CN115309167A - Autonomous mobile device, control method thereof, and computer-readable storage medium - Google Patents

Abstract

The present invention provides an autonomous mobile device, a control method thereof, and a computer-readable storage medium. The method includes: acquiring the positioning accuracy collected by the autonomous mobile device periodically or in real time; when the autonomous mobile device is at a first position, the positioning accuracy is low At a preset threshold, control the autonomous mobile device to randomly walk from the first position; when the positioning accuracy of the autonomous mobile device is higher than or equal to the preset threshold, control the autonomous mobile device to move to the second position, and continue to walk along the originally planned working path and perform the work task from the second position, the first position and the second position are separated by a preset distance, and the first position is located in the originally planned work path. working path. The invention improves the working efficiency of the autonomous mobile device.

Description

Autonomous mobile device, method of controlling same, and computer-readable storage medium

technical field

The present invention relates to the technical field of autonomous mobile equipment, in particular to an autonomous mobile equipment, a control method thereof, and a computer-readable storage medium.

Background technique

The autonomous mobile device refers to a movable device, for example, the autonomous mobile device is a lawn mower, a sweeper, and the like.

The autonomous mobile device is provided with a positioning module, and the autonomous mobile device completes the set work task depending on the location positioned by the positioning module. However, the positioning module is limited by uncertain factors such as fences, high walls, tree crowns, clouds, etc., which reduces the positioning accuracy of the positioning module, that is, the autonomous mobile device is in an area with poor positioning quality, resulting in the autonomous mobile device. The location completes the set work tasks.

In an exemplary technology, when the autonomous mobile device is located at an initial position with low positioning accuracy, the autonomous mobile device walks to a position with high positioning quality, and returns to the initial position again to continue performing work tasks. However, the positioning accuracy of the autonomous mobile device at the initial position is low, which makes the autonomous mobile device walk to a position with high positioning quality, causing the autonomous mobile device to fall into a cycle of walking from a position with low positioning accuracy to a position with high positioning accuracy, causing the autonomous mobile device The work efficiency is low.

Contents of the invention

The invention provides an autonomous mobile device, its control method and a computer-readable storage medium to solve the problem of low working efficiency of the autonomous mobile device.

In one aspect, the present invention provides a method for controlling an autonomous mobile device, comprising:

Obtain the positioning accuracy collected by autonomous mobile devices at regular intervals or in real time;

When the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold, control the autonomous mobile device to start random walking from the first position;

When the positioning accuracy of the autonomous mobile device is higher than or equal to the preset threshold, control the autonomous mobile device to move to a second position, and continue to walk along the originally planned working path from the second position and execute the The above working task, the first position is separated from the second position by a preset distance, and the first position is located on the originally planned working path.

In an embodiment, before the controlling the autonomous mobile device to move to the second location, further includes:

The second location is determined based on the first location.

In an embodiment, the originally planned working path includes a first walking path and a second walking path, and determining the second location according to the first location includes:

determining a first walking path where the first position is located;

A second walking path adjacent to the first walking path is determined, and the second position is determined on the second walking path.

In an embodiment, the originally planned working path includes a first walking path, and determining the second location according to the first location includes:

determining a first walking path where the first position is located;

The second position is determined on the first travel path.

In one embodiment, it also includes:

When the positioning accuracy of the autonomous mobile device is higher than or equal to the preset threshold and the autonomous mobile device is in a second position, controlling the autonomous mobile device to re-plan a path starting from the second position;

The autonomous mobile device is controlled to walk according to the replanned path.

In an embodiment, after controlling the autonomous mobile device to start random walking from the first position, it further includes:

Obtain the number of times the autonomous mobile device changes the walking direction during the random walking process;

When the number of times reaches a preset number of times, output prompt information and/or control the autonomous mobile device to walk to a preset position, the prompt information is used to instruct manual processing on the autonomous mobile device.

In an embodiment, after controlling the autonomous mobile device to start random walking from the first position, it further includes:

Obtaining a duration during which the positioning accuracy of the autonomous mobile device is lower than the preset threshold;

When the duration reaches a preset duration, output prompt information and/or control the autonomous mobile device to walk to a preset position, the prompt information is used to instruct manual processing on the autonomous mobile device.

In one embodiment, before the step of obtaining the positioning information collected by the autonomous mobile device in a regular or real-time manner, it further includes:

Planning the work path of autonomous mobile devices;

The autonomous mobile device is controlled to walk along the work path and perform work tasks of the autonomous mobile device.

In an embodiment, when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold, the autonomous mobile device is controlled to return to the charging pile.

In one embodiment, when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold, the autonomous mobile device is controlled to stop traveling on the spot and return to the charging pile after a preset time .

On the other hand, the present application also provides an autonomous mobile device, including:

The acquiring module is used for timing or real-time acquisition of the positioning accuracy collected by the autonomous mobile device;

A control module, configured to control the autonomous mobile device to start random walking from the first position when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold;

A determining module, configured to control the autonomous mobile device to move to a second position when the positioning accuracy of the autonomous mobile device is higher than or equal to the preset threshold, and continue to work along the original plan from the second position The path is walked and the working task is executed, the first position is separated from the second position by a preset distance, and the first position is located on the originally planned working path.

The autonomous mobile device and its control method and computer-readable storage medium provided by the present invention acquire the positioning accuracy of the autonomous mobile device at regular intervals or in real time, and when the positioning accuracy of the autonomous mobile device is lower than a preset threshold when the autonomous mobile device is in the first position, autonomous movement is controlled The device walks randomly, and when the positioning accuracy is higher than or equal to the preset threshold, the autonomous mobile device is controlled to walk to the second position and continue to perform work tasks. In the present invention, after the autonomous mobile device walks from a position with low positioning accuracy to a position with high positioning accuracy, it then walks to a second position that is different from the first position by a preset distance to perform work tasks, so as to prevent the autonomous mobile device from directly returning to positioning The low-precision first position, that is, prevents the autonomous mobile device from falling into a cycle of walking from a position with low positioning accuracy to a position with high positioning accuracy, thereby improving the working efficiency of the autonomous mobile device.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

FIG. 1 is a schematic flowchart of a first embodiment of a method for controlling an autonomous mobile device according to the present invention;

Fig. 2 is a working schematic diagram of the autonomous mobile device of the present invention;

FIG. 3 is a schematic flowchart of a second embodiment of the method for controlling an autonomous mobile device according to the present invention;

FIG. 4 is a schematic flowchart of a third embodiment of the method for controlling an autonomous mobile device according to the present invention;

5 is a schematic flowchart of a fourth embodiment of a method for controlling an autonomous mobile device according to the present invention;

FIG. 6 is a schematic flowchart of a fifth embodiment of the method for controlling an autonomous mobile device according to the present invention;

FIG. 7 is a schematic flowchart of a sixth embodiment of the method for controlling an autonomous mobile device according to the present invention;

FIG. 8 is a schematic flowchart of a seventh embodiment of a method for controlling an autonomous mobile device according to the present invention;

Fig. 9 is a schematic diagram of the functional modules of the autonomous mobile device of the present invention;

Fig. 10 is a schematic diagram of the hardware structure of the autonomous mobile device of the present invention.

By means of the above-mentioned drawings, certain embodiments of the present disclosure have been shown and will be described in more detail hereinafter. These drawings and written description are not intended to limit the scope of the disclosed concept in any way, but to illustrate the disclosed concept for those skilled in the art by referring to specific embodiments.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

The technical solution of the present invention and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.

With reference to Fig. 1, Fig. 1 is the first embodiment of the control method of autonomous mobile equipment of the present invention, and the control method of autonomous mobile equipment comprises the following steps:

Step S101, acquiring the positioning accuracy collected by the autonomous mobile device regularly or in real time.

In this embodiment, the autonomous mobile device may be a sweeper or a lawn mower. For ease of description, the device is used below to refer to an autonomous mobile device.

The device is provided with a positioning module, such as a GPS (Global Positioning System, Global Positioning System) module or an RTK (Real-Time Kinematic, real-time dynamic) module. The RTK module performs positioning by processing the carrier phase observations of two measuring stations in real time.

When the device performs work tasks, the area where the device is located is affected by clouds, high walls, tree crowns, human bodies, etc., which will cause the positioning accuracy of the positioning module to decrease, thus making the position determined by the device inaccurate. In this regard, when the device performs work tasks, it will obtain the positioning information of the autonomous mobile device in real time or regularly, and then determine the positioning accuracy based on the positioning information, that is, the device obtains the positioning accuracy of the autonomous mobile device in real time or regularly. In an example, the device determines the positioning accuracy based on the number of common satellite observation frequency bands of the sampling points.

Step S102, when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold, control the autonomous mobile device to start random walking from the first position.

After the device obtains the positioning accuracy, it compares the positioning accuracy with the preset threshold. If the positioning accuracy is lower than the preset threshold, it can be determined that the positioning quality of the device at the current position is poor, and the current position is defined as the first position. Further, it may be determined whether the positioning accuracy is lower than a preset threshold according to a comparison between the number of public satellite observation frequency bands and the preset number. For example, if the number of public satellite observation frequency bands is greater than the preset number, the positioning accuracy is higher than the preset threshold; if the number of public satellite observation frequency bands is less than the preset number, the positioning accuracy is lower than the preset threshold.

The device is currently performing work tasks according to the originally planned working path. The positioning accuracy of the device at the first position is lower than the preset threshold, and the device enters the random walking mode, that is, the device starts to walk randomly from the first position.

Furthermore, the device will continue to perform work tasks during random walking. For example, the device is a lawn mower, and the lawn mower mows grass according to the planned working path. If the positioning accuracy at the first position is lower than the preset threshold, Then random mowing is performed. In this embodiment, the autonomous mobile device will continue to perform work tasks while walking from a position with low positioning accuracy to a position with high positioning accuracy, which increases the completion progress of the work tasks and further improves the work efficiency of the autonomous mobile device.

It should be noted that there are two ways for the device to perform work tasks, one is the edge working mode, and the other is the central working mode. The working mode along the edge means that the equipment performs work tasks along the boundary of the working area, for example, a lawn mower cuts grass along the boundary. The central working mode means that the equipment plans the working path in the working area and executes the working tasks according to the working path. For example, the working path is a bow-shaped path, and when the lawn mower runs the central working mode, it mows according to the bow-shaped path. Since the working mode along the edge is to perform work tasks along the boundary, if the device detects that the positioning accuracy is lower than the preset threshold, the device will walk randomly and will go out of the boundary and enter the non-working area, which will cause damage to dynamic obstacles such as people or animals. Therefore, when the device detects that the positioning accuracy is lower than the preset accuracy, if the device operates in the edge-to-edge mode, the device will not perform random walks. If the device detects that the positioning accuracy is lower than the preset accuracy and the device operates in the central working mode, it can control the device to walk randomly from the first position and perform work tasks.

Step S103, when the positioning accuracy of the autonomous mobile device is higher than or equal to the preset threshold, control the autonomous mobile device to move to the second position, and continue to walk along the originally planned working path from the second position and perform work tasks, the first position The second position is separated from the second position by a preset distance, and the first position is located on the originally planned working path.

The device obtains the positioning accuracy in real time or at regular intervals. During the random walking process of the device, if the obtained positioning accuracy is higher than or equal to the preset threshold, the control device moves to the second position, and then the second position continues to walk along the originally planned working path and perform the work task, that is, The control equipment continues to perform work tasks as originally planned.

It should be noted that the second position is separated from the first position by a preset distance, so that when the device detects that the positioning accuracy is higher than or equal to the preset threshold, it will not return to the first position with low positioning accuracy. Since the device executes the work task according to the originally planned working path before random walking, the first position is located on the originally planned working path. In addition, the second location is a location where the equipment does not pass, that is, the equipment does not perform work tasks at the second location. For example, if the device is a lawn mower, the second location is where the lawn mower is mowing grass. Referring to Figure 2, the device executes the work task according to the originally planned work path. The positioning accuracy of the device at the first position is lower than the preset threshold, and the device starts to walk randomly and perform the work task. After the threshold is set, walk to the second location, and based on the second location, walk along the originally planned working path and execute the working task.

In this embodiment, the positioning accuracy of the autonomous mobile device is obtained regularly or in real time. When the positioning accuracy of the autonomous mobile device is lower than the preset threshold when the autonomous mobile device is in the first position, the autonomous mobile device is controlled to walk randomly, and when the positioning accuracy is higher than or When equal to the preset threshold, the autonomous mobile device is controlled to walk to the second position and continue to perform work tasks. In the present invention, after the autonomous mobile device walks from a position with low positioning accuracy to a position with high positioning accuracy, it then walks to a second position that is different from the first position by a preset distance to perform work tasks, so as to prevent the autonomous mobile device from directly returning to positioning The low-precision first position, that is, prevents the autonomous mobile device from falling into a cycle of walking from a position with low positioning accuracy to a position with high positioning accuracy, thereby improving the working efficiency of the autonomous mobile device.

In an embodiment, the device acquires the first sensing information and the second sensing information of the autonomous mobile device at regular intervals or in real time, and when the positioning accuracy according to the first sensing information of the autonomous mobile device is lower than a preset threshold, according to the first sensing information The second sensing information controls the autonomous mobile device to walk until the positioning accuracy of the first sensing information of the autonomous mobile device is higher than a preset threshold.

Based on the above embodiments, it can be seen that when the positioning accuracy of the first sensing information is lower than the preset threshold, the device controls itself to start random walking at the first position based on the second sensing information; when the positioning accuracy of the first sensing information is high If it is lower than the preset threshold, switch to the first sensing information control device to return to the second position to continue walking along the originally planned working path and perform working tasks.

The working principle of the first sensing device for acquiring the first sensing information of the device is different from that of the second sensing device for acquiring the second sensing information. The types of data collected by the first sensing device and the second sensing device are different. The feedback of the two kinds of data to environmental information is different.

In one embodiment, the first sensory information includes at least one of positioning information, image information, ultrasound information, or mileage accumulation information, and may also be fusion information of multiple types of information.

The second sensing information includes at least another one of positioning information, image information, ultrasonic information, or mileage accumulation information, or fusion information of multiple types of information, and the first sensing information is different from the second sensing information.

The equipment includes a first sensing device and a second sensing device. The first sensing device includes a positioning module, such as a GPS (Global Positioning System, Global Positioning System) module or RTK (Real-Time Kinematic, real-time dynamic) module. The RTK module performs positioning by processing the carrier phase observations of two measuring stations in real time. In addition, the second sensing device includes an image acquisition module or an ultrasound module. The image acquisition module can be a camera or a visual sensor, and the ultrasound module can be an ultrasound module or a radar. The positioning information collected by the positioning module is defined as the first sensing information, and the image information collected by the image acquisition module or the ultrasonic information collected by the ultrasonic module is defined as the second sensing information; autonomous mobile devices can realize obstacle recognition through image information or ultrasonic information , boundary recognition or path planning and other functions. The device collects the first sensing information and the second sensing information regularly or in real time.

In one embodiment, the first sensing device includes an RTK positioning module and an IMU (Inertial Measurement Unit, inertial measurement unit) module, and the first sensing information is fusion information of RTK information and IMU information. The first sensing device may also include other data acquisition modules capable of positioning, and the first sensing information may also be fused with other types of positioning data.

In this embodiment, the device focuses on the positioning of the first sensing device, and uses the second sensing device to assist random walking and avoid obstacles when it is unstable. And when the first sensing device is stable, the first sensing device is used for positioning.

Referring to FIG. 3, FIG. 3 is a schematic flow chart of the second embodiment of the control method of the autonomous mobile device according to the present invention. Based on the first embodiment, step S103 includes:

Step S301, when the positioning accuracy of the autonomous mobile device is higher than or equal to a preset threshold, determine a second position according to the first position.

Step S302, controlling the autonomous mobile device to move to the second location, and continue to walk along the originally planned working path from the second location and execute the working task.

In this embodiment, after the device detects that the positioning accuracy is higher than or equal to the preset threshold during random walking, it determines the second position based on the first position, and then controls the autonomous mobile device to move to the second position, and from the second position Continue to walk along the originally planned work path and perform work tasks.

In one example, the distance between the first location and the second location is a preset distance, and the device can make a circle on the initial map with the first location as the center and the preset distance as the radius, and the device determines the circle and the working path each point of intersection. Since the second position is a position not passed by the device, the device determines an intersection point not passed by the device among each intersection point as the second position.

In another example, the device may determine the location information of the second location by using the location information of the first location. The position information of the first position may be the coordinates of the first position in the initial map. The device decomposes the preset distance into the abscissa value and the ordinate value in the coordinate system in the initial map, and then combines the abscissa value of the first position with the The abscissa value of the preset distance is added, and the ordinate value of the first position is added to the ordinate value of the preset distance to obtain the abscissa value and the ordinate value of the second position, and the position information of the second position Also the coordinates of the second location in the original map. Or, subtracting the abscissa value of the first position from the abscissa value of the preset distance, and subtracting the ordinate value of the first position from the ordinate value of the preset distance, the abscissa value of the second position can also be obtained value and ordinate value. The initial map is a map of the work area corresponding to the work task created by the device.

In this embodiment, the device detects that the positioning accuracy is higher than the preset threshold during the random walk, then accurately determines the second position based on the first position, and then controls the device to continue to perform work tasks from the second position, thereby preventing the device from going back to the second position. Going to the first position causes the device to walk randomly again, which improves the working efficiency of the device.

Referring to FIG. 4, FIG. 4 is the third embodiment of the control method of the autonomous mobile device of the present invention. Based on the second embodiment, step S301 includes:

Step S401, determining the first walking route where the first location is located.

In this embodiment, the equipment executes work tasks according to the central working mode, and in the central working mode, the equipment walks along a bow-shaped route. And the bow-shaped route includes multiple walking paths. Referring to FIG. 2, each arrow of the working path corresponds to a walking path.

Step S402, determining a second walking path adjacent to the first walking path, and determining a second position on the second walking path.

The first location and the second location may be located on different walking paths. The device first determines the walking path where the first location is located, and the walking path is defined as the first walking path. The device then determines a second walking path adjacent to the first walking path, and any position on the second walking path is determined as the second position.

It should be noted that two adjacent walking paths refer to intersecting paths, or two paths with the shortest distance. For example, the working path is a bow-shaped line, including walking path a, walking path b, walking path c, walking path d, etc., walking path a and walking path b are connected, and the angle between walking path a and walking path b is 90°; walking path b is connected to walking path c, and the angle between walking path b and walking path c is 90°; walking path c is connected to walking path d, and the angle between walking path c and walking path d The angle is 90°; if the first position is located on the walking path b, then the walking path adjacent to the walking path a can be the intersecting walking path b, or the walking path c parallel to the walking path a, that is, the second position can Located on walking path b or walking path c.

In addition, the second walking path is a path that the device has not traveled, so the device needs to obtain the walking path adjacent to the first walking path as the second walking path, and minimize the area of the area that is not processed by the device, that is, maximize the effective workload. For example, if the device is a lawnmower, if the second walking path is connected end to end with the first walking path, then the maximum value of the unmowed path of the lawnmower is the first walking path + the second walking path; if the first walking path and The third walking path is connected end to end, and the third walking path is connected end to end with the second walking path, then the maximum value of the unmowed path of the lawnmower is the first walking path + the third walking path + the third walking path. In this regard, in order to increase the mowing area, the mower selects a second position on a travel path adjacent to the first travel path.

In addition, when the device is performing a work task, the progress of the work task will be updated as the device moves. When the device is in the first position, the device pauses to update the progress of the work task, and when the device is in the second position, it updates the progress of the work task based on the positional relationship between the second walking path and the first walking path, so that the device Work tasks can be performed from the second location.

In this embodiment, the device determines the first walking path where the first position is located, and then determines the second walking path adjacent to the first walking path, thereby determining the second position on the second walking path, which improves the effective operation of the device. workload.

Referring to Fig. 5, Fig. 5 is the fourth embodiment of the control method of the autonomous mobile device of the present invention, based on any one of the first to third embodiments, step S103 includes:

Step S501 , when the positioning accuracy of the autonomous mobile device is higher than or equal to a preset threshold and the autonomous mobile device is at a second position, control the autonomous mobile device to re-plan a route starting from the second position.

Step S502, controlling the autonomous mobile device to walk according to the replanned path.

In this embodiment, the device regularly calculates the positioning accuracy during random walking. If the positioning accuracy is higher than or equal to the preset threshold and the device has returned to the second location, the device will re-plan the path starting from the second location. The device then walks along the path of the re-session.

The re-planned path will cover the area where the device has already walked and the area that has not traveled during the random walking process of the device. The device has not performed work in the area that has been walked. By re-planning the path, it is possible to check for omissions and fill in gaps, preventing the device from leaving the non-working area , Improve the effective workload of the equipment. Ability to complete work in all areas.

In one embodiment, the working path includes a first walking path. After determining the first walking path where the first location is located, the device determines the second location on the first walking path.

In an example, the first walking path includes a path that the device has walked and a path that has not been walked. The first location is the junction between the traveled path and the untraveled path. If the distance between the first location and the second location is a preset distance, then a location that is a preset distance away from the first location is determined on the untraveled path as the second location. The default distance is greater than zero.

In this embodiment, by determining the second position on the walking path where the first position is located, the device can be returned to a position close to the first position to continue performing work tasks, reducing the missing work area of the device and improving the working efficiency of the device. coverage.

Referring to Fig. 6, Fig. 6 is the fifth embodiment of the control method of the autonomous mobile device of the present invention, based on any one of the first to fourth embodiments, after step S102, further includes:

Step S601, acquiring the number of times the autonomous mobile device changes the walking direction during the random walking process.

In this embodiment, during the random walking process, the device will randomly change the walking direction and perform work tasks. The trigger condition for randomly changing the walking direction may be that the device detects that the positioning accuracy is lower than the preset threshold, that is, when the device detects that the positioning accuracy is lower than the preset threshold at intervals, the device randomly changes the walking direction. Every time the walking direction is changed, the device will update the number of times of changing the walking direction, that is, add 1 to the number of times to obtain the updated number of times.

Step S602, when the number of times reaches the preset number of times, output prompt information and/or control the autonomous mobile device to walk to a preset position, and the prompt information is used to instruct manual processing on the autonomous mobile device.

When the number of times reaches the preset number of times, it can be determined that the device has been in an area where the positioning signal is unstable, and the device cannot go out of the area, and manual intervention is required. In this regard, the device outputs a prompt message and stops walking. The prompt information is used to indicate that the device needs to be handled manually, that is, the device is manually moved out of the area where the positioning signal is unstable.

In addition, when the number of times reaches the preset number of times, the device can also be controlled to walk to the preset position. The preset position is a position in a stable signal area, so that the device can get out of the unstable signal area. The preset location can also be the location of the charging pile or the base station, so as to avoid power failure caused by the device being in an unstable signal area.

In this embodiment, when the number of times reaches the preset number of times, a prompt message is output and/or the device is controlled to walk to a preset position, so as to prevent the device from being unable to complete the work task due to the device being in an unstable signal area.

Referring to Fig. 7, Fig. 7 is the sixth embodiment of the control method of the autonomous mobile device of the present invention, based on any one of the first to fifth embodiments, after step S102, further includes:

Step S701 , acquiring the duration of time during which the positioning accuracy of the autonomous mobile device is lower than a preset threshold.

Step S702, when the duration reaches the preset duration, output prompt information and/or control the autonomous mobile device to walk to a preset position, and the prompt information is used to instruct manual processing on the autonomous mobile device.

In this embodiment, after the positioning accuracy of the device is lower than the preset threshold when the device is in the first position, the device acquires a duration for which the positioning accuracy of the device is lower than the preset threshold.

When the duration reaches the preset duration, it can be determined that the device has been in an unstable signal area, that is, the device has been performing work tasks in a state of random walking, and the work tasks of the device cannot be completed. For this, the device outputs prompt information and/or controls the device to walk to a preset position. The preset duration can be any composite number. For the prompt information and the preset position, please refer to the above description, and details will not be repeated here.

In this embodiment, when the positioning accuracy of the device continues to be lower than the preset threshold and reaches the preset duration, a prompt message is output and/or the device is controlled to walk to the preset position, so as to avoid the device being in an unstable signal area and causing the device to fail to complete. work tasks.

Referring to FIG. 8, FIG. 8 is a schematic flow chart of the seventh embodiment of the control method of the autonomous mobile device according to the present invention. Based on any one of the first to sixth embodiments, before step S101, it also includes:

Step S801, planning the working route of the autonomous mobile device.

In this embodiment, before the device executes the work task, it needs to plan the work path based on the work area of the work task.

Specifically, a work map of a work area corresponding to a work task is stored in the device. The device first determines the working mode in which the working task is executed. When the working mode is the central working mode, the working path is planned within the virtual boundary in the working map, and the working path may be a bow-shaped path. The virtual boundary is fitted by each position collected when the equipment walks along the physical boundary of the working area. The entity boundary is the entity boundary of the work area, for example, if the work area is a lawn, then the entity boundary is the road surrounding the lawn. When the working mode is the working mode along the edge, the working path is a virtual boundary. It can be understood that the working path includes a boundary path and an intermediate path, the intermediate path is, for example, a bow-shaped path, and the boundary path is, for example, a path formed by a virtual boundary.

The work map is established by the equipment before planning the work path. The device receives external instructions, and based on the external instructions, the device is controlled to walk around the boundary of the entity, and collects multiple position information during the walking process. The device then constructs an initial map based on each location information. The position information may be the coordinates of the collected positions, that is, the coordinates of each position may be fitted into a virtual boundary, and an initial map may be constructed. After building the initial map, it needs to be tested. At this time, the device receives the test instruction, and walks along the virtual boundary based on the test instruction to test the initial map. After the test is successful, the initial map can be used as a working map.

Step S802, controlling the autonomous mobile device to walk along the working path and execute the working tasks of the autonomous mobile device.

After the device determines the working path, it walks along the working path and executes the working tasks of supporting the mobile device. For example, the work task is to mow grass, and the equipment mows along the work path.

In this embodiment, the device plans the working path, and then controls the device to walk along the working path and perform the working task, so as to prevent the device from executing the working task out of order, and increase the effective workload of the device.

In an embodiment, when the positioning accuracy of the device at the first position is lower than a preset threshold, the device is controlled to return to the charging pile.

In an example, the location of the charging pile is an area where the positioning signal is stable. The device returns to the charging pile from the first position, so that the device can be positioned at a position with high positioning accuracy, so that the device can continue to perform work tasks.

Further, when the positioning accuracy of the device at the first position is lower than the preset threshold, the device is controlled to stop traveling, and return to the charging pile after a preset time. The device reports an error by stopping the journey, and after reporting an error for a period of time, it will automatically return to the charging pile. The time when the error is reported is the preset time, and the preset time can be any suitable time.

In this embodiment, when the positioning accuracy of the device at the first position is lower than the preset threshold, the device returns to the charging pile, and the positioning accuracy of the device at the location of the charging pile is high, so that the device can travel to a location with high positioning accuracy. location, so that the equipment can continue to perform work tasks and improve the work efficiency of the equipment.

The present invention also provides an autonomous mobile device. Referring to FIG. 9, the autonomous mobile device 900 includes:

An acquisition module 910, configured to acquire the positioning accuracy collected by the autonomous mobile device in a regular or real-time manner;

A control module 920, configured to control the autonomous mobile device to start random walking from the first position when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold;

The control module 920 is configured to control the autonomous mobile device to move to a second position when the positioning accuracy of the autonomous mobile device is higher than or equal to a preset threshold, and continue to walk along the originally planned working path and perform work tasks from the second position, The first position is separated from the second position by a preset distance, and the first position is located on the originally planned working path.

In one embodiment, autonomous mobile device 900 includes:

A determination module, configured to determine the second position according to the first position.

In one embodiment, autonomous mobile device 900 includes:

A determining module, configured to determine the first walking path where the first position is located;

A determining module, configured to determine a second walking path adjacent to the first walking path, and determine a second position on the second walking path.

In one embodiment, autonomous mobile device 900 includes:

A determining module, configured to determine the first walking path where the first position is located;

A determining module, configured to determine the second position on the first walking path.

In one embodiment, autonomous mobile device 900 includes:

A control module 920, configured to control the autonomous mobile device to re-plan a path starting from the second position when the positioning accuracy of the autonomous mobile device is higher than or equal to a preset threshold and the autonomous mobile device is in the second position;

The control module 920 is configured to control the autonomous mobile device to walk according to the replanned path.

In one embodiment, autonomous mobile device 900 includes:

The obtaining module 910 is used to obtain the number of times that the autonomous mobile device changes the walking direction during the random walking process;

The output module is configured to output prompt information and/or control the autonomous mobile device to walk to a preset position when the number of times reaches a preset number of times, and the prompt information is used to instruct manual processing of the autonomous mobile device.

In one embodiment, autonomous mobile device 900 includes:

An acquisition module 910, configured to acquire a duration during which the positioning accuracy of the autonomous mobile device is lower than a preset threshold;

The output module is configured to output prompt information and/or control the autonomous mobile device to walk to a preset position when the duration reaches a preset duration, and the prompt information is used to instruct manual processing of the autonomous mobile device.

In one embodiment, autonomous mobile device 900 includes:

a planning module for planning the working path of the autonomous mobile device;

The control module is used to control the autonomous mobile device to walk along the working path and execute the working tasks of the autonomous mobile device.

In one embodiment, autonomous mobile device 900 includes:

The control module 920 is configured to control the autonomous mobile device to return to the charging pile when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold.

In one embodiment, autonomous mobile device 900 includes:

The control module 920 is configured to control the autonomous mobile device to stop traveling on the spot and return to the charging pile after a preset time when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold.

Fig. 10 is a schematic diagram of a hardware structure of an autonomous mobile device according to an exemplary embodiment.

The autonomous mobile device 1000 may include: a processor 1001 , such as a CPU, a memory 1002 , and a transceiver 1003 . Those skilled in the art can understand that the structure shown in FIG. 10 does not constitute a limitation on the autonomous mobile device, and may include more or less components than shown in the figure, or combine some components, or arrange different components. The memory 1002 can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

The processor 1001 may call the computer program stored in the memory 1002 to complete all or part of the steps in the above-mentioned method for controlling an autonomous mobile device.

The transceiver 1003 is used for receiving information sent by the external device and sending information to the external device.

A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the autonomous mobile device, the autonomous mobile device can execute the above-mentioned control method of the autonomous mobile device.

A computer program product comprising a computer program which, when executed by a processor of an autonomous mobile device, enables the autonomous mobile device to execute the above-mentioned control method of the autonomous mobile device.

Other embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The present invention is intended to cover any modification, use or adaptation of the present disclosure, and these modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure . The specification and examples are to be considered exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It should be understood that the present disclosure is not limited to the precise constructions which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (13)

1. A method for controlling an autonomous mobile device, comprising: Obtain the positioning accuracy collected by autonomous mobile devices at regular intervals or in real time; When the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold, control the autonomous mobile device to start random walking from the first position; When the positioning accuracy of the autonomous mobile device is higher than or equal to the preset threshold, control the autonomous mobile device to move to a second position, and continue to walk along the originally planned working path from the second position and execute the The above working task, the first position is separated from the second position by a preset distance, and the first position is located on the originally planned working route. 2. The method for controlling the autonomous mobile device according to claim 1, wherein before the controlling the autonomous mobile device to move to the second position, further comprising: The second location is determined based on the first location. 3. The control method for autonomous mobile equipment according to claim 2, wherein the originally planned working path comprises a first walking path and a second walking path, and the determining of the second walking path according to the first position Two positions include: determining a first walking path where the first position is located; A second walking path adjacent to the first walking path is determined, and the second position is determined on the second walking path. 4. The control method of an autonomous mobile device according to claim 2, wherein the originally planned working path comprises a first walking path, and determining the second position according to the first position comprises: determining a first walking path where the first position is located; The second position is determined on the first travel path. 5. The method for controlling an autonomous mobile device according to claim 1, further comprising: When the positioning accuracy of the autonomous mobile device is higher than or equal to the preset threshold and the autonomous mobile device is in a second position, controlling the autonomous mobile device to re-plan a path starting from the second position; The autonomous mobile device is controlled to walk according to the replanned path. 6. The control method of the autonomous mobile device according to claim 1, characterized in that, after controlling the autonomous mobile device to start random walking from the first position, further comprising: Obtain the number of times the autonomous mobile device changes the walking direction during the random walking process; When the number of times reaches a preset number of times, output prompt information and/or control the autonomous mobile device to walk to a preset position, the prompt information is used to instruct manual processing on the autonomous mobile device. 7. The control method of the autonomous mobile device according to claim 1, characterized in that, after controlling the autonomous mobile device to start random walking from the first position, further comprising: Obtaining a duration during which the positioning accuracy of the autonomous mobile device is lower than the preset threshold; When the duration reaches a preset duration, output prompt information and/or control the autonomous mobile device to walk to a preset position, the prompt information is used to instruct manual processing on the autonomous mobile device. 8. The method for controlling an autonomous mobile device according to any one of claims 1-7, characterized in that, before the step of obtaining the positioning information collected by the autonomous mobile device at regular intervals or in real time, further comprising: Planning the work path of autonomous mobile devices; The autonomous mobile device is controlled to walk along the work path and perform work tasks of the autonomous mobile device. 9. The control method of the autonomous mobile device according to any one of claims 1-7, characterized in that, when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold, control the The autonomous mobile device returns to the charging station. 10. The control method of the autonomous mobile device according to claim 9, characterized in that, when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold, the autonomous mobile device is controlled to stop on the spot Travel and return to the charging pile after a preset time. 11. An autonomous mobile device, comprising: The acquiring module is used for timing or real-time acquisition of the positioning accuracy collected by the autonomous mobile device; A control module, configured to control the autonomous mobile device to start random walking from the first position when the positioning accuracy of the autonomous mobile device at the first position is lower than a preset threshold; A determining module, configured to control the autonomous mobile device to move to a second position when the positioning accuracy of the autonomous mobile device is higher than or equal to the preset threshold, and continue to work along the original plan from the second position The path is walked and the working task is executed, the first position is separated from the second position by a preset distance, and the first position is located on the originally planned working path. 12. An autonomous mobile device, comprising: a memory and a processor; the memory stores computer-executable instructions; The processor executes the computer-executed instructions stored in the memory, so that the autonomous mobile device executes the method for controlling the autonomous mobile device according to any one of claims 1 to 10. 13. A computer-readable storage medium, characterized in that computer-executable instructions are stored in the computer-readable storage medium, and the computer-executable instructions are used to implement any one of claims 1 to 10 when executed by a processor The control method of the autonomous mobile device.

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