CN111273647A - Automatic walking equipment and control method thereof - Google Patents
Automatic walking equipment and control method thereof Download PDFInfo
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- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
The present disclosure relates to an automatic walking apparatus and a control method thereof. The apparatus comprises: an apparatus main body; the inertia measurement assembly is positioned in the equipment main body and used for acquiring inertia data of the automatic walking equipment; the communication component is used for receiving communication information from the terminal, and the communication information comprises area setting data; a control component configured to: when receiving the area setting data of the terminal, determining the working area of the automatic walking equipment; planning a walking path of the automatic walking equipment according to the working area; and controlling the automatic walking equipment to walk according to the walking path according to the inertia data. According to the embodiment of the disclosure, the working area can be determined according to the area setting data of the terminal, the walking path is planned, and the automatic walking equipment is controlled to walk according to the walking path according to the inertia data, so that the automatic walking equipment can realize automatic operation in the given area.
Description
Technical Field
The disclosure relates to the field of automatic working systems, in particular to automatic walking equipment and a control method thereof.
Background
With the development of scientific technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can execute preset related tasks based on an automatic preset program and does not need manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial application and household products. The intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and home life.
How to define the working area of the automatic walking device and how to set the path planning in the working area are always the problems that people need to study.
Disclosure of Invention
In view of the above, the present disclosure provides an automatic traveling apparatus capable of automatically operating in a given work area at a low cost and with high work efficiency, and a control method thereof.
According to an aspect of the present disclosure, there is provided an automatic walking apparatus including: an apparatus main body;
the inertia measurement assembly is positioned in the equipment main body and used for acquiring inertia data of the automatic walking equipment;
the communication component is used for receiving communication information from a terminal, and the communication information comprises area setting data;
a control component configured to:
when receiving the area setting data of the terminal, determining the working area of the automatic walking equipment;
planning a walking path of the automatic walking equipment according to the working area;
and controlling the automatic walking equipment to walk according to the walking path according to the inertia data.
In one possible implementation, the zone setting data includes an identification of a plurality of inflection points defining a boundary of the working zone and distances between the plurality of inflection points,
wherein, when receiving the regional settlement data of terminal, confirm the work area of automatic walking equipment, include:
determining the positions of a plurality of inflection points according to the identifications of the inflection points and the distances among the inflection points;
and determining the working area according to the positions of a plurality of inflection points.
In a possible implementation manner, the inflection points at least include a starting point and a first target point, the position of the starting point is an initial position of the automatic walking device,
wherein, according to the work area, planning the walking path of the automatic walking equipment comprises:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the inflection points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
In one possible implementation, the inflection points include a start point, a first target point, a second target point, and a third target point,
wherein, according to the positions of the inflection points, determining the walking distance of the automatic walking equipment in the walking direction comprises:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
In a possible implementation manner, controlling the automatic walking device to walk according to the walking path according to the inertial data includes:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to a walking direction of the automatic walking device before reaching the boundary of the working area.
In one possible implementation, the control component is further configured to:
when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
In one possible implementation manner, determining the current positioning position and orientation of the automatic walking device according to the inertial data includes:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
In one possible implementation, the communication information includes walking control instructions,
wherein the control component is further configured to:
and controlling the automatic walking equipment to walk according to the walking control instruction.
In one possible implementation manner, when the automatic walking device completes the operation on the working area, the walking track of the automatic walking device completely covers the working area.
In one possible implementation, the self-propelled device is propelled by a crawler.
According to another aspect of the present disclosure, there is provided a control method of an automatic walking apparatus, the method including:
when receiving the area setting data of the terminal, determining the working area of the automatic walking equipment;
planning a walking path of the automatic walking equipment according to the working area;
and controlling the automatic walking equipment to walk according to the walking path according to the inertial data.
In one possible implementation, the zone setting data includes an identification of a plurality of inflection points defining a boundary of the working zone and distances between the plurality of inflection points,
wherein, when receiving the regional settlement data of terminal, confirm the work area of automatic walking equipment, include:
determining the positions of a plurality of inflection points according to the identifications of the inflection points and the distances among the inflection points;
and determining the working area according to the positions of a plurality of inflection points.
In a possible implementation manner, the inflection points at least include a starting point and a first target point, the position of the starting point is an initial position of the automatic walking device,
wherein, according to the work area, planning the walking path of the automatic walking equipment comprises:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the inflection points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
In one possible implementation, the inflection points include a start point, a first target point, a second target point, and a third target point,
wherein, according to the positions of the inflection points, determining the walking distance of the automatic walking equipment in the walking direction comprises:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
In one possible implementation manner, controlling the automatic walking device to walk according to the walking path according to inertial data includes:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to a walking direction of the automatic walking device before reaching the boundary of the working area.
In one possible implementation, the method further includes:
when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
In one possible implementation manner, determining the current positioning position and orientation of the automatic walking device according to the inertial data includes:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
In one possible implementation, the method further includes:
and controlling the automatic walking equipment to walk according to a walking control instruction sent by the terminal.
In one possible implementation manner, when the automatic walking device completes the operation on the working area, the walking track of the automatic walking device completely covers the working area.
In one possible implementation, the self-propelled device is propelled by a crawler.
According to the automatic walking equipment and the control method thereof in each aspect of the disclosure, the working area can be determined according to the area setting data of the terminal, the walking path is planned according to the working area, and the automatic walking equipment is controlled to walk according to the walking path according to the inertial data, so that the automatic walking equipment realizes the automatic operation in the given area.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates a schematic diagram of an exemplary application environment of an automated walking device in accordance with an embodiment of the present disclosure.
Fig. 2 shows a block diagram of an automated walking device in accordance with an embodiment of the present disclosure.
Fig. 3 shows a flow chart of the configuration of a control component of an automated walking device according to an embodiment of the present disclosure.
Fig. 4 shows a schematic view of a working area of an automated walking device according to an embodiment of the present disclosure.
Fig. 5a, 5b, and 5c are schematic diagrams illustrating a turning process of an automatic walking device according to an embodiment of the present disclosure.
Fig. 6 shows a schematic diagram of a regression process of an automated walking device according to an embodiment of the present disclosure.
Fig. 7 shows a schematic diagram of a changed work area of an automated walking device according to an embodiment of the present disclosure.
Fig. 8 shows a flowchart of a control method of an automatic walking device according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
FIG. 1 illustrates a schematic diagram of an exemplary application environment of an automated walking device in accordance with an embodiment of the present disclosure. In one exemplary application environment, as shown in fig. 1, a self-propelled device 10 according to an embodiment of the present disclosure may be, for example, a snow plow, and the self-propelled device 10 may be self-propelled within a work area 30 within a boundary 50 to sweep snow located on a surface of the work area 30.
Fig. 2 shows a block diagram of an automated walking device in accordance with an embodiment of the present disclosure. As shown in fig. 2, the automatic walking apparatus 10 includes:
an apparatus main body 11;
an inertia measurement unit 12 in the device body 11 for acquiring inertia data of the automatic walking device;
a communication component 13 for receiving communication information from a terminal, the communication information including area setting data;
a control assembly 14.
Fig. 3 shows a flow chart of the configuration of a control component of an automated walking device according to an embodiment of the present disclosure. As shown in fig. 3, in one possible implementation, the control component 14 is configured to:
in step S11, upon receiving the area setting data of the terminal, the work area of the automatic walking device is determined;
in step S12, planning a walking path of the automatic walking device according to the work area;
in step S13, the automatic traveling apparatus is controlled to travel along the travel path based on the inertial data.
According to the embodiment of the disclosure, the working area can be determined according to the area setting data of the terminal, the walking path is planned according to the working area, and the automatic walking equipment is controlled to walk according to the walking path according to the inertial data, so that the automatic walking equipment can determine the working area and autonomously work in the working area, and automatic work in the given area is realized.
For example, the self-propelled device 10 may be a robotic lawnmower, a robotic snowplow, a robotic sweeper, or the like, which is capable of automatic operation. The apparatus body 11 of the automatic traveling apparatus 10 may be provided with wheels, crawler belts, or the like so as to travel in the work area. Inertial measurement component 12 may include inertial sensors comprised of gyroscopes, accelerometers, odometers, and the like, for acquiring inertial data of the automated walking device.
In one possible implementation, a control assembly 14 may be provided in the automated walking device 10. The control component 14 may be any processing component capable of performing data processing, such as a single chip, a CPU, an MPU, and an FPGA, and the control component 14 may be implemented by a dedicated hardware circuit, or may be implemented by a general processing component in combination with executable logic instructions to execute the processing procedure of the control component 14.
In one possible embodiment, the automated walking device may further include a storage module (not shown) to store data generated by the control component 14, such as zone setting data, inertial data, and the like.
In one possible implementation manner, the communication component 13 may include a wireless communication module such as WIFI or bluetooth, and is configured to communicate with a terminal (e.g., a smart phone, a tablet computer, or the like), and receive communication information from the terminal, where the communication information includes the area setting data. The user can set the range of the working area through an application interface in the terminal, so that the automatic walking equipment can autonomously work in the given area range.
In one possible implementation, the region setting data may include an identification of a plurality of inflection points defining a boundary of the work region and a distance between the plurality of inflection points, for example, a line drawn in the application interface by a user may be taken as the boundary of the work region, and the identification of the plurality of inflection points and the distance between the plurality of inflection points on the boundary may be determined.
In one possible implementation manner, determining the working area of the automatic walking device when the area setting data of the terminal is received in step S11 may include:
determining the positions of a plurality of inflection points according to the identifications of the inflection points and the distances among the inflection points;
and determining the working area according to the positions of a plurality of inflection points.
Fig. 4 shows a schematic view of a working area of an automated walking device according to an embodiment of the present disclosure. As shown in fig. 4, the inflection points of the working area may include a starting point O and three inflection points A, B, C (i.e., a first target point a, a second target point B, and a third target point C) relative to the starting point O. The starting point O and the inflection point A, B, C together define the extent of the operating region. When the communication component 13 of the automatic walking device receives the region setting data (the identification of the plurality of inflection points of the boundary and the actual distance between the plurality of inflection points) of the terminal, the working region of the automatic walking device can be determined. Wherein the actual distance may be determined by an interface distance on the terminal interface between the plurality of inflection points and a ratio between the interface distance and the actual distance.
In a possible implementation manner, the inflection points at least include a starting point O and a first target point a, and a position of the starting point O is an initial position of the automatic walking device. It will be appreciated that the initial position may be the position of the charging station. Wherein, in step S12, according to the working area, planning a walking path of the automatic walking device includes:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the inflection points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
For example, as shown in fig. 4, the first connection OA may be determined according to the position of the start point O and the position of the first target point a. The direction parallel to the first connection line OA may be set to a first direction and a second direction (the first direction is opposite to the second direction), such as the directions of the upward arrow and the downward arrow in fig. 4.
In a possible implementation manner, a rectangular coordinate system may be established with a straight line where the first connection line OA is located as a y-axis, so that the coordinates of the starting point O are (0,0), and further, relative position coordinates of a plurality of inflection points (the first target point a, the second target point B, and the third target point C) may be obtained. From the positions (relative position coordinates) of the plurality of inflection points, the walking distance of the automatic walking device in the walking direction can be determined.
In one possible implementation manner, the step of determining the walking distance of the automatic walking device in the walking direction according to the positions of the plurality of inflection points may include:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
For example, as shown in fig. 4, according to the starting point O, the first target point a, the second target point B and the third target point C, the second connection line AB and the third connection line OC can be determined, so that the first slope L of the second connection line AB can be respectively determined according to the relative position coordinates of the inflection pointsABA second slope L of the third line OCOCAnd a third slope L of a fourth connecting line BCBC. According to a first slope LABA second slope LOCAnd a third slope LBCThe walking distance d of the automatic walking device in the vertical first direction and the vertical second direction can be respectively determined1、d2、……、dn. And n is the total number of the walking paths of the automatic walking equipment in the vertical direction.
In a possible implementation manner, in order to ensure that the automatic walking device can completely cover the whole working area, the walking distance d of the ith path in the vertical direction can be enabledi(i is an integer between 1 and n) is suitably out of the range of the working area. As shown in FIG. 4, when AB is monotonically decreasing, OC is monotonically decreasing (i.e., the first slope LABAnd a second slope LOCAll less than 0), the walking distance diCan be expressed as:
wherein,
may represent the ordinate of the intersection point of the ith path with the second line AB,
may represent the ordinate of the intersection point of the ith path with the third line OC,
may represent the ordinate of the intersection point of the (i-1) th path with the second connection AB,
the ordinate of the intersection point of the (i + 1) th path and the third line OC can be represented.
In one possible implementation, as AB monotonically decreases, OC monotonically increases (i.e., the first slope LABLess than 0, second slope LOCGreater than 0), the walking distance diCan be expressed as:
wherein,
the ordinate of the intersection point of the (i-1) th path and the third line OC can be represented.
In one possible implementation, as AB monotonically increases, OC monotonically increases (i.e., the first slope LABAnd a second slope LOCAll are greater than 0), the walking distance diCan be expressed as:
wherein,
the ordinate of the intersection point of the (i + 1) th path and the second line AB can be represented.
In one possible implementation, as AB monotonically increases, OC monotonically decreases (i.e., the first slope LABGreater than 0, second slope LOCLess than 0), the walking distance diCan be expressed as:
therefore, the walking distances of the automatic walking equipment in the first direction and the second direction can be respectively determined, and the automatic walking equipment can completely cover the whole working area.
According to the walking distance in the walking direction (the walking distance d in the vertical first direction and the second direction)1、d2、……、dnThe path of travel of the autonomous walking device in the work area (e.g., the path shown by the dashed arrow in fig. 4) may be planned to ensure complete coverage of the entire work area.
In one possible implementation manner, in step S13, the control component may control the automatic walking device to walk along the walking path according to the inertial data of the inertial measurement component (including the odometer and the gyroscope), so as to implement the work of the whole work area. Wherein, the automatic walking equipment can adopt the track structure to reduce the road surface unevenness and the automatic walking equipment and skid the error that leads to the odometer, and use the gyroscope to make the robot walk parallel line.
In one possible implementation manner, when the automatic walking device completes the operation on the working area, the walking track of the automatic walking device completely covers the working area.
Fig. 5a, 5b, and 5c are schematic diagrams illustrating a turning process of an automatic walking device according to an embodiment of the present disclosure.
In one possible implementation, step S13 may include:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to a walking direction of the automatic walking device before reaching the boundary of the working area.
For example, as shown in fig. 5a, the automatic walking apparatus may walk by means of crawler tracks. The adoption of the crawler belt structure can reduce the errors of the odometer caused by uneven road surface and slippage.
When the automatic traveling apparatus reaches the boundary of the working area and needs to turn, in order to prevent sundries (such as snow during snow throwing work) in the working area of the automatic traveling apparatus from being carried over to the working area when the automatic traveling apparatus turns, the turning operation can be performed as follows.
In one possible implementation, when the autonomous walking device reaches the boundary of the working area, the rotational target angle of the autonomous walking device may be controlled according to the inertial data. For example, the rotation to the left or right is performed by about 135 degrees with the center position of the lever connecting the two drive wheels as a rotation center. As shown in fig. 5b, the automatic walking device is rotated to the right from the dotted line position to the solid line position. The target angle may be, for example, 120-150 degrees, and the specific value of the target angle is not limited in the present disclosure.
In one possible implementation, as shown in fig. 5c, after rotating the target angle, the automatic walking device may be controlled to retreat by a target distance (e.g., fig. 5c retreats from the dashed line position to the solid line position), such as the length of 2/3 fuselage of the automatic walking device. The target distance may be 1/2 fuselage length to 1 fuselage length, and the specific value of the target distance is not limited in the present disclosure.
In one possible implementation, the autonomous walking device may be controlled to rotate into a target direction, wherein the target direction is parallel to a walking direction of the autonomous walking device before reaching the boundary of the work area. That is, the control component sends a forward command to the automatic walking device, and the automatic walking device is enabled to keep parallel to the walking direction before turning through the gyroscope. For example, if the traveling direction of the automatic traveling apparatus before reaching the boundary of the work area is a vertical first direction, the target direction may be a second direction parallel to the first direction.
By the mode, sundries in the working area can be prevented from being brought to the working area in the turning process of the automatic walking equipment, and the working effect is improved.
Fig. 6 shows a schematic diagram of a regression process of an automated walking device according to an embodiment of the present disclosure. In one possible implementation, the control component is further configured to:
when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
For example, during the operation of the automatic walking device, it may be necessary to return to the starting point O, for example, when the automatic walking device is under power, it is necessary to return to the starting point O for charging. At this time, it may be determined that the automatic walking device satisfies the return condition. From the inertial data, the current location position D and orientation of the autonomous walking device can be determined.
In one possible implementation manner, determining the current positioning position and orientation of the automatic walking device according to the inertial data includes:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
In one possible implementation, the total travel of the automatic walking device walking may be determined by the amount of change of the odometer and the number of turns (e.g., the number of changes between the first direction and the second direction) based on the inertial data, so that the coordinates (x, y) at the position D where the automatic walking device is currently located are calculated based on the total travel, the walking distance in the walking direction, the walking distance during turning, the number of turns, and the distance between adjacent walking paths.
In equation (5), S may represent the total travel of the automatic walking device from the starting point to the position,
may represent the number of turns, T may represent the distance traveled while turning, W represents the width of the automatic traveling apparatus (distance between adjacent traveling paths), the traveling distance d of the ith path in the vertical directioni(i is
An integer therebetween),
can represent the first
The ordinate of the intersection point of the strip path with the third line OC,
can represent the first
A strip path andthe ordinate of the intersection point of the second connecting line AB.
In one possible implementation, the rotation angle and the return distance of the automatic walking device are determined according to the position of the starting point O, the current positioning position D (coordinate (x, y)) and the orientation (vertical first direction or second direction) of the automatic walking device
In one possible implementation manner, the control component may control the automatic traveling device to rotate and travel according to the rotation angle and the return distance, so that the automatic traveling device returns to the position of the starting point O. After reaching the starting point O, the position state of the autonomous traveling apparatus may be adjusted to a target state, for example, the autonomous traveling apparatus may reach a charging station to be charged.
Fig. 7 shows a schematic diagram of a changed work area of an automated walking device according to an embodiment of the present disclosure. In one possible implementation, the communication information includes walking control instructions,
wherein the control component is further configured to:
and controlling the automatic walking equipment to walk according to the walking control instruction.
For example, the automatic walking device can provide a manual control mode, and the automatic walking device is controlled to walk through the terminal. In this case, the communication information transmitted by the terminal may include a walking control instruction. When the walking control instruction is received, the control assembly can control the automatic walking equipment to walk according to the walking control instruction.
As shown in fig. 7, when the automatic walking device completes the operation in one working area and needs to reach another working area for operation, the user may switch the automatic walking device to a manual control mode to control the automatic walking device to pass through a narrow passage between the two working areas. When the automatic walking device reaches another working area, the user can control the automatic walking device to move to the starting point O' of the other working area, and the automatic walking device is switched back to the automatic working mode. The automatic walking equipment can establish a new coordinate system (x ', y') and plan a walking path according to the inflection points O ', A', B 'and C' of the working area, thereby realizing the operation of the working area.
In one possible implementation, a prompt (e.g., a flashing or the like or a prompt tone or the like) may also be issued to the user when the automated walking device satisfies a return condition (e.g., insufficient power). The user can switch the automatic walking equipment into a manual control mode, and the automatic walking equipment is controlled to return to the starting point or the position of the charging station, so that the return of the automatic walking equipment is realized.
By the mode, the flexibility of the automatic walking equipment during operation can be improved, and the operation efficiency is improved.
According to the automatic walking equipment disclosed by the embodiment of the disclosure, the working area can be determined according to the area setting data of the terminal, the walking path is planned according to the working area, and the automatic walking equipment is controlled to walk according to the walking path according to the inertial data, so that the automatic walking equipment can realize automatic operation in a given area, a user can define the range of autonomous operation of the automatic walking equipment according to own requirements, and the use convenience of the user and the working efficiency of the automatic walking equipment are improved.
Fig. 8 shows a flowchart of a control method of an automatic walking device according to an embodiment of the present disclosure. As shown in fig. 8, in a possible implementation manner, the present disclosure further provides a control method of an automatic walking device, where the method includes:
step S81, when receiving the area setting data of the terminal, determining the working area of the automatic walking equipment;
step S82, planning the walking path of the automatic walking equipment according to the working area;
and step S83, controlling the automatic walking equipment to walk according to the walking path according to the inertia data.
In one possible implementation, the zone setting data includes an identification of a plurality of inflection points defining a boundary of the working zone and distances between the plurality of inflection points,
wherein, when receiving the regional settlement data of terminal, confirm the work area of automatic walking equipment, include:
determining the positions of a plurality of inflection points according to the identifications of the inflection points and the distances among the inflection points;
and determining the working area according to the positions of a plurality of inflection points.
In a possible implementation manner, the inflection points at least include a starting point and a first target point, the position of the starting point is an initial position of the automatic walking device,
wherein, according to the work area, planning the walking path of the automatic walking equipment comprises:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the inflection points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
In one possible implementation, the inflection points include a start point, a first target point, a second target point, and a third target point,
wherein, according to the positions of the inflection points, determining the walking distance of the automatic walking equipment in the walking direction comprises:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
In one possible implementation manner, controlling the automatic walking device to walk according to the walking path according to inertial data includes:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to a walking direction of the automatic walking device before reaching the boundary of the working area.
In one possible implementation, the method further includes:
when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
In one possible implementation manner, determining the current positioning position and orientation of the automatic walking device according to the inertial data includes:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
In one possible implementation, the method further includes:
and controlling the automatic walking equipment to walk according to a walking control instruction sent by the terminal.
In one possible implementation manner, when the automatic walking device completes the operation on the working area, the walking track of the automatic walking device completely covers the working area.
In one possible implementation, the self-propelled device is propelled by a crawler.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (20)
1. An automatic walking device, characterized in that the automatic walking device comprises:
an apparatus main body;
the inertia measurement assembly is positioned in the equipment main body and used for acquiring inertia data of the automatic walking equipment;
the communication component is used for receiving communication information from a terminal, and the communication information comprises area setting data;
a control component configured to:
when receiving the area setting data of the terminal, determining the working area of the automatic walking equipment;
planning a walking path of the automatic walking equipment according to the working area;
and controlling the automatic walking equipment to walk according to the walking path according to the inertia data.
2. The automated walking apparatus of claim 1, wherein the region setting data includes an identification of a plurality of inflection points defining a boundary of the working region and a distance between the plurality of inflection points,
wherein, when receiving the regional settlement data of terminal, confirm the work area of automatic walking equipment, include:
determining the positions of a plurality of inflection points according to the identifications of the inflection points and the distances among the inflection points;
and determining the working area according to the positions of a plurality of inflection points.
3. The automated walking apparatus of claim 2, wherein the plurality of inflection points comprise at least a start point and a first target point, the start point being at an initial position of the automated walking apparatus,
wherein, according to the work area, planning the walking path of the automatic walking equipment comprises:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the inflection points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
4. The automated walking apparatus of claim 3, wherein the plurality of inflection points comprise a start point, a first goal point, a second goal point and a third goal point,
wherein, according to the positions of the inflection points, determining the walking distance of the automatic walking equipment in the walking direction comprises:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
5. The automated walking device of claim 1, wherein controlling the automated walking device to walk according to the walking path based on the inertial data comprises:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to a walking direction of the automatic walking device before reaching the boundary of the working area.
6. The automated walking device of claim 1, wherein the control component is further configured to:
when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
7. The automated walking device of claim 6, wherein determining the current location and orientation of the automated walking device from the inertial data comprises:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
8. The automated walking device of claim 1, wherein the communication information comprises walking control instructions,
wherein the control component is further configured to:
and controlling the automatic walking equipment to walk according to the walking control instruction.
9. The automatic walking device of claim 1, wherein a walking trajectory of the automatic walking device completely covers the work area when the automatic walking device completes work for the work area.
10. The automatic walking apparatus of claim 1, wherein said automatic walking apparatus walks by means of crawler tracks.
11. A method of controlling an automatic walking device, the method comprising:
when receiving the area setting data of the terminal, determining the working area of the automatic walking equipment;
planning a walking path of the automatic walking equipment according to the working area;
and controlling the automatic walking equipment to walk according to the walking path according to the inertial data.
12. The method of claim 11, wherein the zone setting data includes an identification of a plurality of inflection points defining a boundary of the working zone and a distance between the plurality of inflection points,
wherein, when receiving the regional settlement data of terminal, confirm the work area of automatic walking equipment, include:
determining the positions of a plurality of inflection points according to the identifications of the inflection points and the distances among the inflection points;
and determining the working area according to the positions of a plurality of inflection points.
13. The method of claim 12, wherein the plurality of inflection points comprise at least a starting point and a first target point, the starting point being at an initial position of the automated walking device,
wherein, according to the work area, planning the walking path of the automatic walking equipment comprises:
determining a walking direction of the automatic walking device according to the position of the starting point and the position of the first target point, wherein the walking direction comprises a first direction and a second direction which are parallel to a first connecting line between the starting point and the first target point, and the first direction is opposite to the second direction;
determining the walking distance of the automatic walking equipment in the walking direction according to the positions of the inflection points;
and determining the walking path of the automatic walking equipment according to the walking direction and the walking distance in the walking direction.
14. The method of claim 13, wherein the plurality of inflection points comprise an origin point, a first destination point, a second destination point, and a third destination point,
wherein, according to the positions of the inflection points, determining the walking distance of the automatic walking equipment in the walking direction comprises:
and respectively determining the walking distance of the automatic walking equipment in the first direction and the second direction according to the first slope of a second connecting line between the first target point and the second target point, the second slope of a third connecting line between the starting point and the third target point and the third slope of a fourth connecting line between the second target point and the third target point.
15. The method of claim 11, wherein controlling the autonomous walking device to walk along the walking path based on inertial data comprises:
controlling the automatic walking equipment to rotate by a target angle when the automatic walking equipment reaches the boundary of the working area according to the inertial data;
controlling the automatic walking equipment to retreat by a target distance;
controlling the automatic walking device to rotate to the target direction,
wherein the target direction is parallel to a walking direction of the automatic walking device before reaching the boundary of the working area.
16. The method of claim 11, further comprising:
when the automatic walking equipment meets a return condition, determining the current positioning position and orientation of the automatic walking equipment according to the inertial data;
determining the rotation angle and the return distance of the automatic walking equipment according to the position of the starting point, the current positioning position and the current orientation of the automatic walking equipment;
and controlling the automatic walking equipment to rotate and walk according to the rotation angle and the return distance so as to enable the automatic walking equipment to return to the position of the starting point.
17. The method of claim 16, wherein determining the current location and orientation of the autonomous walking device from the inertial data comprises:
determining the current total travel of the automatic walking equipment according to the inertia data;
and determining the current positioning position and orientation of the automatic walking equipment according to the total travel, the walking distance in the walking direction, the walking distance during turning, the turning times and the distance between the adjacent walking paths of the automatic walking equipment.
18. The method of claim 11, further comprising:
and controlling the automatic walking equipment to walk according to a walking control instruction sent by the terminal.
19. The method of claim 11, wherein a travel trajectory of the autonomous walking device completely covers the work area when the autonomous walking device completes work for the work area.
20. The method of claim 11, wherein the automated walking apparatus walks by tracks.
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| CN201811377364.6A CN111273647A (en) | 2018-11-19 | 2018-11-19 | Automatic walking equipment and control method thereof |
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Application publication date: 20200612 |