CN112445206B

Movatterモバイル変換

Info

Publication number: CN112445206B
Application number: CN201910754868.3A
Authority: CN
Inventors: 谭广福
Original assignee: Positec Technology China Co ltd Non Small Entity
Current assignee: Positec Technology China Co ltd Non Small Entity
Priority date: 2019-08-15
Filing date: 2019-08-15
Publication date: 2023-02-21
Anticipated expiration: 2039-08-15
Also published as: CN112445206A

Abstract

The invention provides a method and a device for determining a work plan of self-moving equipment, wherein the self-moving equipment moves and works in a work area limited by a boundary line, and the method comprises the following steps: obtaining the length of a boundary line from a working area of the mobile equipment; determining the area of the working area according to the length of the boundary line of the working area; according to the area of the working area, the working plan of the working area processed by the self-moving equipment is determined, and the self-moving equipment is controlled to execute work according to the working plan, so that the mowing time of the working area can be accurately evaluated, the situations of under-mowing and over-mowing are avoided, the mowing efficiency is improved, and the service life of the self-moving equipment is ensured.

Description

Self-moving equipment work plan determining method and self-moving equipment

Technical Field

The invention relates to the technical field of electric tools, in particular to a method for determining a work plan of self-moving equipment and the self-moving equipment.

Background

In the current intelligent lawn mowers, the mowing time is the default mowing time or estimated by a person according to the area of a lawn. The default mowing time cannot be suitable for all lawns, the mowing time estimated by a person is not accurate, under-mowing or over-mowing conditions easily exist, the mowing efficiency is influenced, the service life of the mower is shortened due to over-mowing, and the use experience of a user on the mower is influenced.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, a first object of the present invention is to provide a method for determining an operating plan of a self-moving device, which is used to solve the problems of poor mowing efficiency and shortened life of the self-moving device caused by inaccurate mowing time in the prior art.

A second object of the present invention is to provide a self-moving device.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides an operation plan determining method for an autonomous mobile device, where the autonomous mobile device moves and operates within an operation area defined by a boundary line, including:

obtaining the length of a boundary line from a working area of the mobile equipment;

determining the area of the working area according to the length of the boundary line of the working area;

and determining a working plan of the self-moving equipment for processing the working area according to the area of the working area, and controlling the self-moving equipment to execute work according to the working plan.

Further, the determining the area of the working area according to the length of the boundary line of the working area includes:

calculating the maximum area of the working area according to the length of the boundary line;

and determining the maximum area of the working area as the area of the working area.

Further, the calculating the maximum area of the working area according to the length of the boundary line includes:

determining the length of the boundary line as the perimeter of a circle, and determining the area of the circle according to the perimeter of the circle;

and determining the area of the circle as the maximum area of the working area under the length of the boundary line.

Further, the boundary line length obtained from the working area of the mobile device comprises:

the self-moving equipment is controlled to move for a circle along the boundary line of the working area, the moving distance of the self-moving equipment is calculated, and the length of the boundary line of the working area is determined according to the moving distance of the self-moving equipment.

Furthermore, a plurality of marks for marking the boundary line are arranged on the boundary line of the working area;

the boundary line length obtained from the working area of the mobile equipment comprises:

detecting a plurality of marks on a boundary line of the working area;

controlling the self-moving equipment to move according to the marks to realize moving for a circle along the boundary line of the working area;

acquiring the moving time and the moving speed of the mobile equipment moving for one week;

and determining the length of the boundary line of the working area according to the moving time and the moving speed.

Further, the boundary line length obtained from the working area of the mobile device includes:

acquiring position information of each point on the boundary line of the working area;

and determining the length of the boundary line of the working area according to the position information of each point.

controlling the self-moving equipment to move according to the leading action of personnel, and realizing walking for a circle along the boundary line of the working area;

acquiring the moving time and the moving speed of the self-moving equipment walking for one circle;

Further, the method for determining the work plan comprises the following steps,

and determining the working time of the self-mobile equipment in a working period according to the area of the working area.

According to the method for determining the working plan of the self-moving equipment, the length of the boundary line of the working area of the self-moving equipment is obtained; determining the area of the working area according to the length of the boundary line of the working area; according to the area of the working area, the working plan of the self-moving equipment for processing the working area is determined, and the self-moving equipment is controlled to execute work according to the working plan, so that the mowing time of the working area can be accurately evaluated, the situations of under-mowing and over-mowing are avoided, the mowing efficiency is improved, and the service life of the self-moving equipment is ensured.

In order to achieve the above object, a second embodiment of the present invention provides a self-moving device, including: the self-moving equipment moves and works in a working area defined by a boundary line, and comprises a shell, a moving module and a working module, wherein the self-moving equipment comprises:

the acquisition module is used for acquiring the length of a boundary line from a working area of the mobile equipment;

the first determining module is used for determining the area of the working area according to the length of the boundary line of the working area;

and the second determining module is used for determining a working plan for processing the working area by the mobile equipment according to the area of the working area.

Further, the first determining module is specifically configured to,

Further, the obtaining module is specifically configured to,

and controlling the self-moving equipment to move for a circle along the boundary line of the working area, calculating the moving distance of the self-moving equipment, and determining the length of the boundary line of the working area according to the moving distance of the self-moving equipment.

the obtaining module is specifically configured to obtain,

detecting a plurality of marks on a boundary line of the working area;

acquiring the moving time and the moving speed of the mobile equipment moving for a week;

Further, the obtaining module is specifically configured to,

Further, the self-moving device is an intelligent mower.

The self-moving equipment of the embodiment of the invention comprises: the mobile equipment comprises a shell, a mobile module and a working module, wherein the mobile equipment moves and works in a working area defined by a boundary line, and the length of the boundary line in the working area of the mobile equipment is obtained; determining the area of the working area according to the length of the boundary line of the working area; according to the area of the working area, the working plan for processing the working area by the self-moving equipment is determined, so that the mowing time of the working area can be accurately evaluated, the situations of under-mowing and over-mowing are avoided, the mowing efficiency is improved, and the service life of the self-moving equipment is ensured.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flowchart of a method for determining a work plan of a mobile device according to an embodiment of the present invention;

FIG. 2 is a schematic view of the boundary lines of the work area;

fig. 3 is a schematic structural diagram of a self-moving device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of another self-moving device according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The following describes a self-moving device work plan determination method and a self-moving device according to an embodiment of the present invention with reference to the drawings.

Fig. 1 is a flowchart illustrating a method for determining a work plan of a mobile device according to an embodiment of the present invention. The self-moving device moves and works within a working area defined by the boundary line. As shown in fig. 1, the method for determining the work plan of the self-moving device includes the following steps:

and S101, obtaining the length of a boundary line in the working area of the mobile equipment.

The execution subject of the self-moving equipment work plan determining method provided by the invention is self-moving equipment or software installed in the self-moving equipment. The self-moving device can be, for example, an intelligent mower, a cleaning robot, and the like. In this embodiment, a self-moving device is taken as an example of an intelligent mower for explanation.

In this embodiment, in the first implementation scenario, the process of the intelligent lawnmower executing step 101 may specifically be to control the self-moving device to move for one circle along the boundary line of the work area, calculate the moving distance of the self-moving device, and determine the length of the boundary line of the work area where the self-moving device is located according to the moving distance of the self-moving device.

In a second implementation scenario, a plurality of markers indicating the boundary lines are disposed on the boundary lines of the working area. Such as a magnetic stripe, a color ribbon, a two-dimensional code, a magnetic nail, a radio frequency identification tag RFID, etc. Correspondingly, the process of the intelligent mower executing thestep 101 may specifically be detecting a plurality of marks on a boundary line of the working area; controlling the self-moving equipment to move according to the plurality of marks to realize moving for a circle along the boundary line of the working area; obtaining the moving time and the moving speed of the mobile equipment moving for one week; and determining the length of the boundary line of the working area according to the moving time and the moving speed. The working area may be, for example, the entire lawn or a partial area of the lawn. In addition, the boundary line includes a line through which a current is passed to generate a magnetic field, which is detected from the mobile device to operate within the operating region.

Specifically, as shown in fig. 2, a schematic view of the boundary line of the working area is shown. In fig. 2, the boundary line of the lawn may be composed of a boundary line c, a boundary line b, a boundary line a, and a boundary line d. The starting position of the intelligent mower can be a charging station, for example, the intelligent mower can return to the charging station to supplement energy when the electric quantity is low, after the intelligent mower starts, surrounding marks can be detected, whether the marks marking the boundary line exist or not is judged, if the marks exist, the position where the marks are located is moved to, then the detection is continued, the next mark marking the boundary line is obtained, and the movement is carried out until the marks return to the position where the charging station is located along the boundary line.

Specifically, the intelligent mower comprises an edge cutting mode, when the intelligent mower starts the edge cutting mode, the intelligent mower starts from the charging station and moves along the boundary line to work, when the intelligent mower returns to the charging station again, the walking distance is detected, and the circumference of the boundary line is determined.

In a third implementation scenario, the boundary of the working area may be a virtual boundary, and is defined by using the position information of each point. Correspondingly, the process of the intelligent mower executing thestep 101 may specifically be to acquire position information of each point on a boundary line of a working area; and determining the length of the boundary line of the working area according to the position information of each point.

In a fourth implementation scenario, the intelligentmower executing step 101 may specifically be controlling a self-moving device, that is, the intelligent mower moves according to a leading action of a person, so as to walk around a boundary line of a working area; acquiring the moving time and the moving speed of the self-moving equipment walking for one circle; and determining the length of the boundary line of the working area according to the moving time and the moving speed. Wherein the person may be to lead the smart lawn mower by the boundary of the work area.

In this embodiment, the moving speed may be an average moving speed of the lawn mower during one cycle of walking.

And S102, determining the area of the working area according to the length of the boundary line of the working area.

In this embodiment, in order to avoid under-cutting the working area, the maximum area under the length of the boundary line may be obtained. Correspondingly, the process of the intelligent mower executing thestep 102 may specifically be to calculate the maximum area of the working area according to the length of the boundary line; and determining the maximum area of the working area as the area of the working area.

Wherein, the area of the circle is the largest under the same boundary line length. Therefore, the process of determining the maximum area under the length of the boundary line by the intelligent mower can be specifically that the length of the boundary line is determined as the circumference of a circle, and the area of the circle is determined according to the circumference of the circle; the area of the circle is determined as the maximum area of the working area under the length of the boundary line. The area of the circle is determined as the area of the working area such that the area of the current working area is slightly over-estimated and the currently set working time is sufficient for the intelligent lawn mower to traverse the working area. In addition, when the length of the borderline is determined, the area of the circle does not differ too much from the area of the square, rectangle, etc., thereby ensuring that the situation of mowing over is not too severe and the working area is not over-treated.

S103, determining a work plan of the self-moving equipment for processing the work area according to the area of the work area, and controlling the self-moving equipment to execute work according to the work plan.

In this embodiment, the method for determining the work schedule may be to determine the work duration of the mobile device in one work cycle according to the area of the work area. For example, if the duty cycle of the self-moving device is set to one week, then how long the self-moving device needs to work within one week is determined by the work plan. For example, three hours of work are required in a week because three hours can warrant processing a work area from the mobile device.

In this embodiment, the process of the intelligent lawnmower executing step 103 may specifically be to obtain a mowing speed of the intelligent lawn mower, where the mowing speed is a mowing area in unit time; according to the area of the working area and the mowing speed, the mowing time of the intelligent mower for mowing the working area can be determined, and further the mowing time of the intelligent mower which needs to mow for one working cycle is determined.

According to the method for determining the working plan of the self-moving equipment, the length of the boundary line of the working area is obtained; determining the area of the working area according to the length of the boundary line of the working area; according to the area of the working area, the working plan of the self-moving equipment for processing the working area is determined, and the self-moving equipment is controlled to execute work according to the working plan, so that the mowing time of the working area can be accurately evaluated, the situations of under-mowing and over-mowing are avoided, the mowing efficiency is improved, and the service life of the self-moving equipment is ensured.

Fig. 3 is a schematic structural diagram of a self-moving device according to an embodiment of the present invention. The self-moving device includes: the device comprises a shell, a mobile module and a working module. As shown in fig. 3, the self-moving apparatus further includes: anacquisition module 31, afirst determination module 32 and asecond determination module 33.

The acquiringmodule 31 is configured to acquire a boundary line length from a working area of the mobile device;

a first determiningmodule 32, configured to determine an area of the working area according to a length of a boundary line of the working area;

and a second determiningmodule 33, configured to determine, according to the area of the working area, a working plan for processing the working area from the mobile device.

The self-moving equipment provided by the invention can be, for example, an intelligent mower, a cleaning robot and the like. In this embodiment, a self-moving device is taken as an example of an intelligent lawn mower.

In a second implementation scenario, a plurality of markers indicating the boundary lines are arranged on the boundary lines of the working area. Such as a magnetic stripe, a color ribbon, a two-dimensional code, a magnetic nail, a radio frequency identification tag RFID, etc. Correspondingly, the obtainingmodule 31 may be specifically configured to detect multiple marks on a boundary line of the working area; controlling the self-moving equipment to move according to the marks, and realizing moving for a circle along the boundary line of the working area; obtaining the moving time and the moving speed of the mobile equipment moving for one week; and determining the length of the boundary line of the working area according to the moving time and the moving speed. The working area may be, for example, the entire lawn, or a partial area of the lawn. In addition, the boundary line includes a line through which a current is passed to generate a magnetic field, which is detected from the mobile device to operate within the operating region.

In a third implementation scenario, the boundary of the working area may be a virtual boundary, and is defined by using the position information of each point. Correspondingly, the obtainingmodule 31 may be specifically configured to obtain position information of each point on the boundary line of the working area; and determining the length of the boundary line of the working area according to the position information of each point.

In a fourth implementation scenario, the obtainingmodule 31 may be specifically configured to control a self-moving device, that is, the intelligent lawn mower to move according to a leading action of a person, so as to walk around a boundary line of a working area; acquiring the moving time and the moving speed of the self-moving equipment walking for one circle; and determining the length of the boundary line of the working area according to the moving time and the moving speed. Wherein the person may be to lead the smart lawn mower according to the boundary of the work area.

In this embodiment, the walking speed may be an average walking speed of the mower in the process of walking for one week.

In this embodiment, in order to avoid under-mowing the working area, the maximum area under the perimeter of the boundary may be obtained. Correspondingly, the first determiningmodule 32 may be specifically configured to calculate the maximum area of the working area according to the length of the boundary line; and determining the maximum area of the working area as the area of the working area.

Wherein, the area of the circle is the largest due to the same boundary perimeter. Therefore, the process of determining the maximum area under the perimeter of the boundary by the first determiningmodule 32 may specifically be that the length of the boundary line is determined as the perimeter of a circle, and the area of the circle is determined according to the perimeter of the circle; the area of the circle is determined as the maximum area of the working area under the length of the boundary line.

In this embodiment, the method for determining the work schedule may be to determine the work duration of the mobile device in one work cycle according to the area of the work area. For example, if the duty cycle of the self-moving device is set to one week, how long the self-moving device needs to work within one week is determined by the work plan. For example, three hours of work are required in a week because three hours can warrant processing a work area from the mobile device.

In this embodiment, the second determiningmodule 33 may be specifically configured to obtain a mowing speed of the intelligent mower, where the mowing speed is a mowing area in unit time; according to the area of the working area and the mowing speed, the mowing time of the intelligent mower for mowing the working area can be determined, and further the mowing time of the intelligent mower which needs to mow in one day is determined.

The self-moving equipment of the embodiment of the invention comprises: the mobile equipment comprises a shell, a mobile module and a working module, wherein the mobile equipment moves and works in a working area defined by a boundary line, and the length of the boundary line from the working area of the mobile equipment is obtained; determining the area of the working area according to the length of the boundary line of the working area; according to the area of the working area, the working plan for processing the working area by the self-moving equipment is determined, so that the mowing time of the working area can be accurately evaluated, the situations of under-mowing and over-mowing are avoided, the mowing efficiency is improved, and the service life of the self-moving equipment is ensured.

Fig. 4 is a schematic structural diagram of another self-moving device according to an embodiment of the present invention. The self-moving device includes:

memory 1001,processor 1002, and computer programs stored onmemory 1001 and executable onprocessor 1002.

Theprocessor 1002, when executing the program, implements the self-mobile device work plan determination method provided in the above-described embodiment.

Further, the self-moving device further comprises:

acommunication interface 1003 for communicating between thememory 1001 and theprocessor 1002.

Amemory 1001 for storing computer programs that may be run on theprocessor 1002.

Memory 1001 may include high-speed RAM memory and may also include non-volatile memory (e.g., at least one disk memory).

Theprocessor 1002 is configured to implement the method for determining the work schedule of the self-moving device according to the foregoing embodiment when executing the program.

If thememory 1001, theprocessor 1002, and thecommunication interface 1003 are implemented independently, thecommunication interface 1003, thememory 1001, and theprocessor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 4, but this does not indicate only one bus or one type of bus.

Optionally, in a specific implementation, if thememory 1001, theprocessor 1002 and thecommunication interface 1003 are integrated on one chip, thememory 1001, theprocessor 1002 and thecommunication interface 1003 may complete communication therebetween through an internal interface.

Theprocessor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.

The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the self-moving device work plan determining method as described above.

The present invention also provides a computer program product, which when executed by an instruction processor in the computer program product, implements the method for determining an operating plan of a self-moving device as described above.

In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A method for determining an operation plan of a self-moving device which moves and operates within an operation area defined by a boundary line, comprising:

determining a working plan of the self-moving equipment for processing the working area according to the area of the working area, and controlling the self-moving equipment to execute work according to the working plan; wherein,

the determining the area of the working area according to the length of the boundary line of the working area comprises:

determining the maximum area of the working area as the area of the working area;

the calculating the maximum area of the working area according to the length of the boundary line comprises the following steps:

2. The method of claim 1, wherein the obtaining the boundary line length from the mobile device operating area comprises:

3. The method of claim 1, wherein a plurality of markers indicating the boundary lines are disposed on the boundary lines of the working area;

detecting a plurality of marks on a boundary line of the working area;

4. The method of claim 1, wherein the obtaining of the boundary line length from the working area of the mobile device comprises:

5. The method of claim 1, wherein the obtaining of the boundary line length from the working area of the mobile device comprises:

6. The method of claim 1, wherein the work plan is determined by,

7. An autonomous mobile device comprising: the self-moving equipment moves and works in a working area limited by a boundary line, and is characterized by comprising a shell, a moving module and a working module, wherein the self-moving equipment comprises:

the second determining module is used for determining a working plan for processing the working area by the self-moving equipment according to the area of the working area; wherein,

the first determining means is specifically configured to,

determining the length of the boundary line as the circumference of a circle, and determining the area of the circle according to the circumference of the circle;

8. The self-moving device of claim 7, wherein the obtaining module is specifically configured to,

9. The self-moving device according to claim 7, wherein a plurality of marks for marking boundary lines are arranged on the boundary lines of the working area;

the obtaining module is specifically configured to obtain,

detecting a plurality of marks on a boundary line of the working area;

10. The self-moving device according to claim 7, wherein the obtaining module is specifically configured to,

11. The self-moving device of claim 7, wherein the obtaining module is specifically configured to,

12. The self-moving apparatus according to claim 7, wherein the work plan is determined by,

13. The self-propelled device of any of claims 7-12, wherein the self-propelled device is a smart lawn mower.