 when it is detected that the autonomous operating equipment is triggered to brake, the operating power source of the autonomous operating equipment is cut off.
  • Step 102 determine whether the event type that triggers the braking of the autonomous operating equipment is the first event type or the second event type.
  • the first event type includes security-related events
  • the second event type includes non-security-related events.
  • the safety-related event includes at least one of a collision event and a lifting event.
  • the autonomous operating equipment has a sensing device capable of sensing safety-related events such as collision events and lifting events.
  • the built-in collision event sensing device can sense the displacement change of the floating shell of the smart lawn mower to trigger a collision event, and the universal wheel that can be dropped can sense and trigger a lifting event.
  • the braking conditions caused by the second event type include braking triggered when the autonomous operating equipment reaches a boundary, braking triggered by manual shutdown by the user, braking triggered by turning of the autonomous operating equipment, and braking triggered by other events that do not involve safety.
  • step 102 if the event type that triggers the braking of the autonomous working equipment is the first event type, enter step 103 to control the autonomous working equipment to execute the first braking strategy; if the event type that triggers the braking of the autonomous working equipment is the second event type, obtain the walking speed of the autonomous working equipment, and determine whether the walking speed is less than the preset speed threshold; if the walking speed is less than the preset speed threshold, enter step 103 to control the autonomous working equipment to execute the first braking strategy; if the walking speed is greater than or equal to the preset speed threshold, enter step 105 to control the autonomous working equipment to execute the second braking strategy.
  • the first braking strategy and the second braking strategy apply different braking forces to the autonomous working device.
  • the first braking strategy includes forced braking
  • the second braking strategy includes smooth braking. The following examples are given by taking forced braking to represent the first braking strategy and smooth braking to represent the second braking strategy.
  • the preset speed threshold is obtained through multiple tests.
  • the preset speed threshold is less than or equal to 0.06m/s.
  • the preset speed threshold is maintained between 0.03m/s and 0.05m/s to ensure that the autonomous operating equipment is forced to brake at an extremely slow walking speed, thereby avoiding forward tilting. If the walking speed is greater than or equal to the preset speed threshold, the autonomous operating equipment still maintains a faster walking speed at this time, and the autonomous operating equipment is controlled to perform smooth braking until the walking speed reaches an extremely slow speed, that is, the walking speed is less than the preset speed threshold. Forced braking. Among them, smooth braking can also be called weak braking.
  • the motor speed of the autonomous operating equipment is detected, and the transmission ratio of the reduction box is combined to achieve the detection of the walking speed.
  • the detection of walking speed belongs to the conventional prior art known to those skilled in the art and will not be explained here.
  • the autonomous operating equipment Under the first braking strategy, the autonomous operating equipment generates a first deceleration, and under the second braking strategy, the autonomous operating equipment generates a second deceleration, and the absolute value of the first deceleration is greater than the absolute value of the second deceleration.
  • the absolute value of the first deceleration is greater than or equal to 1.7m/s2. In some examples, the absolute value of the first deceleration is greater than or equal to 3m/s2.
  • the braking methods adopted by the first braking strategy and the second braking strategy include at least one of active braking and passive braking. As for which braking method to choose, those skilled in the art can select and adjust it according to the specific characteristics of the autonomous operating equipment.
  • active braking includes active electronic braking and active mechanical braking
  • passive braking includes passive electronic braking and passive friction braking.
  • active electronic braking is to use energy-consuming braking control optionally according to the type of motor and actual conditions. Circuit, reverse braking control circuit, feedback braking control circuit, etc., actively apply braking force to the motor, and the magnitude of the braking force can be adjusted by the control circuit.
  • Active mechanical braking is to set an operable mechanical braking mechanism on the autonomous working equipment, typically such as a brake pad that can be operated to press the motor output shaft or the running wheel, and adjust the magnitude of the braking force by controlling the pressing force of the mechanical braking mechanism.
  • Passive electronic braking mainly includes the braking force generated by motor regenerative braking.
  • Passive friction braking mainly includes the braking force generated by the friction resistance of the structure of the autonomous working equipment itself, typically the friction of the transmission mechanism, such as the friction resistance of the gear set in the reduction box, the friction resistance between the running wheel and the bottom surface, etc.
  • the first braking strategy and the second braking strategy mainly use active electronic braking.
  • the use of the reverse braking control circuit can refer to the route in the existing patent document JP6510474B2.
  • the first braking strategy mainly uses active electronic braking
  • the second braking strategy mainly uses passive friction braking.
  • the first braking strategy mainly uses active electronic braking
  • the second braking strategy mainly uses active mechanical braking.
  • the first braking strategy and the second braking strategy both mainly use active mechanical braking, and the magnitude of the braking force is adjusted by controlling the pressure of the mechanical braking mechanism on the motor shaft or the running wheel.
  • the first braking strategy mainly uses active mechanical braking
  • the second braking strategy mainly uses passive friction braking.
  • the autonomous operating equipment will move a certain distance when the braking is triggered, and the moving distance is kept within 200 mm. In some examples, the moving distance is no more than 80 mm, and in other examples, the moving distance is no more than 25 mm.
  • the second embodiment of the present invention relates to a braking control method for autonomous working equipment.
  • the difference between this embodiment and the first embodiment is that in the first embodiment, whether to trigger the execution of the first braking strategy or the second braking strategy is mainly determined by detecting the walking speed, while in this embodiment, whether to trigger the execution of the first braking strategy or the second braking strategy is determined by detecting the timing duration. Specifically, before the autonomous working equipment is triggered to execute the second braking strategy, the timing is started, and it is detected whether the timing duration reaches a preset duration, and whether the walking speed is less than a preset speed threshold.
  • the autonomous working equipment When the timing duration does not reach the preset duration, and the walking speed of the autonomous working equipment is less than the preset speed threshold, the autonomous working equipment is triggered to execute the first braking strategy. When the timing duration reaches the preset duration, the autonomous working equipment is triggered to execute the second braking strategy.
  • FIG. 2 it is a specific flow chart of the braking control method of the autonomous working equipment of this embodiment.
  • step 101 and step 104 are consistent with the steps in the autonomous working equipment braking control method in the first embodiment, and will not be described repeatedly here.
  • Step 106 when it is determined that the walking speed is greater than or equal to the preset speed threshold, start timing, and When the timing does not reach the preset time, it is detected whether the walking speed is less than the preset speed threshold.
  • Step 107 determining whether the timing duration reaches a preset duration, if the timing duration reaches the preset duration, proceeding to step 109; if the timing duration does not reach the preset duration, proceeding to step 108.
  • Step 108 detect whether the walking speed of the autonomous operating equipment is less than a preset speed threshold. If the walking speed is less than the preset speed threshold, go to step 103; if the walking speed is greater than or equal to the preset speed threshold, go to step 107 again and continue timing.
  • Step 109 detect whether the walking speed of the autonomous operating equipment is greater than or equal to a preset speed threshold. If the walking speed is greater than or equal to the preset speed threshold, proceed to step 103; if the walking speed is less than the preset speed threshold, proceed to step 105.
  • the preset speed threshold is the same as the preset speed threshold in the first embodiment, and the preset speed threshold is less than or equal to 0.06m/s. In some examples, the preset speed threshold is maintained between 0.03m/s and 0.05m/s.
  • the preset duration is 400ms. When the timing duration does not reach the preset duration, the walking speed of the autonomous operating equipment is still continuously detected. If the walking speed is less than the preset speed threshold, the autonomous operating equipment is controlled to execute the first braking strategy. If the walking speed is not less than the preset speed threshold, the timing continues. When the timing reaches the preset duration, if the walking speed is not less than the preset speed threshold, the autonomous operating equipment is controlled to execute the second braking strategy.
  • the autonomous operating equipment is controlled to execute the first braking strategy.
  • the braking method for executing the first braking strategy and executing the second braking strategy in this embodiment is the same as that in the first embodiment, and will not be repeated here.
  • the third embodiment of the present invention relates to a braking control method for an autonomous operating device.
  • the difference between this embodiment and the first embodiment and the second embodiment is that when the autonomous operating device is in a returning state, if it is detected that the autonomous operating device is triggered to brake, the operating power source of the autonomous operating device is cut off, and the autonomous operating device is controlled to execute a first braking strategy.
  • the braking control method for the autonomous operating device is the same as the processing method in the first embodiment and the second embodiment. If it is detected that the autonomous operating device is triggered to brake, the operating power source of the autonomous operating device is cut off, and the step of determining whether the event type that triggers the braking of the autonomous operating device is the first event type or the second event type is entered.
  • the autonomous operating device is controlled to execute the first braking strategy.
  • it also includes detecting whether the distance between the autonomous operating device and the docking station is less than a preset distance threshold; when it is detected that the distance between the autonomous operating device and the docking station is less than the preset distance threshold, the autonomous operating device is controlled to execute the first braking strategy.
  • the traveling gearbox when some autonomous operating equipment handles braking control, it usually uses a reduction gearbox to reduce the motor speed after the host controls the brake, and then brakes after waiting for a period of time.
  • this processing method avoids the problem of instant forward tilt, it will bring other problems, especially reducing the charging efficiency of the machine for wireless charging.
  • the waiting period is usually set to 150ms. During this 150ms, the lawn mower robot is in a non-brake control state. Due to inertia, it will still walk a distance at a slightly faster speed.
  • the lawn mower robot When the wireless receiving end collides with the wireless charging transmitting end, the lawn mower robot will be pushed away by the pressure of the wireless charging transmitting end and rebound for a distance, thereby increasing the gap between the wireless receiving end and the wireless charging transmitting end, reducing the efficiency of wireless charging. Therefore, it is necessary to use braking control to minimize the gap between the wireless receiving end built into the robot and the wireless charging transmitting end installed on the charging station when the lawn mower robot is wirelessly charged, so as to obtain a greater wireless charging efficiency.
  • the return state of the autonomous operation equipment means that when the preset state is met, the autonomous operation equipment stops working and walks towards the docking station, wherein the preset state includes the autonomous operation equipment being insufficient in power, completing the work plan, reaching the stop working time, etc.
  • the first braking strategy is executed when a collision event is triggered.
  • the driving speed is maintained at no more than the preset speed threshold.
  • the autonomous operation equipment can sense whether it has approached the docking station. When the robot is in the return process, by detecting that the distance between the autonomous operation equipment and the docking station is within the preset distance threshold, the autonomous operation equipment is controlled to execute the first braking strategy.
  • the fourth embodiment of the present invention relates to an autonomous working device, which is a robot that can autonomously move within a preset area and perform specific operations, such as a smart sweeper/vacuum cleaner that performs cleaning operations, or a smart lawn mower that performs mowing operations, etc.
  • the autonomous working device is used to execute the autonomous working device braking control method in the first embodiment, the second embodiment or the third embodiment.
  • the autonomous operating equipment at least includes a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, etc.
  • the main body usually includes a chassis and a shell.
  • the chassis is used to install and accommodate functional mechanisms and modules such as the mobile mechanism, working mechanism, energy module, detection module, interaction module, and control module.
  • the shell is usually constructed to at least partially cover the chassis, mainly to enhance the appearance and recognition of the autonomous working equipment.
  • the shell is constructed to be able to translate and/or rotate relative to the chassis under the action of external force, and with appropriate
  • the detection module such as a Hall sensor for example, can further play a role in sensing events such as collision and lifting.
  • the mobile mechanism is configured to support the main mechanism on the ground and drive the main mechanism to move on the ground, and generally includes a wheeled mobile mechanism, a crawler or semi-crawler mobile mechanism, and a walking mobile mechanism.
  • the mobile mechanism is a wheeled mobile mechanism, including at least one driving wheel and at least one walking prime mover.
  • the walking prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy to generate power.
  • a left driving wheel, a left walking prime mover that drives the left driving wheel, a right driving wheel, and a right walking prime mover that drives the right driving wheel are preferably provided.
  • the straight-line travel of the autonomous working equipment is realized by the same-direction and uniform-speed rotation of the left and right driving wheels
  • the steering travel is realized by the same-direction differential or opposite rotation of the left and right driving wheels.
  • the mobile mechanism may also include a steering mechanism independent of the driving wheel and a steering prime mover independent of the walking prime mover.
  • the mobile mechanism also includes at least one driven wheel, which is typically configured as a universal wheel, and the driving wheel and the driven wheel are respectively located at the front and rear ends of the autonomous working equipment.
  • the working mechanism is constructed to perform specific work tasks, including a working piece and a working prime mover that drives the working piece to operate.
  • the working piece includes a roller brush, a dust suction tube, and a dust collection chamber, etc.
  • the working piece includes a cutting blade or a cutting disc, and further includes a height adjustment mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect.
  • the working prime mover is preferably an electric motor, and in other embodiments it may also be an internal combustion engine or a machine that uses other types of energy to generate power.
  • the working prime mover and the travel prime mover are constructed as the same prime mover.
  • the energy module is configured to provide energy for various operations of the autonomous operation device.
  • the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed to the outside of the autonomous operation device.
  • the detection module is constructed as at least one sensor that senses the environmental parameters of the autonomous operating equipment or its own working parameters.
  • the detection module may include sensors related to the definition of the working area 4, such as magnetic induction, collision, ultrasonic, infrared, radio and other types, and the sensor type is adapted to the position and quantity of the corresponding signal generating device.
  • the detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, geomagnetic sensors, etc.
  • the detection module may also include sensors related to its own working safety, such as obstacle sensors, lifting sensors, battery pack temperature sensors, etc.
  • the detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, acceleration sensors, light sensors, etc.
  • the interaction module is constructed to at least receive control command information input by the user, send information that needs to be perceived by the user, communicate with other systems or devices to send and receive information, etc.
  • the interaction module includes an input device provided on the autonomous operating equipment, which is used to receive control command information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes a display screen and/or a buzzer provided on the autonomous operating equipment, which allows the user to perceive information by emitting light and/or sound.
  • the interaction module also includes a communication module provided on the autonomous operating equipment and a terminal device independent of the autonomous operating equipment, such as a mobile phone, a computer, a network server, etc. The user's control command information or other information can be input on the terminal device and reach the autonomous operating equipment via a wired or wireless communication module.
  • the control module usually includes at least one processor and at least one non-volatile memory, in which a pre-written computer program or instruction set is stored, and the processor controls the execution of the movement, work and other actions of the autonomous operation equipment according to the computer program or instruction set. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operation equipment, modify the data in the memory, etc. according to the signal of the detection module and/or the user control instruction.
  • the boundary is used to limit the working area of the autonomous working equipment.
  • the boundary can be physical, typically such as a wall, fence, railing, etc.; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generating device, the virtual boundary signal is usually, for example, an electromagnetic signal emitted by a closed energized wire, or an optical signal, ultrasonic signal, etc. emitted by other equipment.
  • the virtual boundary signal can also be a virtual boundary set in an electronic map formed by two-dimensional or three-dimensional coordinates for autonomous working equipment equipped with a positioning device (such as GPS, etc.).
  • the docking station is usually constructed on or near the boundary for the autonomous working equipment to dock, and in particular, it can supply energy to the autonomous working equipment docked at the docking station.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种自主作业设备制动控制方法及自主作业设备，涉及自主作业设备技术领域。自主作业设备制动控制方法包括：检测到自主作业设备被触发制动；判断触发自主作业设备制动的事件类型，若事件类型为第一事件类型，控制自主作业设备执行第一制动策略；若事件类型为第二事件类型，控制自主作业设备执行第二制动策略；两种不同的制动策略对自主作业设备施加不同的制动力。通过触发自主作业设备制动的事件类型，以及自主设备的行走速度与预设速度阈值的大小关系，控制自主作业设备执行不同制动策略，能够在进行制动控制时保持低速避免瞬间前倾，使得在触发制动到完全停止之间保持较短移动距离。

Description

自主作业设备制动控制方法、自主作业设备及存储介质
相关申请交叉引用
本专利申请要求于2022年11月3日提交的、申请号为2022113696275、发明名称为“自主作业设备制动控制方法、自主作业设备及存储介质”的中国专利申请的优先权，上述申请的全文以引用的方式并入本文中。
技术领域
本发明涉及自主作业设备技术领域，具体涉及一种自主作业设备制动控制方法、自主作业设备及存储介质。
背景技术
目前市场上存在各种各样的自主作业设备，如用于割草的机器人、用于扫地的机器人和用于拖地的机器人等。以割草机器人为例，在需要驻机制动的情况下如果直接刹车，由于割草机器人正在以一个较快的速度行走，直接刹车会导致割草机器人受运动惯性的影响而瞬间前倾，给割草机器人的运行带来极大的安全隐患。在割草机器人进入回归状态驻机制动进行无线充电时，如果直接刹车，会导致割草机器人瞬间前倾后受到碰撞受力反弹，降低无线充电效率。
如何在考虑以上因素后实现自主作业设备在进行制动控制时避免瞬间前倾、以及在无线充电时保证无线接收端与无线充电发射端之间的较小间隙以获取较大的无线充电效率则是自主作业设备在制动控制上的核心技术难题。基于上述技术问题，申请人提出了本申请的技术方案。
发明内容
本发明的目的是提供了一种自主作业设备制动控制方法及自主作业设备，通过触发自主作业设备制动的两种不同的事件类型，来控制自主作业设备执行第一制动策略或第二制动策略，不同的制动策略对自主作业设备施加不同的制动力，以及在自主作业设备处于回归状态时，控制自主作业设备执行第一制动策略，并进一步通过判断自主设备的行走速度与预设速度阈值的大小关系，控制自主作业设备执行第一制动策略或第二制动策略，能够在进行制动控制时避免瞬间前倾、 在触发制动到完全停止之间保持较短移动距离、以及在回归状态下进行无线充电时保证无线接收端与无线充电发射端之间的较小间隙以获取较大的无线充电效率。
为实现上述目的，本发明提供了一种自主作业设备制动控制方法，包括：检测到自主作业设备被触发制动；判断触发所述自主作业设备制动的事件类型为第一事件类型或第二事件类型；若触发所述自主作业设备制动的事件类型为第一事件类型，控制所述自主作业设备执行第一制动策略；若触发所述自主作业设备制动的事件类型为第二事件类型，控制所述自主作业设备执行第二制动策略；所述第一制动策略与所述第二制动策略对所述自主作业设备施加不同的制动力。
在一个实施例中，所述方法还包括：在所述自主作业设备处于回归状态时，若检测到所述自主作业设备被触发制动，切断所述自主作业设备的运行动力来源，并控制所述自主作业设备执行第一制动策略；在所述自主作业设备未处于回归状态时，若检测到自主作业设备被触发制动，切断所述自主作业设备的运行动力来源，并进入所述判断触发所述自主作业设备制动的事件类型为第一事件类型或第二事件类型的步骤。
在一个实施例中，在检测到所述自主作业设备进入回归状态后，还包括：检测所述自主作业设备与停靠站之间的距离是否小于预设距离阈值；当检测到所述自主作业设备与停靠站之间的距离小于预设距离阈值时，进入控制所述自主作业设备执行第一制动策略。
在一个实施例中，在判定所述自主作业设备制动的事件类型为第二事件类型且控制所述自主作业设备执行第二制动策略之前，或者所述自主作业设备处于回归状态时，还包括：获取所述自主作业设备的行走速度，并判断所述行走速度是否小于预设速度阈值；若所述行走速度小于预设速度阈值，进入控制所述自主作业设备执行第一制动策略；若所述行走速度大于或等于预设速度阈值，进入控制所述自主作业设备执行第二制动策略。
在一个实施例中，在判定所述行走速度大于或等于预设速度阈值时，开始计时，并在计时未达到预设时长的过程中检测所述行走速度是否小于预设速度阈值；若在计时未达到预设时长的过程中检测到所述行走速度小于预设速度阈值，进入控制所述自主作业设备执行第一制动策略的步骤；若在计时达到预设时长时，所述行走速度大于或等于预设速度阈值，进入控制所述自主作业设备执行第一制动策略的步骤。
在一个实施例中，所述预设速度阈值小于0.06m/s。
在一个实施例中，所述预设速度阈值大于0.03m/s且小于0.05m/s。
在一个实施例中，在所述计时过程中，控制所述自主作业设备执行第二制动策略。
在一个实施例中，所述第一制动策略下所述自主作业设备被施加制动力使所述自主作业设备产生第一减速度，所述第二制动策略下所述自主作业设备被施加制动力使所述自主作业设备产生第二减速度，所述第一减速度的绝对值大于所述第二减速度的绝对值。
在一个实施例中，所述第一制动策略和所述第二制动策略所采用的制动方式包括主动电子制动、主动机械制动、被动电子制动、被动摩擦制动中的一种或其组合。
在一个实施例中，所述第一制动策略的制动方式为主动电子制动，所述第二制动策略所采用的制动方式为被动摩擦制动。
在一个实施例中，所述第一减速度的绝对值大于或等于1.7m/s2。
在一个实施例中，所述第一减速度的绝对值大于或等于3m/s2。
在一个实施例中，所述第一事件类型包括安全相关事件，所述第二事件类型包括非安全相关事件。
在一个实施例中，所述安全相关事件包括碰撞事件与抬起事件中的至少一个。
本发明还提供了一种自主作业设备制动控制设备，用于执行本发明提供的自主作业设备控制方法。
本发明还提供了一种计算机可读存储介质，其存储有计算机程序，所述计算机程序被处理器执行时可实现上述方法的步骤。
本发明还提供了一种自主作业设备，包括控制模块，控制模块包括处理器和上述计算机可读存储介质。
附图说明
图1是根据本发明第一实施例中的自主作业设备制动控制方法的具体流程图；
图2是根据本发明第二实施例中的自主作业设备制动控制方法的具体流程图。
具体实施方式
以下将结合附图对本发明的各实施例进行详细说明，以便更清楚理解本发明 的目的、特点和优点。应理解的是，附图所示的实施例并不是对本发明范围的限制，而只是为了说明本发明技术方案的实质精神。
在下文的描述中，出于说明各种公开的实施例的目的阐述了某些具体细节以提供对各种公开实施例的透彻理解。但是，相关领域技术人员将认识到可在无这些具体细节中的一个或多个细节的情况来实践实施例。在其它情形下，与本申请相关联的熟知的装置、结构和技术可能并未详细地示出或描述从而避免不必要地混淆实施例的描述。
除非语境有其它需要，在整个说明书和权利要求中，词语“包括”和其变型，诸如“包含”和“具有”应被理解为开放的、包含的含义，即应解释为“包括，但不限于”。
在整个说明书中对“一个实施例”或“一实施例”的提及表示结合实施例所描述的特定特点、结构或特征包括于至少一个实施例中。因此，在整个说明书的各个位置“在一个实施例中”或“在一实施例”中的出现无需全都指相同实施例。另外，特定特点、结构或特征可在一个或多个实施例中以任何方式组合。
如该说明书和所附权利要求中所用的单数形式“一”和“所述”包括复数指代物，除非文中清楚地另外规定。应当指出的是术语“或”通常以其包括“或/和”的含义使用，除非文中清楚地另外规定。
在以下描述中，为了清楚展示本发明的结构及工作方式，将借助诸多方向性词语进行描述，但是应当将“前”、“后”、“左”、“右”、“外”、“内”、“向外”、“向内”、“上”、“下”等词语理解为方便用语，而不应当理解为限定性词语。
本发明第一实施方式涉及一种自主作业设备制动控制方法，应用于自主应用设备，自主作业设备是可自主地在预设区域内移动并执行特定作业的机器人，典型的如执行清洁作业的智能扫地机/吸尘器，或执行割草作业的智能割草机等。
如图1所示，为本实施例的自主作业设备制动控制方法的具体流程图。
步骤101，当检测到自主作业设备被触发制动时，切断所述自主作业设备的运行动力来源。
步骤102，判断触发所述自主作业设备制动的事件类型为第一事件类型或第二事件类型。
其中，所述第一事件类型包括安全相关事件，所述第二事件类型包括非安全相关事件。
具体而言，所述安全相关事件包括碰撞事件与抬起事件中的至少一个。所述自主作业设备中具有能够感应到碰撞事件、抬起事件等安全相关事件的感应装置，例如在智能割草机中，内置碰撞事件感应装置可感应智能割草机的浮动外壳的位移变化触发碰撞事件，可下落的万向轮感应触发抬起事件。第二事件类型引起的制动情况包括当自主作业设备到达边界触发制动、用户手动停机触发制动、自主作业设备转弯触发制动、以及其他不涉及安全的事件触发的制动。
在步骤102的判断中，若触发所述自主作业设备制动的事件类型为第一事件类型，进入步骤103，控制所述自主作业设备执行第一制动策略；若触发所述自主作业设备制动的事件类型为第二事件类型，获取所述自主作业设备的行走速度，并判断所述行走速度是否小于预设速度阈值；若所述行走速度小于预设速度阈值，进入步骤103，控制所述自主作业设备执行第一制动策略；若所述行走速度大于或等于预设速度阈值，进入步骤105，控制所述自主作业设备执行第二制动策略。
所述第一制动策略与所述第二制动策略对所述自主作业设备施加不同的制动力。所述第一制动策略包括强制动，所述第二制动策略包括平滑制动。以下以强制动表示第一制动策略、以平滑制动表示第二制动策略进行举例说明。
具体而言，预设速度阈值通过多次试验测试获得，本实施例中预设速度阈值小于或等于0.06m/s，在一些例子中预设速度阈值保持在0.03m/s到0.05m/s之间，以确保自主作业设备在极慢的行走速度时进行强制动，从而避免前倾。若行走速度大于或等于预设速度阈值，此时自主作业设备仍保持较快的行走速度，控制自主作业设备进行平滑制动，直至行走速度达到极慢，即行走速度小于预设速度阈值时进行强制动。其中，平滑制动也可以称为弱制动。本实施例中利用检测自主作业设备的电机转速，同时结合减速箱的传动比，实现检测行走速度。检测行走速度属于本领域技术人员所熟知的常规现有技术，此处不再做说明。
第一制动策略下使自主作业设备产生第一减速度，第二制动策略下使自主作业设备产生第二减速度，第一减速度的绝对值大于第二减速度的绝对值。在本实施方式中，第一减速度的绝对值大于或等于1.7m/s2，在一些例子中，第一减速度的绝对值大于或等于3m/s2。具体实施中，第一制动策略和第二制动策略所采用的制动方式包括主动制动和被动制动中的至少一种。对于选择何种制动方式，本领域技术人员可以根据自主作业设备的具体特征进行选择和调整。其中，主动制动包括主动电子制动和主动机械制动，被动制动包括被动电子制动和被动摩擦制动。具体地，主动电子制动为根据电机的类型和实际情况，可选地使用能耗制动控制 电路、反接制动控制电路、回馈制动控制电路等，对电机主动施加制动力，制动力的大小可通过控制电路进行调节。主动机械制动为在自主作业设备上设置可操作的机械制动机构，典型地如可操作地压制电机输出轴或行走轮的刹车片，通过控制机械制动机构的压制力调节制动力的大小。被动电子制动主要包括电机再生制动产生的制动力。被动摩擦制动主要包括利用自主作业设备自身结构的摩擦阻力产生的制动力，典型地传动机构的摩擦，例如减速箱中齿轮组的摩擦阻力、行走轮与底面之间的摩擦阻力等。在一些例子中，第一制动策略和第二制动策略均主要采用主动电子制动，在实际使用中，使用反接制动控制电路可参考现有专利文献JP6510474B2中的路线实施。在一些例子中，第一制动策略主要采用主动电子制动，第二制动策略主要采用被动摩擦制动。在一些实施方式中，第一制动策略主要采用主动电子制动，第二制动策略主要采用主动机械制动。在这些实施方式中，第一制动策略和第二制动策略均主要采用主动机械制动，制动力的大小通过控制机械制动机构对电机轴或行走轮的压力进行调节。在一些例子中，第一制动策略主要采用主动机械制动，第二制动策略主要采用被动摩擦制动。
本实施例中，自主作业设备在被触发制动起会产生一段移动距离，所述移动距离保持在200mm的距离内，在一些例子中，所述移动距离不大于80mm，在另一些例子中，所述移动距离不大于25mm。
本发明的第二实施例涉及一种自主作业设备制动控制方法，本实施方式相对于第一实施方式而言，不同之处在于：在第一实施例中主要是通过检测行走速度来判定是否触发执行第一制动策略或第二制动策略，本实施例则是通过检测计时时长来判定是否触发执行第一制动策略或第二制动策略，具体体现在对所述自主作业设备触发执行第二制动策略之前，开始计时，检测所述计时时长是否达到预设时长、以及检测行走速度是否小于预设速度阈值。当所述计时时长未达到预设时长，且所述自主作业设备的行走速度小于预设速度阈值，对所述自主作业设备触发执行第一制动策略。当所述计时时长达到预设时长，对所述自主作业设备触发执行第二制动策略。
如图2所示，为本实施例的自主作业设备制动控制方法的具体流程图。
在进入步骤101至步骤104之间的实施方式与第一实施例中的自主作业设备制动控制方法中的步骤一致，在此不在做重复性描述。在实施完成步骤104，进入步骤105之前，本实施例包括以下步骤：
步骤106，在判定所述行走速度大于或等于预设速度阈值时，开始计时，并在 计时未达到预设时长的过程中检测所述行走速度是否小于预设速度阈值。
步骤107，判断所述计时时长是否达到预设时长，若所述计时时长达到预设时长，进入步骤109；若所述计时时长未达到预设时长，进入步骤108。
步骤108，检测自主作业设备的行走速度小于预设速度阈值，若所述行走速度小于预设速度阈值，进入步骤103；若所述行走速度大于或等于预设速度阈值，再次进入步骤107，继续计时。
步骤109，检测自主作业设备的行走速度是否大于或等于预设速度阈值，若所述行走速度大于或等于预设速度阈值，进入步骤103，若所述行走速度小于预设速度阈值，进入步骤105。
具体而言，所述预设速度阈值与第一实施例中的预设速度阈值相同，预设速度阈值小于或等于0.06m/s，在一些例子中预设速度阈值保持在0.03m/s到0.05m/s之间。所述预设时长为400ms，在计时时长未达到预设时长的过程中，仍持续对自主作业设备的行走速度进行检测，若行走速度小于预设速度阈值，则控制自主作业设备执行第一制动策略，若行走速度不小于预设速度阈值，则继续计时。当计时达到预设时长时，若行走速度不小于预设速度阈值，则控制自主作业设备进行执行第二制动策略，若行走速度大于或等于预设速度阈值，则控制自主作业设备进行执行第一制动策略。本实施例中执行第一制动策略和执行第二制动策略的制动方式与第一实施例中相同，在此不再赘述。
本发明的第三实施例涉及一种自主作业设备制动控制方法，本实施方式相对于第一实施方式、第二实施方式而言，不同之处在于：在所述自主作业设备处于回归状态时，若检测到所述自主作业设备被触发制动，切断所述自主作业设备的运行动力来源，并控制所述自主作业设备执行第一制动策略。在所述自主作业设备未处于回归状态时，对自主作业设备制动控制方法与第一实施方式、第二实施方式中的处理方法相同，若检测到自主作业设备被触发制动，切断所述自主作业设备的运行动力来源，并进入所述判断触发所述自主作业设备制动的事件类型为第一事件类型或第二事件类型的步骤。
若所述自主作业设备处于回归状态，检测到自主作业设备被触发制动，则进入控制所述自主作业设备执行第一制动策略。在判定所述自主作业设备处于回归状态时，还包括，检测所述自主作业设备与停靠站之间的距离是否小于预设距离阈值；当检测到所述自主作业设备与停靠站之间的距离小于预设距离阈值时，进入控制所述自主作业设备执行第一制动策略。
具体而言，一些自主作业设备在处理制动控制时，通常是在主机控制刹车以后，首先利用减速箱将电机速度降下来，等待一段时间后再进行刹车制动，这种处理方式虽然避免了瞬间前倾的问题，但会带来其他问题，尤其是会降低机器进行无线充电的充电效率。当采用减速箱将电机速度降下来后等待的一段时间内，通常设定等待的一段时间为150ms，在这150ms内割草机器人处于无刹车控制状态，由于惯性仍然会以稍快的速度行走一段距离，当无线接收端与无线充电发射端发生碰撞后，割草机器人会被无线充电发射板的压力给顶开，反弹回去一段距离，从而使得无线接收端与无线充电发射端之间的间隙变大，降低无线充电的效率。因此，需要通过制动控制使得割草机器人进行无线充电时保持内置在机器人中的无线接收端与安装在充电站上的无线充电发射端之间的间隙达到最小，从而获取较大的无线充电效率。当自主作业设备处于回归状态时，为了保障自主作业设备中的无线充电接收端最大程度的靠近置于停靠站内的无线充电反射板，使得在无线充电时达到最大的充电效率，需要使无线充电接收端和无线充电反射板之间的间隙越小越好，一般情况下无线充电效率与所述间隙的平方呈反比。本实施例中，自主作业设备的回归状态是指，当满足预设状态，自主作业设备停止工作并朝向停靠站行走，其中预设状态包括自主作业设备在电量不足、完成工作计划、达到停止工作时间等情况。在一些例子中，当自主作业设备进入回归状态，当触发碰撞事件时执行第一制动策略。在一些例子中，当自主作业设备进入回归状态，行驶速度保持在不超过预设速度阈值。在一些例子中，自主作业设备能够感知是否已接近停靠站，当机器人在回归过程中，通过检测自主作业设备与停靠站之间的距离在预设距离阈值以内，控制自主作业设备执行第一制动策略。
本发明的第四实施例涉及一种自主作业设备，自主作业设备是可自主地在预设区域内移动并执行特定作业的机器人，典型的如执行清洁作业的智能扫地机/吸尘器，或执行割草作业的智能割草机等，自主作业设备用于执行第一实施例、第二实施例或者第三实施例中的自主作业设备制动控制方法。
本实施例中，自主作业设备至少包括主体机构、移动机构、工作机构、能源模块、检测模块、交互模块、控制模块等。
主体机构通常包括底盘和外壳，底盘用于安装和容纳移动机构、工作机构、能源模块、检测模块、交互模块、控制模块等功能机构与功能模块。外壳通常构造为至少部分地包覆底盘，主要起到增强自主作业设备的美观和辨识度的作用。在本实施例中，外壳构造为在外力作用下可相对于底盘平移和/或旋转，配合适当 的检测模块，示例性地如霍尔传感器，可进一步地起到感知碰撞、抬起等事件的作用。
移动机构构造为用于将主体机构支撑于地面并驱动主体机构在地面上移动，通常包括轮式移动机构、履带式或半履带式移动机构和步行式移动机构等。在本实施例中，移动机构为轮式移动机构，包括至少一个驱动轮和至少一个行走原动机。行走原动机优选为电动机，在其他实施方式中也可为内燃机或使用其他类型能源产生动力的机械。在本实施例中，优选地设置一左驱动轮、一驱动左驱动轮的左行走原动机、一右驱动轮和一驱动右驱动轮的右行走原动机。在本实施例中，自主作业设备的直线行进通过左右两个驱动轮同向等速转动实现，转向行进通过左右两个驱动轮的同向差速或相向转动实现。在其他实施方式中，移动机构还可包括独立于驱动轮的转向机构和独立于行走原动机的转向原动机。在本实施中，移动机构还包括至少一个从动轮，该从动轮典型地构造为万向轮，驱动轮和从动轮分别位于自主作业设备的前后两端。
工作机构构造为用于执行具体的作业任务，包括工作件和驱动该工作件运行的工作原动机。示例性地，对于智能扫地机/吸尘器，该工作件包括滚刷、吸尘管和集尘室等；对于智能割草机，该工作件包括切割刀片或切割刀盘，进一步地还包括用于调节割草高度的高度调节机构等优化或调整割草效果的其他部件。工作原动机优选为电动机，在其他实施方式中也可为内燃机或使用其他类型能源产生动力的机械。在另外的一些实施方式中，工作原动机和行走原动机构造为同一个原动机。
能源模块构造为用于为自主作业设备的各项工作提供能量。在本实施例中，能源模块包括电池和充电连接结构，其中电池优选为可充电电池，充电连接结构优选为可暴露于自主作业设备外部的充电电极。
检测模块构造为感知自主作业设备所处环境参数或其自身工作参数的至少一种传感器。典型地，检测模块可包括与工作区域4限定有关的传感器，例如磁感应式、碰撞式、超声波式、红外线式、无线电式等多种类型，其传感器类型与对应的信号发生装置的位置和数量相适应。检测模块还可包括与定位导航相关的传感器，例如GPS定位装置、激光定位装置、电子罗盘、地磁传感器等。检测模块还可包括与自身工作安全性相关的传感器，例如障碍物传感器、抬升传感器、电池包温度传感器等。检测模块还可包括与外部环境相关传感器，例如环境温度传感器、环境湿度传感器、加速度传感器、光照传感器等。
交互模块构造为至少用于接收用户输入的控制指令信息、发出需要用户感知的信息、与其他***或设备通信以收发信息、等。在本实施例中，交互模块包括设置在自主作业设备上的输入装置，用于接收用户输入的控制指令信息，典型地如控制面板、急停按键等；交互模块还包括设置在自主作业设备上的显示屏和/或蜂鸣器，通过发光和/或发声使用户感知信息。在其他实施方式中，交互模块还包括设置在自主作业设备上的通信模块和独立于自主作业设备的终端设备，例如手机、电脑、网络服务器等，用户的控制指令信息或其他信息可在终端设备上输入、经由有线或无线通信模块到达自主作业设备。
控制模块通常包括至少一个处理器和至少一个非易失性存储器，该存储器内存储有预先写入的计算机程序或指令集，处理器根据该计算机程序或指令集控制自主作业设备的移动、工作等动作的执行。进一步地，控制模块还能够根据检测模块的信号和/或用户控制指令控制和调整自主作业设备的相应行为、修改存储器内的数据等。
边界用于限制自主作业设备的工作区域，边界可以是实体的，典型地如墙壁、篱笆、栏杆等；边界也可以是虚拟的，典型地如由边界信号发生装置发出虚拟边界信号，该虚拟边界信号通常为例如由闭合的通电导线发出的电磁信号、或由其他设备发出的光信号、超声信号等，虚拟边界信号也可为针对设有定位装置(如GPS等)的自主作业设备而言，在示例性地由二维或三维坐标形成的电子地图中设置的虚拟边界。停靠站通常构造在边界上或边界附近，供自主作业设备停泊，特别是能够向停泊在停靠站的自主作业设备供给能量。
以上已详细描述了本发明的较佳实施例，但应理解到，若需要，能修改实施例的方面来采用各种专利、申请和出版物的方面、特征和构思来提供另外的实施例。
考虑到上文的详细描述，能对实施例做出这些和其它变化。一般而言，在权利要求中，所用的术语不应被认为限制在说明书和权利要求中公开的具体实施例，而是应被理解为包括所有可能的实施例连同这些权利要求所享有的全部等同范围。

Claims (18)

  1. 一种自主作业设备制动控制方法，其特征在于，包括：
    检测到自主作业设备被触发制动；
    判断触发所述自主作业设备制动的事件类型为第一事件类型或第二事件类型；
    若触发所述自主作业设备制动的事件类型为第一事件类型，控制所述自主作业设备执行第一制动策略；若触发所述自主作业设备制动的事件类型为第二事件类型，控制所述自主作业设备执行第二制动策略；
    所述第一制动策略与所述第二制动策略对所述自主作业设备施加不同的制动力。
  2. 根据权利要求1所述的自主作业设备制动控制方法，其特征在于，所述方法还包括：在所述自主作业设备处于回归状态时，若检测到所述自主作业设备被触发制动，控制所述自主作业设备执行第一制动策略；
    在所述自主作业设备未处于回归状态时，若检测到自主作业设备被触发制动，进入所述判断触发所述自主作业设备制动的事件类型为第一事件类型或第二事件类型的步骤。
  3. 根据权利要求2所述的自主作业设备制动控制方法，其特征在于，所述方法还包括：在检测到所述自主作业设备进入回归状态后，还包括：
    检测所述自主作业设备与停靠站之间的距离是否小于预设距离阈值；
    当检测到所述自主作业设备与停靠站之间的距离小于预设距离阈值时，控制所述自主作业设备执行第一制动策略。
  4. 根据权利要求1所述的自主作业设备制动控制方法，其特征在于，在判定所述自主作业设备制动的事件类型为第二事件类型且控制所述自主作业设备执行第二制动策略之前，或者所述自主作业设备处于回归状态时，还包括：
    获取所述自主作业设备的行走速度，并判断所述行走速度是否小于预设速度阈值；
    若所述行走速度小于预设速度阈值，进入控制所述自主作业设备执行第一制动策 略的步骤；
    若所述行走速度大于或等于预设速度阈值，进入控制所述自主作业设备执行第二制动策略的步骤。
  5. 根据权利要求4所述的自主作业设备制动控制方法，其特征在于，在判定所述行走速度大于或等于预设速度阈值时，开始计时，并在计时未达到预设时长的过程中检测所述行走速度是否小于预设速度阈值；
    若在计时未达到预设时长的过程中检测到所述行走速度小于预设速度阈值，进入控制所述自主作业设备执行第一制动策略的步骤；
    若在计时达到预设时长时，所述行走速度大于或等于预设速度阈值，进入控制所述自主作业设备执行第一制动策略的步骤。
  6. 根据权利要求4所述的自主作业设备制动控制方法，其特征在于，所述预设速度阈值小于0.06m/s。
  7. 根据权利要求4所述的自主作业设备制动控制方法，其特征在于，所述预设速度阈值大于0.03m/s且小于0.05m/s。
  8. 根据权利要求5所述的自主作业设备制动控制方法，其特征在于，所述计时过程中，控制所述自主作业设备执行第二制动策略。
  9. 根据权利要求1所述的自主作业设备制动控制方法，其特征在于，所述第一制动策略下所述自主作业设备被施加制动力使所述自主作业设备产生第一减速度，所述第二制动策略下所述自主作业设备被施加制动力使所述自主作业设备产生第二减速度，所述第一减速度的绝对值大于所述第二减速度的绝对值。
  10. 根据权利要求1所述的自主作业设备制动控制方法，其特征在于，所述第一制动策略和所述第二制动策略所采用的制动方式包括主动电子制动、被动电子制动、主动机械制动、被动摩擦制动中的一种或其组合。
  11. 根据权利要求1所述的自主作业设备制动控制方法，其特征在于，所述第一制动策略的制动方式为主动电子制动，所述第二制动策略所采用的制动方式为被动摩擦制动。
  12. 根据权利要求9所述的自主作业设备制动控制方法，其特征在于，所述第一减速度的绝对值大于或等于1.7m/s2。
  13. 根据权利要求9所述的自主作业设备制动控制方法，其特征在于，所述第一减速度的绝对值大于或等于3m/s2。
  14. 根据权利要求1所述的自主作业设备制动控制方法，其特征在于，
    所述第一事件类型包括安全相关事件，所述第二事件类型包括非安全相关事件。
  15. 根据权利要求14所述的自主作业设备制动控制方法，其特征在于，所述安全相关事件包括碰撞事件与抬起事件中的至少一个。
  16. 一种自主作业设备，其特征在于，用于执行权利要求1至15中任一项所述的自主作业设备制动控制方法。
  17. 一种计算机可读存储介质，其存储有计算机程序，其特征是，所述计算机程序被处理器执行时可实现权利要求1至15中任一项所述方法的步骤。
  18. 一种自主作业设备，包括控制模块，控制模块包括处理器和权利要求17中的计算机可读存储介质。
PCT/CN2023/107907 2022-11-03 2023-07-18 自主作业设备制动控制方法、自主作业设备及存储介质 WO2024093362A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211369627.5 2022-11-03
CN202211369627.5A CN115534916A (zh) 2022-11-03 2022-11-03 自主作业设备制动控制方法、自主作业设备及存储介质

Publications (1)

Publication Number Publication Date
WO2024093362A1 true WO2024093362A1 (zh) 2024-05-10

Family

ID=84719990

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/107907 WO2024093362A1 (zh) 2022-11-03 2023-07-18 自主作业设备制动控制方法、自主作业设备及存储介质

Country Status (2)

Country Link
CN (1) CN115534916A (zh)
WO (1) WO2024093362A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115534916A (zh) * 2022-11-03 2022-12-30 浙江白马科技有限公司 自主作业设备制动控制方法、自主作业设备及存储介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016224654A (ja) * 2015-05-29 2016-12-28 シャープ株式会社 自律走行ロボット
US20180370376A1 (en) * 2015-06-26 2018-12-27 Positec Power Tools (Suzhou) Co., Ltd. Autonomous Mobile Device and Wireless Charging System Thereof
US20190222043A1 (en) * 2016-09-23 2019-07-18 Positec Power Tools (Suzhou) Co., Ltd. Automatic Working System, Charging Station and Method for Returning Robotic Mower to Charging Station
CN113044015A (zh) * 2019-12-27 2021-06-29 英特尔公司 用于紧急制动的***和方法
CN113085839A (zh) * 2021-04-14 2021-07-09 北京云迹科技有限公司 一种机器人制动方法及相关设备
CN113261878A (zh) * 2020-01-29 2021-08-17 必胜公司 用于自主式地板清洁器的对接站
CN115534916A (zh) * 2022-11-03 2022-12-30 浙江白马科技有限公司 自主作业设备制动控制方法、自主作业设备及存储介质

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016224654A (ja) * 2015-05-29 2016-12-28 シャープ株式会社 自律走行ロボット
US20180370376A1 (en) * 2015-06-26 2018-12-27 Positec Power Tools (Suzhou) Co., Ltd. Autonomous Mobile Device and Wireless Charging System Thereof
US20190222043A1 (en) * 2016-09-23 2019-07-18 Positec Power Tools (Suzhou) Co., Ltd. Automatic Working System, Charging Station and Method for Returning Robotic Mower to Charging Station
CN113044015A (zh) * 2019-12-27 2021-06-29 英特尔公司 用于紧急制动的***和方法
CN113261878A (zh) * 2020-01-29 2021-08-17 必胜公司 用于自主式地板清洁器的对接站
CN113085839A (zh) * 2021-04-14 2021-07-09 北京云迹科技有限公司 一种机器人制动方法及相关设备
CN115534916A (zh) * 2022-11-03 2022-12-30 浙江白马科技有限公司 自主作业设备制动控制方法、自主作业设备及存储介质

Also Published As

Publication number Publication date
CN115534916A (zh) 2022-12-30

Similar Documents

Publication Publication Date Title
WO2024093362A1 (zh) 自主作业设备制动控制方法、自主作业设备及存储介质
KR101954144B1 (ko) 로봇 청소기와, 이의 제어 방법, 및 이를 포함한 로봇 청소 시스템
US20180317727A1 (en) Apparatus and methods for semi-autonomous cleaning of surfaces
CN106200645A (zh) 自主机器人、控制装置和控制方法
EP2296071A1 (en) Modular and scalable positioning and navigation system
CN110136704B (zh) 机器人语音控制方法、装置、机器人和介质
TWI689801B (zh) 自主移動機器人及其尋樁方法、控制裝置以及智能清潔系統
US20110046784A1 (en) Asymmetric stereo vision system
WO2014029357A1 (zh) 自动工作设备及其控制方法
CN108852174B (zh) 自主移动机器人及其寻桩方法、控制装置和智能清洁***
CN215838791U (zh) 基站和清洁机器人***
WO2022171144A1 (zh) 自动清洁设备控制方法及装置、介质及电子设备
WO2020052619A1 (zh) 自移动设备及其自动工作***
US20240053762A1 (en) Regional map drawing method and apparatus, medium, and electronic device
US11650593B2 (en) Moving method for self-moving device and self-moving device
CN216167276U (zh) 一种自移动机器人
EP4325320A1 (en) Obstacle avoidance method and apparatus for robot, robot, storage medium, and electronic device
JP2017113172A (ja) 電気掃除機
KR20230133592A (ko) 로봇
CN115723108A (zh) 自主作业设备、自主作业***、控制方法和存储介质
CN220123451U (zh) 自主作业设备
CN220359737U (zh) 自主作业设备
CN118199197A (zh) 充电管理方法、自主作业设备和计算机可读存储介质
WO2024078482A1 (zh) 信号控制电路及方法、发生装置、停靠站、自主作业***和存储介质
CN210835724U (zh) 智能物流机器人导向装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23884301

Country of ref document: EP

Kind code of ref document: A1