Autonomous work machine brake control method, autonomous work machine, and storage medium

Abstract

The embodiment of the application provides a kind of autonomous work equipment brake control method and autonomous work equipment, it is related to autonomous work equipment technical field.The autonomous work equipment brake control method includes: detecting that autonomous work equipment is triggered brake;Judge the event type of triggering autonomous work equipment brake, if event type is first event type, control autonomous work equipment executes first brake strategy;If event type is second event type, control autonomous work equipment executes second brake strategy;Two different brake strategies exert different brake force to autonomous work equipment.The application controls autonomous work equipment to execute different brake strategies by the event type of triggering autonomous work equipment brake and the size relationship between the walking speed of autonomous device and preset speed threshold, can keep low speed when braking control is carried out to avoid instant forward inclination, so that keep shorter moving distance between triggering brake and complete stop.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of autonomous work equipment, in particular to a braking control method of autonomous work equipment, autonomous work equipment and a storage medium. BACKGROUND

[0002] There are various autonomous work equipment in the market, such as robots for mowing, robots for sweeping and robots for mopping, etc. Taking the mowing robot as an example, if direct braking is used in the case of stationary braking, the mowing robot will be instantly tilted forward due to the influence of motion inertia, which will bring great safety hazards to the operation of the mowing robot. If direct braking is used when the mowing robot enters the return state for stationary braking for wireless charging, the mowing robot will be instantly tilted forward and then rebounded due to the impact force, which will reduce the efficiency of wireless charging.

[0003] How to avoid the instant forward tilt of the autonomous work equipment during braking control and ensure a small gap between the wireless receiving end and the wireless charging transmitting end to obtain greater wireless charging efficiency during wireless charging after considering the above factors is a core technical problem of autonomous work equipment in braking control. Based on the above technical problems, the applicant proposes the technical scheme of the present application. SUMMARY

[0004] The purpose of the present application is to provide a braking control method of autonomous work equipment and autonomous work equipment. By triggering two different event types of autonomous work equipment braking, the autonomous work equipment executes the first braking strategy or the second braking strategy. Different braking strategies exert different braking forces on the autonomous work equipment. When the autonomous work equipment is in the return state, the autonomous work equipment executes the first braking strategy. Further, by judging the size relationship between the walking speed of the autonomous equipment and the preset speed threshold, the autonomous work equipment executes the first braking strategy or the second braking strategy. This can avoid the instant forward tilt during braking control, maintain a short moving distance between triggering braking and complete stopping, and ensure a small gap between the wireless receiving end and the wireless charging transmitting end to obtain greater wireless charging efficiency during wireless charging in the return state.

[0005] To achieve the above object, the application provides a braking control method of autonomous work equipment, comprising: detecting that the autonomous work equipment is triggered to brake; judging whether an event type triggering the autonomous work equipment to brake is a first event type or a second event type; if the event type triggering the autonomous work equipment to brake is the first event type, controlling the autonomous work equipment to execute a first braking strategy; if the event type triggering the autonomous work equipment to brake is the second event type, controlling the autonomous work equipment to execute a second braking strategy; the first braking strategy and the second braking strategy exert different braking forces on the autonomous work equipment.

[0006] In one embodiment, the method further comprises: if it is detected that the autonomous work equipment is triggered to brake when the autonomous work equipment is in a returning state, cutting off a running power source of the autonomous work equipment and controlling the autonomous work equipment to execute the first braking strategy; if it is detected that the autonomous work equipment is triggered to brake when the autonomous work equipment is not in the returning state, cutting off the running power source of the autonomous work equipment and entering the step of judging whether the event type triggering the autonomous work equipment to brake is the first event type or the second event type.

[0007] In one embodiment, after detecting that the autonomous work equipment enters the returning state, the method further comprises: detecting whether a distance between the autonomous work equipment and a docking station is less than a preset distance threshold; when it is detected that the distance between the autonomous work equipment and the docking station is less than the preset distance threshold, entering the step of controlling the autonomous work equipment to execute the first braking strategy.

[0008] In one embodiment, before judging that the event type triggering the autonomous work equipment to brake is the second event type and controlling the autonomous work equipment to execute the second braking strategy, or when the autonomous work equipment is in the returning state, the method further comprises: acquiring a walking speed of the autonomous work equipment and judging whether the walking speed is less than a preset speed threshold; if the walking speed is less than the preset speed threshold, entering the step of controlling the autonomous work equipment to execute the first braking strategy; if the walking speed is greater than or equal to the preset speed threshold, entering the step of controlling the autonomous work equipment to execute the second braking strategy.

[0009] In one embodiment, when it is judged that the walking speed is greater than or equal to the preset speed threshold, timing is started, and whether the walking speed is less than the preset speed threshold is detected in a process in which the timing does not reach a preset time length; if it is detected that the walking speed is less than the preset speed threshold in the process in which the timing does not reach the preset time length, the step of controlling the autonomous work equipment to execute the first braking strategy is entered; if the walking speed is greater than or equal to the preset speed threshold when the timing reaches the preset time length, the step of controlling the autonomous work equipment to execute the first braking strategy is entered.

[0010] In an embodiment, the preset speed threshold is less than 0.06 m / s.

[0011] In an embodiment, the preset speed threshold is greater than 0.03 m / s and less than 0.05 m / s.

[0012] In an embodiment, during the timing process, the autonomous work equipment is controlled to execute a second braking strategy.

[0013] In an embodiment, under the first braking strategy, the autonomous work equipment is applied with a braking force to make the autonomous work equipment generate a first deceleration, under the second braking strategy, the autonomous work equipment is applied with a braking force to make the autonomous work equipment generate a second deceleration, and an absolute value of the first deceleration is greater than an absolute value of the second deceleration.

[0014] In an embodiment, the braking mode adopted by the first braking strategy and the second braking strategy includes one or a combination of active electronic braking, active mechanical braking, passive electronic braking, and passive friction braking.

[0015] In an embodiment, the braking mode of the first braking strategy is active electronic braking, and the braking mode adopted by the second braking strategy is passive friction braking.

[0016] In an embodiment, the absolute value of the first deceleration is greater than or equal to 1.7 m / s 2 .

[0017] In an embodiment, the absolute value of the first deceleration is greater than or equal to 3 m / s 2 .

[0018] In an embodiment, the first event type includes a safety-related event, and the second event type includes a non-safety-related event.

[0019] In an embodiment, the safety-related event includes at least one of a collision event and a lifting event.

[0020] The present application also provides an autonomous work equipment braking control device for executing the autonomous work equipment control method provided by the present application.

[0021] The present application also provides a computer readable storage medium storing a computer program, the computer program being executable by a processor to implement the steps of the above method.

[0022] The present application also provides an autonomous work equipment comprising a control module, the control module comprising a processor and the above computer readable storage medium. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a specific flowchart of the autonomous work machine brake control method according to the first embodiment of the present application;

[0024] Figure 2 is a specific flowchart of the autonomous work machine brake control method according to the second embodiment of the present application. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in detail with reference to the drawings, wherein the same or similar components are designated by the same reference numerals, and repetitive description on the same or similar components will be omitted. As the embodiments shown in the drawings are not intended to limit the scope of the present application, they are intended to illustrate the essential spirit of the present application.

[0026] In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of various disclosed embodiments. It will be apparent, however, to one skilled in the art that embodiments can be practiced without one or more of these specific details. In other instances, well-known structures and devices are not shown or described in order to avoid unnecessarily obscuring the description of embodiments.

[0027] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an overly literal sense unless expressly so defined herein.

[0028] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0029] As used in this specification and the appended claims, the singular forms "a," "an" and "the" include plural referents unless the content clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and / or", unless the content clearly dictates otherwise.

[0030] In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, and tools are omitted so as not to obscure the description of the present application with unnecessary detail.

[0031] The first embodiment of the present invention relates to a braking control method for autonomous operating equipment, which is applied to autonomous application equipment. Autonomous operating equipment is a robot that can move autonomously within a preset area and perform specific tasks, such as a smart sweeper / vacuum cleaner that performs cleaning tasks, or a smart lawnmower that performs mowing tasks.

[0032] like Figure 1 The diagram shown is a detailed flowchart of the autonomous operating equipment braking control method in this embodiment.

[0033] Step 101: When the autonomous operating equipment is detected to be braked, the power source for the autonomous operating equipment is cut off.

[0034] Step 102: Determine whether the event type that triggers the braking of the autonomous operating equipment is a first event type or a second event type.

[0035] The first event type includes security-related events, and the second event type includes non-security-related events.

[0036] Specifically, the safety-related events include at least one of collision events and lift events. The autonomous operating equipment has sensing devices capable of detecting safety-related events such as collision events and lift events. For example, in a smart lawnmower, a built-in collision event sensor can detect displacement changes in the floating outer shell of the smart lawnmower to trigger a collision event, while the descent-type casters can sense and trigger a lift event. Braking caused by the second event type includes braking triggered when the autonomous operating equipment reaches a boundary, braking triggered by manual user stopping, braking triggered by the autonomous operating equipment turning, and braking triggered by other events not involving safety.

[0037] In step 102, if the event type triggering the braking of the autonomous operating equipment is a first event type, proceed to step 103 and control the autonomous operating equipment to execute a first braking strategy; if the event type triggering the braking of the autonomous operating equipment is a second event type, obtain the walking speed of the autonomous operating equipment and determine whether the walking speed is less than a preset speed threshold; if the walking speed is less than the preset speed threshold, proceed to step 103 and control the autonomous operating equipment to execute the first braking strategy; if the walking speed is greater than or equal to the preset speed threshold, proceed to step 105 and control the autonomous operating equipment to execute a second braking strategy.

[0038] The first braking strategy and the second braking strategy apply different braking forces to the autonomous operating equipment. The first braking strategy includes forced braking, and the second braking strategy includes smooth braking. Hereinafter, forced braking will be used to represent the first braking strategy, and smooth braking will be used to represent the second braking strategy, for illustrative purposes.

[0039] Specifically, the preset speed threshold is obtained through multiple test experiments. In the embodiment, the preset speed threshold is less than or equal to 0.06 m / s, and in some examples, the preset speed threshold is maintained between 0.03 m / s and 0.05 m / s, to ensure that the autonomous work equipment is forced to brake at a very slow walking speed, thereby avoiding tilting forward. If the walking speed is greater than or equal to the preset speed threshold, the autonomous work equipment still maintains a fast walking speed, and the autonomous work equipment is controlled to perform smooth braking until the walking speed reaches a very slow speed, i.e., the walking speed is less than the preset speed threshold, and forced braking is performed. The smooth braking can also be referred to as weak braking. In the embodiment, the motor speed of the autonomous work equipment is detected, and the transmission ratio of the reduction gearbox is combined to detect the walking speed. Detecting the walking speed is a conventional prior art known to those skilled in the art, and will not be described here.

[0040] The first braking strategy causes the autonomous work equipment to generate a first deceleration, and the second braking strategy causes the autonomous work equipment to generate a second deceleration. The absolute value of the first deceleration is greater than the absolute value of the second deceleration. In the present embodiment, the absolute value of the first deceleration is greater than or equal to 1.7 m / s 2 In some examples, the absolute value of the first deceleration is greater than or equal to 3 m / s 2In specific implementations, the braking modes adopted by the first braking strategy and the second braking strategy include at least one of active braking and passive braking. Those skilled in the art can select and adjust according to the specific characteristics of the autonomous work equipment for selecting which braking mode. Among them, the active braking includes active electronic braking and active mechanical braking, and the passive braking includes passive electronic braking and passive friction braking. Specifically, the active electronic braking is to actively apply a braking force to the motor according to the type of the motor and the actual situation, and the size of the braking force can be adjusted through the control circuit. The active mechanical braking is to set an operable mechanical braking mechanism on the autonomous work equipment, typically like a brake pad that can operably press the motor output shaft or the walking wheel, and the size of the braking force is adjusted by controlling the pressing force of the mechanical braking mechanism. The passive electronic braking mainly includes the braking force generated by motor regenerative braking. The passive friction braking mainly includes the braking force generated by the friction resistance of the structure of the autonomous work equipment, typically the friction of the transmission mechanism, such as the friction resistance of the gear set in the reduction box, the friction resistance between the walking wheel and the bottom surface, etc. In some examples, the first braking strategy and the second braking strategy mainly adopt active electronic braking. In actual use, the reverse connection braking control circuit can refer to the route in the existing patent document JP6510474B2 for implementation. In some examples, the first braking strategy mainly adopts active electronic braking, and the second braking strategy mainly adopts passive friction braking. In some embodiments, the first braking strategy mainly adopts active electronic braking, and the second braking strategy mainly adopts active mechanical braking. In these embodiments, the first braking strategy and the second braking strategy mainly adopt active mechanical braking, and the size of the braking force is adjusted by controlling the pressure of the mechanical braking mechanism on the motor shaft or the walking wheel. In some examples, the first braking strategy mainly adopts active mechanical braking, and the second braking strategy mainly adopts passive friction braking.

[0041] In this embodiment, the autonomous work equipment will generate a certain movement distance after being triggered to brake, and the movement distance is kept within a distance of 200 mm. In some examples, the movement distance is not greater than 80 mm, and in other examples, the movement distance is not greater than 25 mm.

[0042] The second embodiment of the present application relates to a kind of autonomous work equipment brake control method, and the difference between the second embodiment and the first embodiment is that in the first embodiment, whether the first brake strategy or the second brake strategy is triggered to be executed is determined mainly by detecting walking speed, and in the second embodiment, whether the first brake strategy or the second brake strategy is triggered to be executed is determined by detecting timing duration, which is embodied in that before the autonomous work equipment triggers the second brake strategy to be executed, timing is started, whether the timing duration reaches preset duration is detected, and whether walking speed is less than preset speed threshold is detected.When the timing duration does not reach preset duration, and the walking speed of the autonomous work equipment is less than preset speed threshold, the first brake strategy is triggered to be executed to the autonomous work equipment.When the timing duration reaches preset duration, the second brake strategy is triggered to be executed to the autonomous work equipment.

[0043] As shown in Figure 2 It is the specific flow chart of the autonomous work equipment brake control method of the second embodiment.

[0044] The embodiment between entering step 101 to step 104 is consistent with the step in the autonomous work equipment brake control method in the first embodiment, and the repetitive description is not repeated here.Before the implementation of step 104, the following steps are included before entering step 105 in the second embodiment:

[0045] Step 106, when determining that the walking speed is greater than or equal to preset speed threshold, timing is started, and whether the walking speed is less than preset speed threshold is detected in the process that timing does not reach preset duration.

[0046] Step 107, whether the timing duration reaches preset duration is judged, if the timing duration reaches preset duration, enter step 109;If the timing duration does not reach preset duration, enter step 108.

[0047] Step 108, the walking speed of the autonomous work equipment is detected to be less than preset speed threshold, if the walking speed is less than preset speed threshold, enter step 103;If the walking speed is greater than or equal to preset speed threshold, enter step 107 again, continue timing.

[0048] Step 109, whether the walking speed of the autonomous work equipment is greater than or equal to preset speed threshold is detected, if the walking speed is greater than or equal to preset speed threshold, enter step 103, if the walking speed is less than preset speed threshold, enter step 105.

[0049] Specifically, the preset speed threshold is the same as the preset speed threshold in the first embodiment, and the preset speed threshold is less than or equal to 0.06 m / s, and in some examples, the preset speed threshold is maintained at 0.03 m / s to 0.05 m / s. The preset time length is 400 ms, and the walking speed of the autonomous work equipment is still detected during the preset time length, and if the walking speed is less than the preset speed threshold, the autonomous work equipment is controlled to execute the first braking strategy, and if the walking speed is not less than the preset speed threshold, the timing continues. When the timing reaches the preset time length, if the walking speed is not less than the preset speed threshold, the autonomous work equipment is controlled to execute the second braking strategy, and if the walking speed is greater than or equal to the preset speed threshold, the autonomous work equipment is controlled to execute the first braking strategy. The braking mode of executing the first braking strategy and executing the second braking strategy in the embodiment is the same as that in the first embodiment, and will not be repeated here.

[0050] The third embodiment of the present application relates to a braking control method of an autonomous work equipment, and the difference between the third embodiment and the first embodiment and the second embodiment is that when the autonomous work equipment is in the regression state, if it is detected that the autonomous work equipment is triggered to brake, the running power source of the autonomous work equipment is cut off, and the autonomous work equipment is controlled to execute the first braking strategy. When the autonomous work equipment is not in the regression state, the braking control method of the autonomous work equipment is the same as that in the first embodiment and the second embodiment, and if it is detected that the autonomous work equipment is triggered to brake, the running power source of the autonomous work equipment is cut off, and the step of judging whether the event type triggering the braking of the autonomous work equipment is the first event type or the second event type is entered.

[0051] If the autonomous work equipment is in the regression state and it is detected that the autonomous work equipment is triggered to brake, the autonomous work equipment is controlled to execute the first braking strategy. When it is determined that the autonomous work equipment is in the regression state, it further includes detecting whether the distance between the autonomous work equipment and the docking station is less than a preset distance threshold; and when it is detected that the distance between the autonomous work equipment and the docking station is less than the preset distance threshold, the autonomous work equipment is controlled to execute the first braking strategy.

[0052] Specifically, some autonomous work devices usually use a reduction gearbox to reduce the motor speed after the host controls the brake, and then wait for a period of time before brake braking when handling brake control. Although this processing method avoids the problem of instant forward inclination, it brings other problems, especially reduces the charging efficiency of the machine for wireless charging. When the motor speed is reduced by the reduction gearbox and waits for a period of time, the mower robot is in a state of no brake control during the 150 ms waiting period, and still walks a distance at a slightly faster speed due to inertia. When the wireless receiver end collides with the wireless charging transmitting end, the mower robot will be pushed away by the pressure of the wireless charging transmitting plate and bounce back a distance, so that the gap between the wireless receiver end and the wireless charging transmitting end becomes larger, reducing the efficiency of wireless charging. Therefore, it is necessary to control the brake to make the mower robot maintain the gap between the wireless receiver end built-in the robot and the wireless charging transmitting end installed on the charging station to be the smallest when the mower robot is charging wirelessly, so as to obtain greater wireless charging efficiency. When the autonomous work device is in the returning state, in order to ensure that the wireless charging receiver end in the autonomous work device is closest to the wireless charging reflecting plate placed in the parking station, so that the charging efficiency is the largest when wireless charging, it is necessary to make the gap between the wireless charging receiver end and the wireless charging reflecting plate as small as possible. Generally, the wireless charging efficiency is inversely proportional to the square of the gap. In the embodiment, the returning state of the autonomous work device refers to that when the preset state is met, the autonomous work device stops working and walks towards the parking station, wherein the preset state includes that the autonomous work device is insufficient in power, completes the work plan, reaches the stop working time, etc. In some examples, when the autonomous work device enters the returning state, the first brake strategy is executed when a collision event is triggered. In some examples, when the autonomous work device enters the returning state, the driving speed is kept at not more than a preset speed threshold. In some examples, the autonomous work device can sense whether it has approached the parking station, and when the robot is in the returning process, the autonomous work device is controlled to execute the first brake strategy by detecting that the distance between the autonomous work device and the parking station is within a preset distance threshold.

[0053] The fourth embodiment of the present application relates to an autonomous work device, which is a robot that can autonomously move in a preset area and perform a specific work, such as an intelligent sweeper / dust collector for performing cleaning work, or an intelligent mower for performing mowing work, etc. The autonomous work device is used to perform the autonomous work device brake control method in the first embodiment, the second embodiment or the third embodiment.

[0054] In the embodiment, the autonomous work device at least includes a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, etc.

[0055] The main body mechanism generally comprises a chassis and a housing. The chassis is used to mount and accommodate the mobile mechanism, the working mechanism, the energy module, the detection module, the interaction module, the control module and other functional mechanisms and functional modules. The housing is generally configured to at least partially cover the chassis, mainly to enhance the appearance and recognition of the autonomous working device. In the embodiment, the housing is configured to be translatable and / or rotatable relative to the chassis under the action of an external force, and in cooperation with a suitable detection module, such as a Hall sensor, it can further function to sense events such as collision and lifting.

[0056] The mobile mechanism is configured to support the main body mechanism on the ground and drive the main body mechanism to move on the ground, and generally includes a wheeled mobile mechanism, a tracked or semi-tracked mobile mechanism, and a walking mobile mechanism, etc. In the embodiment, the mobile mechanism is a wheeled mobile mechanism, which includes at least one drive wheel and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments it can also be an internal combustion engine or a mechanical device powered by other types of energy. In the embodiment, a left drive wheel, a left walking prime mover driving the left drive wheel, a right drive wheel, and a right walking prime mover driving the right drive wheel are preferably provided. In the embodiment, the linear travel of the autonomous working device is achieved by the same speed rotation of the left and right drive wheels in the same direction, and the turning travel is achieved by the same direction differential speed or opposite rotation of the left and right drive wheels. In other embodiments, the mobile mechanism can also include a steering mechanism independent of the drive wheels and a steering prime mover independent of the walking prime mover. In the embodiment, the mobile mechanism also includes at least one driven wheel, which is typically configured as a universal wheel. The drive wheel and the driven wheel are respectively located at the front and rear ends of the autonomous working device.

[0057] The working mechanism is configured to perform specific work tasks, including a workpiece and a work prime mover driving the workpiece to operate. For example, for an intelligent sweeper / dust collector, the workpiece includes a roller brush, a dust suction pipe, and a dust collection chamber, etc.; for an intelligent mower, the workpiece includes a cutting blade or a cutting disc, and further includes a height adjustment mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect. The work prime mover is preferably an electric motor, and in other embodiments it can also be an internal combustion engine or a mechanical device powered by other types of energy. In some other embodiments, the work prime mover and the walking prime mover are configured as the same prime mover.

[0058] The energy module is configured to provide energy for the various works of the autonomous working device. In the embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed to the outside of the autonomous working device.

[0059] The detection module is configured as at least one sensor for sensing the environmental parameters of the autonomous work device or its own working parameters. Typically, the detection module can include sensors related to the definition of the working area 4, such as magnetic induction type, collision type, ultrasonic type, infrared type, radio type, etc., and the sensor type is adapted to the position and number of the corresponding signal generating devices. The detection module can also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, geomagnetic sensors, etc. The detection module can also include sensors related to the safety of its own work, such as obstacle sensors, lifting sensors, battery pack temperature sensors, etc. The detection module can also include sensors related to the external environment, such as environmental temperature sensors, environmental humidity sensors, acceleration sensors, light sensors, etc.

[0060] The interaction module is configured at least for receiving user input control instruction information, issuing information that needs to be perceived by the user, communicating with other systems or devices to transmit and receive information, etc. In the present embodiment, the interaction module includes input devices provided on the autonomous work device for receiving user input control instruction information, typically such as control panels, emergency stop buttons, etc.; the interaction module also includes display screens and / or buzzers provided on the autonomous work device to make the user perceive information through light and / or sound. In other embodiments, the interaction module also includes communication modules provided on the autonomous work device and terminal devices independent of the autonomous work device, such as mobile phones, computers, network servers, etc., and the user's control instruction information or other information can be input on the terminal device and transmitted to the autonomous work device via wired or wireless communication modules.

[0061] The control module typically includes at least one processor and at least one non-volatile memory having a pre-written computer program or instruction set stored therein, and the processor controls the execution of the movement, work, etc. of the autonomous work device according to the computer program or instruction set. Further, the control module can also control and adjust the corresponding behavior of the autonomous work device, modify the data in the memory, etc. according to the signals of the detection module and / or user control instructions.

[0062] The boundary is used to limit the working area of the autonomous work device, and the boundary can be physical, typically such as walls, fences, railings, etc.; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generating device, which is usually an electromagnetic signal emitted by a closed energized conductor, or a light signal, an ultrasonic signal, etc. emitted by other devices, or for autonomous work devices provided with positioning devices (such as GPS, etc.), a virtual boundary set in an electronic map formed by two-dimensional or three-dimensional coordinates. The docking station is typically configured on or near the boundary for the autonomous work device to dock, and in particular to supply energy to the autonomous work device docked in the docking station.

[0063] The preferred embodiments of the application have been described above with the understanding that if desired aspects of the embodiments can be modified to employ aspects, features and concepts of various patents, applications and publications to provide additional embodiments.

[0064] These and other changes can be made to the embodiments in light of the above Detailed Description. In general, in the appended claims, the terms used should not be construed to limit to the specific embodiments disclosed in the Specification and the claims, but should be construed to include all embodiments falling within the scope of the claims along with the full equivalent thereof.

Claims

1. A braking control method for autonomous operating equipment, characterized in that, include: When the autonomous operating equipment is not in the return state, if it is detected that the autonomous operating equipment is triggered to brake, it is determined that the event type that triggered the braking of the autonomous operating equipment is either the first event type or the second event type. If the event type that triggers the braking of the autonomous operating equipment is a first event type, the autonomous operating equipment is controlled to execute a first braking strategy; if the event type that triggers the braking of the autonomous operating equipment is a second event type, the autonomous operating equipment is controlled to execute a second braking strategy. When the autonomous operating equipment is in the return state, if it is detected that the autonomous operating equipment has been triggered to brake, the autonomous operating equipment is controlled to execute the first braking strategy. The first braking strategy and the second braking strategy apply different braking forces to the autonomous operating equipment.

2. The braking control method for autonomous operating equipment according to claim 1, characterized in that, The method further includes: after detecting that the autonomous operating device has entered a return state, it further includes: Detect whether the distance between the autonomous operating equipment and the docking station is less than a preset distance threshold; When the distance between the autonomous operating equipment and the docking station is detected to be less than a preset distance threshold, the autonomous operating equipment is controlled to execute the first braking strategy.

3. The braking control method for autonomous operating equipment according to claim 1, characterized in that, Before determining that the event type of the autonomous operating equipment braking is the second event type and controlling the autonomous operating equipment to execute the second braking strategy, or when the autonomous operating equipment is in a return state, the method further includes: The walking speed of the autonomous operating device is obtained, and it is determined whether the walking speed is less than a preset speed threshold. If the walking speed is less than a preset speed threshold, proceed to the step of controlling the autonomous operating equipment to execute the first braking strategy; If the walking speed is greater than or equal to a preset speed threshold, proceed to the step of controlling the autonomous operating equipment to execute a second braking strategy.

4. The braking control method for autonomous operating equipment according to claim 3, characterized in that, When the walking speed is determined to be greater than or equal to a preset speed threshold, timing begins, and during the process before the preset time is reached, it is detected whether the walking speed is less than the preset speed threshold. If the walking speed is detected to be less than a preset speed threshold during the timed period before the preset duration is reached, the step of controlling the autonomous operating equipment to execute the first braking strategy is initiated. If the walking speed is greater than or equal to a preset speed threshold when the timer reaches a preset duration, the process proceeds to the step of controlling the autonomous operating equipment to execute the first braking strategy.

5. The braking control method for autonomous operating equipment according to claim 3, characterized in that, The preset speed threshold is less than 0.06 m / s.

6. The braking control method for autonomous operating equipment according to claim 3, characterized in that, The preset speed threshold is greater than 0.03 m / s and less than 0.05 m / s.

7. The braking control method for autonomous operating equipment according to claim 4, characterized in that, During the timing process, the autonomous operating equipment is controlled to execute a second braking strategy.

8. The braking control method for autonomous operating equipment according to claim 1, characterized in that, Under the first braking strategy, the autonomous operating equipment is subjected to braking force, causing the autonomous operating equipment to produce a first deceleration. Under the second braking strategy, the autonomous operating equipment is subjected to braking force, causing the autonomous operating equipment to produce a second deceleration. The absolute value of the first deceleration is greater than the absolute value of the second deceleration.

9. The braking control method for autonomous operating equipment according to claim 1, characterized in that, The braking methods employed by the first braking strategy and the second braking strategy include one or a combination of active electronic braking, passive electronic braking, active mechanical braking, and passive friction braking.

10. The braking control method for autonomous operating equipment according to claim 1, characterized in that, The first braking strategy uses active electronic braking, while the second braking strategy uses passive friction braking.

11. The braking control method for autonomous operating equipment according to claim 8, characterized in that, The absolute value of the first deceleration is greater than or equal to 1.7 m / s². 2 .

12. The braking control method for autonomous operating equipment according to claim 8, characterized in that, The absolute value of the first deceleration is greater than or equal to 3 m / s². 2 .

13. The braking control method for autonomous operating equipment according to claim 1, characterized in that, The first event type includes security-related events, and the second event type includes non-security-related events.

14. The braking control method for autonomous operating equipment according to claim 13, characterized in that, The safety-related events include at least one of a collision event and a lift event.

15. An autonomous operating device, characterized in that, The method for braking control of autonomous operating equipment as described in any one of claims 1 to 14.

16. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it can implement the steps of the method according to any one of claims 1 to 14.

17. An autonomous operating device, comprising a control module, the control module including a processor and the computer-readable storage medium of claim 16.

Images