An automatic work device based on a hand work machine and a control method thereof

Abstract

This invention provides an automated operation device and its control method based on a manually operated machine. The device includes a manually operated machine, a sensing mechanism, a moving mechanism, and a control mechanism. The control mechanism fits an enclosed area of ​​arbitrary shape based on path information and environmental information obtained by the manually operated machine in manual mode. An automated operation path is planned within this enclosed area, and the boundary of this enclosed area is used as a safety boundary. The moving mechanism is driven to move along the automated operation path, causing the manually operated machine to perform automated operations within the safety boundary until the task is completed. This invention modifies the manually operated machine to possess sensing, movement, and decision-making capabilities, endowing it with autonomous operation capabilities while maintaining its manual operation capabilities. Simultaneously, the information collected by the manually operated machine in manual mode completes the deployment phase of the robot's autonomous operation, thereby achieving fully autonomous operation.

Description

Technical Field

[0001] This invention relates to the field of robot task planning, and in particular to an automatic task device and its control method based on a manually operated machine. Background Technology

[0002] In modern industry, a robot refers to a man-made machine that can automatically perform tasks to replace or assist humans in their work. They are generally electromechanical devices controlled by computer programs or electronic circuits. Robots perform jobs that replace or assist humans, such as in manufacturing, construction, or hazardous work. With the development of robotics technology, robots are increasingly being used in various industries and scenarios.

[0003] To adapt to various complex application scenarios and ensure safety, fully autonomous robots must invest heavily in environmental perception, intelligent algorithms, and map annotation, resulting in extremely high upfront research and development costs. Furthermore, the constant need for perception, obstacle avoidance, and fall prevention in complex environments significantly impacts the robot's operating speed. Moreover, the implementation of perception and obstacle avoidance algorithms relies heavily on hardware support, with more advanced robots demanding higher hardware specifications. Consequently, current robot technology faces various challenges, including interference, positioning loss, sensor noise, unstable recognition, and sensor blind spots, making it impossible to guarantee absolutely safe operation and resulting in operational efficiency far below expectations.

[0004] To ensure coverage and effectiveness, robots typically need to perform edge-fitting operations. Edge-fitting operations can be understood as working close to the edge of the work area; the closer to the edge, the higher the edge-fitting degree. A higher edge-fitting degree means a larger area for the robot to operate automatically, and a smaller area requiring secondary manual intervention, i.e., a lower proportion of human intervention. This is also an important indicator for evaluating the quality of robots performing both automated and manual tasks. However, getting closer to the edge also means getting closer to obstacles or danger zones, posing a greater challenge to the robot's perception and obstacle avoidance performance. This has become an industry-wide problem for autonomous robots that remains unsolved.

[0005] Automated robot operations generally require a clearly defined work area for path planning. The process of creating and editing a map, and planning the work area and operational plan, is called deployment. Deployment is crucial for automated robot operations; without a map as a guide, a robot can hardly complete automated tasks within the designated area. However, deployment is often quite complex, requiring tasks such as mapping and path setting.

[0006] In existing technologies, some solutions utilize a teach-and-playback approach for robot deployment. This method requires operators to demonstrate the entire path, allowing the robot to learn and repeat the same path, thus simplifying the deployment process. However, in large work areas, requiring operators to demonstrate the entire work path is extremely time-consuming and demands a certain level of operator skill. In some situations, a complete path demonstration by an operator is sufficient for manual task completion. Therefore, using the teach-and-playback method for deployment is inefficient, labor-intensive, and relatively complex.

[0007] In today's era of smart technology, many fields still rely on traditional, non-autonomous machines. Numerous machines are manually controlled and cannot operate autonomously due to their lack of automation capabilities. They cannot perform even the most basic tasks without human intervention. For example, handheld smart floor scrubbers in the smart home sector require manual control to clean floors; they cannot perform even the most basic cleaning tasks independently without human intervention. Summary of the Invention

[0008] In view of this, the present invention proposes an automatic operation device and its control method based on a manually operated machine, the specific scheme of which is as follows:

[0009] An automated operating device based on a manual operating machine includes:

[0010] Manual operation machine, with a preset manual mode that requires user intervention in the operation;

[0011] A moving mechanism, located on the manual operating machine, is provided to drive the manual operating machine to move without interfering with its operation.

[0012] A sensing mechanism is located on the manual working machine or the moving mechanism to record path information about the moving path and environmental information about the surrounding environment of the moving path when the manual working machine performs manual work in the manual mode.

[0013] The control mechanism is connected to the moving mechanism and the sensing mechanism respectively, so as to fit an enclosed area of ​​arbitrary shape based on the path information and environmental information of the manual operation machine in the manual mode, plan an automatic operation path in the enclosed area, and use the boundary of the enclosed area as a safety boundary.

[0014] Furthermore, the mobile mechanism is driven to move along the automatic operation path, thereby driving the manual operation machine to perform automatic operations within the safety boundary until the operation covering the enclosed area is completed.

[0015] In one specific embodiment, in the manual mode, a manual operation start point and a manual operation end point are pre-set on the surface to be worked.

[0016] After the manual operation machine reaches the manual operation starting point, the sensing mechanism is controlled to continuously record the path information and environmental information of the manual operation machine during the operation process until the manual operation endpoint is reached.

[0017] In one specific embodiment, the control mechanism deduces obstacles on the work surface based on environmental information recorded in manual mode, and combines this with the safety boundary to ensure that the planned automatic work path avoids obstacles without deviating from the safety boundary.

[0018] In one specific embodiment, the sensing mechanism includes a first sensor located in front of the manual working machine, so as to detect whether there is an obstacle in the direction of movement when the manual working machine is working automatically;

[0019] The control mechanism adjusts the movement direction and speed of the moving mechanism based on the information transmitted by the first sensor, so as to realize the automatic obstacle avoidance of the manual working machine during automatic operation, and ensure that the manual working machine is always within the safety boundary during the obstacle avoidance process.

[0020] In one specific embodiment, the sensing mechanism includes a second sensor located behind the manual working machine, so as to record the surface to be worked on in real time through images when the manual working machine is working automatically;

[0021] The control mechanism evaluates the working effect and area coverage of the manual operation machine on the working surface during automatic operation based on the information transmitted by the second sensor.

[0022] In one specific embodiment, the sensing mechanism includes a third sensor located in front of the manual operation machine to record the surface to be worked on in real time via images when the manual operation machine is working automatically.

[0023] The control mechanism evaluates whether the operation of the manual operation machine is normal by comparing the information recorded by the third sensor and the second sensor for the same area over a continuous period of time.

[0024] In one specific embodiment, an expected value is set based on the operational effect and area coverage effect that the manual operation machine can achieve in manual mode;

[0025] When the control mechanism determines that the operation effect or coverage effect of a certain area does not meet the expected value, it re-plans the automatic operation path based on the area, so that the manual operation machine can perform automatic operation on the area again according to the new automatic operation path.

[0026] In one specific embodiment, if the control mechanism determines that the operation effect or area coverage effect after the re-operation still does not meet the expected value, it stops moving the mobile mechanism and reminds the user to put the manual operation machine into the manual mode.

[0027] In one specific embodiment, the manual operating machine includes an operating mechanism, a control module, a motor module, a water outlet module, and a power module. The control module is connected to the power module, the water outlet module, and the motor module, respectively. The operating mechanism is connected to the motor module. The power module is connected to the moving mechanism and the control mechanism, respectively. The control mechanism is connected to the control module.

[0028] A control method for an automated operating device, used to control the automated operating device based on a manual operating machine as described in any one of the above claims, the control method comprising:

[0029] Build a sensing mechanism on a manually operated machine;

[0030] Identify the work surface and ensure that manual operation machines can safely operate on that surface;

[0031] Start manual mode and set the start and end points of the manual operation on the surface to be worked.

[0032] The manual operation machine is controlled to start from the manual operation starting point and perform a preset manual operation. The path information and environmental information of the manual operation machine during the operation process are continuously recorded by the sensing mechanism until the manual operation end point is reached, and the manual mode ends.

[0033] Before the automatic mode is activated, a moving mechanism is constructed on the manual operating machine, so that the manual operating machine can perform automatic operation under the control of the control mechanism by means of the moving mechanism.

[0034] The automatic mode is activated, enabling the control mechanism to fit an enclosed area of ​​arbitrary shape based on the path and environmental information recorded in the manual mode, and to plan an automatic operation path within the enclosed area, using the boundary of the enclosed area as a safety boundary.

[0035] The control mechanism controls the moving mechanism to move along the automatic operation path, so that the manual operation machine can automatically operate within the safety boundary until the operation covering the enclosed area is completed, and then the automatic mode ends.

[0036] In one specific embodiment, the sensing mechanism records the surface to be worked on in real time in the form of images before and after being worked on by the manual working machine;

[0037] After the automatic mode ends, the control mechanism evaluates the working effect and area coverage effect of the manual operation machine on the working surface during automatic operation based on the information transmitted by the sensing mechanism.

[0038] Beneficial effects:

[0039] This invention provides an automated operation device and its control method based on a manually operated machine. It proposes a novel solution for the robot deployment process, seeking a balance between manual and automated operation. Manual operation provides the foundation for automated deployment, thus improving the overall operation. By modifying the manually operated machine to possess sensing, mobility, and decision-making capabilities, it endows the machine with automated operation capabilities while maintaining manual operation functionality. Simultaneously, information collected by the manually operated machine in manual mode completes the deployment phase of the automated operation, thereby achieving automated operation. While ensuring machine efficiency, it utilizes manual operation to partially replace the deployment phase and cover most of the edge-working area, thereby reducing the complexity and cost of the deployment phase, lowering the robot's requirements for sensing and obstacle avoidance functions, and achieving seamless coordination between the two modes, fully leveraging the advantages of both manual and automated operation. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the automatic operation device in this invention;

[0041] Figure 2 This is a schematic diagram of an automatic operation device carrying three types of sensors in this invention.

[0042] Figure 3 This is a module example diagram of the manually operated machine in this invention;

[0043] Figure 4 Yes Figure 3 A schematic diagram of the improved automated operation device module;

[0044] Figure 5 This is a schematic diagram of the control method of the present invention.

[0045] Reference numerals: 1-Manual operation machine; 2-Sensing mechanism; 3-Moving mechanism; 4-Control mechanism; 21-First sensor; 22-Second sensor; 23-Third sensor; 11-Operating mechanism; 12-Control module; 13-Motor module; 14-Power supply module; 15-Water outlet module. Detailed Implementation

[0046] In the following, various embodiments of the invention will be described more fully. The invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the invention to the specific embodiments disclosed herein, but rather the invention should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments disclosed herein.

[0047] It should be noted that the manually operated machine in this application is essentially a semi-automated device, requiring human intervention to perform basic tasks, unlike fully autonomous devices and traditional manual devices. The operator acts as the brain of the manually operated machine, providing it with various instructions. Once human intervention is removed, the manually operated machine loses its direction due to the loss of its "brain" and thus becomes unable to perform its tasks. The manually operated machine is more like a tool controlled by humans, capable of performing precise operations requiring human intervention. Furthermore, the manually operated machine lacks autonomous operation capabilities, such as the most basic autonomous movement and data recognition functions. In contrast, the final automated operating device possesses fully autonomous and fully automated operation capabilities.

[0048] It should be noted that this application defines two modes: a manual mode for semi-automatic operations and an automatic mode for fully autonomous operations. Operations in manual mode are simply manual operations, and operations in automatic mode are simply automatic operations.

[0049] Manual operation is essentially semi-automatic operation. In manual mode, operators can adjust and intervene in the machine as needed to adapt to different production requirements. Manual mode can be understood as the most basic way to use a manual machine and its most fundamental operating mode—operation is achieved through manual control.

[0050] Automated operation refers to fully autonomous and fully automated operation. In automatic mode, manually operated machines can perform tasks autonomously with higher speed and precision without human control, achieving automated operation. By modifying manually operated machines to retain their manual mode, they can achieve autonomous operation through automatic mode. Furthermore, manual mode is a prerequisite for achieving automatic mode.

[0051] It should be noted that the safety boundary in this application refers to the boundary that the machine equipment cannot exceed. The safety boundary is defined based on manual operation and has been confirmed by the operator. Even if the manually operated machine needs to automatically avoid obstacles during automatic operation, it cannot exceed this safety boundary. The enclosed area is constructed based on the operation path of the manually operated machine in manual mode. Generally, the enclosed area does not include the area where the manually operated machine has already completed its work in manual mode; rather, it is defined based on the boundary of that area. Therefore, the boundary of the enclosed area (i.e., the safety boundary) already provides safety space for the manually operated machine.

[0052] Example 1

[0053] Embodiment 1 of this invention discloses an automated operation device based on a manually operated machine. By modifying the manually operated machine, it enables it to perform automated operations, and utilizes information collected during manual operation to complete the deployment phase of the automated operation. A schematic diagram of the device's modules is shown in the appendix to the specification. Figure 1 As shown. The specific solution is as follows:

[0054] An automated operating device based on a manual operating machine 1 includes:

[0055] Manual operation machine 1, with a preset manual mode that requires user intervention in the operation;

[0056] The moving mechanism 3 is located on the manual working machine 1 to drive the manual working machine 1 to move without interfering with its operation;

[0057] The sensing mechanism 2 is located on the manual working machine 1 or the moving mechanism 3 to record path information about the moving path and environmental information about the surrounding environment of the moving path when the manual working machine 1 performs manual work in manual mode.

[0058] The control mechanism 4 is connected to the moving mechanism 3 and the sensing mechanism 2 respectively. It fits an enclosed area of ​​arbitrary shape based on the path information and environmental information of the manual operation machine 1 in manual mode, plans an automatic operation path in the enclosed area, and uses the boundary of the enclosed area as a safety boundary. It also drives the moving mechanism 3 to move according to the automatic operation path, thereby driving the manual operation machine 1 to perform automatic operation within the safety boundary until the operation covering the enclosed area is completed.

[0059] This embodiment utilizes the manual work trajectory to determine the area for automated operation before the robot begins fully autonomous work, achieving a novel mapping model to complete the robot deployment. Compared to existing technologies, it eliminates the need for complex mapping, editing, and path setting processes, as well as complicated task selection, location confirmation, and task initiation, fully leveraging the advantages of human-robot collaboration. The manually defined work area, confirmed by humans, delineates safe zones, safety boundaries, and danger zones for the robot, significantly ensuring the safety of automated operation and allowing for more confident automated work. Simultaneously, it cleverly reduces the probability of the robot automatically touching edges, avoiding this industry-wide problem and challenge, enabling safer and more efficient automated operation.

[0060] In this process, both manual and automatic operations are performed on the same work surface. Therefore, before manual operation, the work surface needs to be defined, and it must be ensured that the manual operation machine 1 can operate safely on it. Unsafe factors on the work surface must be removed to reduce the probability of collisions with other objects or accidents. The work surface is an area, which can be an enclosed region of any polygon. This area involves both automatic and manual operations, but the boundaries of the automatic operations are unknown and need to be defined manually. Therefore, manual and automatic operations are coordinated.

[0061] In this embodiment, the manual operation machine 1 is the main body of the automatic operation device, but it lacks the necessary conditions for automatic operation and therefore cannot achieve fully autonomous operation. These missing conditions include autonomous movement, autonomous detection, and autonomous decision-making capabilities. Some or all of these capabilities may be missing. To preserve the basic architecture of the manual operation machine 1 and retain its fundamental manual operation capabilities, this embodiment directly adds a sensing mechanism 2, a movement mechanism 3, and a control mechanism 4 to the manual operation machine 1, enabling it to possess autonomous detection, autonomous movement, and autonomous decision-making capabilities.

[0062] In this embodiment, the moving mechanism 3 serves as the medium providing mobility for the manual operating machine 1. The structure and dimensions of the moving mechanism 3 need to be flexibly set according to the manual operating machine 1. However, the most basic capability of the moving mechanism 3 is to achieve automatic movement under the control of the control mechanism 4; therefore, it requires at least a drive device, a moving device, and a support device. Furthermore, the drive device can communicate with the control mechanism 4, enabling it to receive control from the control mechanism 4. Preferably, the moving mechanism 3 is equipped with a lifting device connecting rollers to adjust the height of the rollers, ensuring that the manual operating machine 1 can operate normally. More preferably, the moving mechanism 3 is also equipped with a stabilization device for maintaining the balance of the manual operating machine 1. This is because some manual operating machines cannot maintain basic stability without human support, thus requiring a dedicated stabilization device to ensure that the manual operating machine does not become unbalanced.

[0063] In this embodiment, the sensing mechanism 2 is a crucial medium for the control mechanism 4 to acquire execution and environmental information of the manually operated machine 1, essentially acting as its "eyes." The sensing mechanism 2 performs functions such as acquiring environmental and path information. Its type and location can be flexibly configured according to its functions. For example, in manual mode, the sensing mechanism 2 needs to acquire path and environmental information; in automatic mode, it needs to provide information related to automatic obstacle avoidance, record the operation results in image form, and ensure that the manually operated machine 1 does not encounter any danger during operation. Preferably, the sensing mechanism 2 can be equipped with various types of sensors, such as radar sensors, ultrasonic sensors, infrared ranging sensors, edge detection sensors, depth cameras, and cameras.

[0064] In this embodiment, the control mechanism 4 is the control core of the automatic operation device and can be implemented using a control unit such as an MCU or CPU. The control mechanism 4 needs to establish a communication connection with the moving mechanism 3 and the sensing mechanism 2, which can be wireless or wired communication. Therefore, the control mechanism 4 can be installed on the manual operation machine 1, or it can be not installed on the manual operation machine 1 (e.g., through a remote control device).

[0065] Before entering automatic mode, the automatic operation device in this embodiment must first enter manual mode. Manual mode involves the operator controlling the manual operation machine 1 to perform manual operations, thereby obtaining the safety boundaries for automatic operation and facilitating its deployment. Therefore, the manual operation in this embodiment has special requirements.

[0066] Specifically, in manual mode, the start point and end point of manual operation are set in advance on the surface to be worked. After the manual operation machine 1 reaches the start point, the control mechanism 4 controls the sensing mechanism 2 to continuously record the path information and environmental information of the manual operation machine 1 during the operation process until the end point is reached.

[0067] The path information refers to the movement path of the manually operated machine 1, which can be considered as a single point, recording the movement trajectory of that point. Environmental information refers to obstacles detected by the manually operated machine 1 during its movement. Obstacles around the path can be detected using ultrasonic devices, radar devices, depth cameras, or other detection modules, or images of the surrounding area can be acquired using image acquisition units such as cameras. The acquisition of environmental and path information can be achieved through a combination of various acquisition methods.

[0068] The purpose of manual operation is to define the boundaries of automatic operation, and this definition requires an operator to control the manual operation machine 1. Therefore, a start point and an end point need to be preset. Preferably, the manual operation and the manual operation end point are at the same location.

[0069] When the start and end points of manual operation are the same, the movement trajectory of the manual operation machine 1 can define a complete and closed boundary line, and the area enclosed by this boundary line can be used as the area for automatic operation of the manual operation machine 1. However, in some special scenarios, the start and end points of manual operation cannot be the same. In this case, it is impossible to enclose a complete and closed area. In such cases, an algorithm must be used to fit a line between the start and end points of manual operation, and this line, combined with the movement trajectory of the manual operation machine 1, can be used as the area for automatic operation of the manual operation machine 1.

[0070] Specifically, the control mechanism 4, based on the environmental information recorded in manual mode, deduces obstacles on the work surface to be completed. Combined with safety boundaries, this ensures the planned automated work path avoids obstacles without deviating from the safety boundaries. For example, during the movement of the manual work robot 1, real-time monitoring is achieved through radar and camera devices. The control mechanism 4 determines obstacles around the robot based on data from the radar device, and avoids these obstacles in the subsequent path planning. Computer vision or machine learning techniques are then used to analyze and identify these obstacles. In practical applications, different manual work robots 1 operate in different environments, requiring specific environmental information to be set based on the specific working environment, and then deciding which detection tools to use to detect this information. For example, if a high-temperature area exists in a certain scenario, a temperature sensor can be integrated to detect the temperature around the path, and the path planning will avoid areas with excessively high temperatures.

[0071] Meanwhile, the sensing mechanism 2 also provides data support for the automatic obstacle avoidance of the manual working machine 1 in automatic mode. Preferably, the sensing mechanism 2 includes a first sensor 21 located in front of the manual working machine 1, so as to detect whether there are obstacles in the forward direction when the manual working machine 1 is working automatically; the control mechanism 4 adjusts the movement direction and speed of the moving mechanism 3 based on the information transmitted by the first sensor 21, so as to realize the automatic obstacle avoidance of the manual working machine 1 during automatic operation, and ensure that the manual working machine 1 is always within the safety boundary during the obstacle avoidance process.

[0072] The first sensor 21 is responsible for detecting obstacles in the robot's direction of movement, and therefore needs to be positioned in front of the manual operation machine 1. The location in front needs to be defined based on the robot's direction of movement, as shown in the instruction manual. Figure 2 As shown. In short, the first sensor 21 needs to detect environmental information in front of the robot. For example, the first sensor 21 can be an ultrasonic sensor, an infrared rangefinder, etc., which measures the distance between the robot and obstacles to help the robot achieve obstacle avoidance. An infrared photoelectric sensor can also be used to detect objects of specific colors in the environment to achieve obstacle avoidance. In actual operation, the control mechanism 4 can record the type, position, and movement pattern of obstacles encountered by the robot, and use this data to continuously optimize the robot's obstacle avoidance strategy to improve the robot's performance and stability. Achieving automatic obstacle avoidance requires comprehensive consideration of factors such as sensor accuracy, reaction speed, and working distance, and the control mechanism 4 needs to be debugged and optimized to ensure that the robot can effectively avoid obstacles in various environments.

[0073] After completing an automated task, it is often necessary to evaluate the effectiveness of the work. In this embodiment, the evaluation can be performed manually or by acquiring information about the work surface through an external device, which is then identified and evaluated by the control mechanism 4. Under normal circumstances, the automated work path completed autonomously by the manual work machine 1 will completely cover the enclosed area, thus fully realizing the work within that area. However, considering scenarios such as automatic obstacle avoidance and hardware failure, some areas may not be covered, in which case it is necessary to detect the completion status of the automated work by the manual work machine 1.

[0074] The metrics for measuring completion include work effectiveness and area coverage effectiveness. An expected value is pre-set based on the work effectiveness and area coverage effectiveness that the manual work machine can achieve during automatic operation. This expected value can be set based on the effectiveness achievable by the manual work machine during manual operation. If the work effectiveness or area coverage effectiveness of the work area does not meet the expected value, the manual work machine 1 is controlled to perform manual operation. Work effectiveness refers to whether the manual work machine 1 can achieve the preset work, and area coverage effectiveness refers to the proportion of the area automatically operated by the manual work machine 1 to the entire work area or enclosed area. Preferably, after completing the work of covering the enclosed area, the control mechanism 4 controls the moving mechanism 3 to move, causing the manual work machine 1 to automatically return to the manual operation endpoint or manual operation start point, and reminds the user to complete the automatic operation.

[0075] Preferably, the sensing mechanism 2 includes a second sensor 22 located behind the manual operating machine 1, as shown in the attached specification. Figure 2 As shown, during automatic operation of the manual work machine 1, the surface to be worked on is recorded in real time via images after being processed by the manual work machine 1. The control mechanism 4 evaluates the working effect and area coverage effect of the manual work machine 1 on the surface to be worked on during automatic operation based on the information transmitted by the second sensor 22. The second sensor 22 is located on the manual work machine 1, which is equivalent to the automatic work device autonomously performing the evaluation. The selected image is used as the object of recognition, and the working effect is analyzed by analyzing the image of the surface to be worked on after the operation, and then an evaluation is performed. Of course, in some working environments, other methods can also be used for evaluation. The evaluation standards and methods should be set according to the specific application scenario.

[0076] During operation, the manual working machine 1 requires real-time monitoring to prevent it from failing to achieve its intended purpose. For example, robot malfunction or failure to contact the work surface will prevent the machine from performing its task. Based on this, this embodiment proposes a preferred solution. Specifically, the sensing mechanism 2 includes a third sensor 23 located in front of the manual working machine 1, as shown in the attached manual sensor. Figure 2 As shown, during automatic operation of the manual work machine 1, the surface to be worked on is recorded in real time via images. The control mechanism 4 evaluates whether the operation of the manual work machine 1 is normal by comparing the information of the third sensor 23 and the second sensor 22 for the same area within a continuous time period. By using the difference before and after the operation, and supplemented by a time limit, it is determined whether the manual work machine 1 is operating normally. If the robot cannot change the surface to be worked on for a long time, an anomaly is highly likely to have occurred.

[0077] In one specific embodiment, when the control mechanism 4 determines that the operational effect or coverage effect of a certain area does not meet the expected value, it will replan the automatic operation path based on that area, causing the manual operation machine 1 to perform automatic operation in that area again according to the new automatic operation path, to ensure that the operation can be completed with high quality and quantity. Further, if the control mechanism 4 determines that the operational effect or coverage effect after the second operation still does not meet the expected value, it will stop the movement of the moving mechanism 3 and remind the user, causing the manual operation machine 1 to enter manual mode. If the expected operation cannot be achieved after two operations, manual intervention is required to compensate for the shortcomings of automatic operation. The expected value is set based on the daily operational level of manual operation, that is, the operational level that can be achieved by manually controlling the manual operation machine 1.

[0078] This embodiment provides an automated operation device based on a manually operated robot, proposing a novel solution for the robot deployment process. It seeks a balance between manual and automated operation, leveraging manual operation to provide the deployment foundation for automated operation, thus better realizing the operation. By modifying the manually operated robot to possess sensing, mobility, and decision-making capabilities, it endows the robot with the ability to operate automatically while still allowing for manual operation. Simultaneously, it utilizes information collected by the manually operated robot in manual mode to complete the deployment phase of the automated operation, thereby achieving automated operation of the manually operated robot. While maintaining robot operation efficiency, it uses manual operation to partially replace the deployment phase and cover most of the edge-working area, thereby reducing the complexity and cost of the deployment phase, reducing the robot's requirements for perception, obstacle avoidance, and other functions, achieving seamless coordination between the two modes, and fully leveraging the advantages of both manual and automated operation.

[0079] Example 2

[0080] Embodiment 2 of the present invention discloses an example structure of an automatic operation device.

[0081] The manual operating machine 1 in Embodiment 1 can cover a variety of application scenarios. This embodiment uses equipment related to the cleaning field as an example for illustration. Preferably, the manual operating machine 1 has at least an operating mechanism 11, a control module 12, a power module 14, and a motor module 13. The control module 12 is connected to at least the power module 14 and the motor module 13, and the motor module 13 is connected to the operating mechanism 11.

[0082] Applying the automated operation device from Example 1 to the cleaning field, the manual operation machine 1 includes an operation mechanism 11, a control module 12, a motor module 13, a water outlet module 15, and a power module 14. The control module 12 is connected to the power module 14, the water outlet module 15, and the motor module, while the operation mechanism 11 is connected to the motor module 13. In the automated operation device, the power module 14 is connected to the moving mechanism 3 and the control mechanism 4, and can also be powered by an external power source for the moving mechanism 3, the control mechanism 4, and the sensing mechanism 2. The control mechanism 4 is connected to the control module 12 to control the operation of the manual operation machine 1. (See attached instruction manual.) Figure 3 Example module diagrams of handheld and push-type cleaning devices are provided. An example module diagram of the resulting automated cleaning device, which is an improvement upon the manual operation machine 1, is attached. Figure 4 As shown.

[0083] Example 3

[0084] Embodiment 3 of this invention discloses a control method for an automatic operating device, used to control an automatic operating device based on a manual operating machine as described in Embodiment 1, making it more practical. The overall flowchart of the control method is attached to the specification. Figure 5 As shown, the specific solution is as follows:

[0085] A control method for an automated operating device includes the following steps:

[0086] 101. Construct a sensing mechanism on a manually operated machine;

[0087] 102. Determine the work surface and ensure that manual operation machines can operate safely on the work surface;

[0088] 103. Start manual mode and set the start and end points of manual operation on the surface to be worked on;

[0089] 104. Control the manual operation machine to start from the manual operation starting point, perform preset manual operations, and continuously record the path information and environmental information of the manual operation machine during the operation process through the sensor mechanism until the manual operation end point is reached, and the manual mode ends.

[0090] 105. Before starting the automatic mode, a moving mechanism is built on the manual operating machine so that the manual operating machine can achieve automatic operation under the control of the control mechanism.

[0091] 106. Start the automatic mode, so that the control mechanism fits an enclosed area of ​​arbitrary shape based on the path information and environmental information recorded in the manual mode, and plans an automatic operation path in the enclosed area, and uses the boundary of the enclosed area as the safety boundary.

[0092] 107. Control the moving mechanism to move according to the automatic operation path through the control mechanism, so that the manual operation machine can perform automatic operation within the safety boundary until the operation covering the enclosed area is completed, and the automatic mode ends.

[0093] Step 105 can be set in any step before step 106, as long as the construction of the moving mechanism is ensured before the start of automatic mode.

[0094] In a preferred embodiment, the control method further includes: recording the surface to be worked on in real time in the form of images via a sensing mechanism before and after the operation by the manual working machine;

[0095] 108. After the automatic mode ends, the control mechanism evaluates the working effect and area coverage effect of the manual operation machine on the working surface during automatic operation based on the information transmitted by the sensor mechanism.

[0096] This invention provides an automated operation device and its control method based on a manually operated machine. It proposes a novel solution for the robot deployment process, seeking a balance between manual and automated operation. Manual operation provides the foundation for automated deployment, thus improving the overall operation. By modifying the manually operated machine to possess sensing, mobility, and decision-making capabilities, it endows the machine with automated operation capabilities while maintaining manual operation functionality. Simultaneously, it utilizes information collected by the manually operated machine in manual mode to complete the automated deployment phase, thereby achieving automated operation. While ensuring robot efficiency, it partially replaces the deployment phase and covers most of the edge-working area with manual operation, reducing the complexity and cost of the deployment phase, lowering the robot's requirements for perception and obstacle avoidance functions, and achieving seamless coordination between the two modes, fully leveraging the advantages of both manual and automated operation.

[0097] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention. Those skilled in the art will also understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be located in one or more apparatuses different from this embodiment, with corresponding changes.

Claims

1. An automated operating device based on a manually operated machine, characterized in that, include: The manual operation machine is preset with a manual mode that requires manual operation by the user. In manual mode, the operator can adjust and intervene in the manual operation machine as needed to adapt to different production needs. A moving mechanism, located on the manual operating machine, is provided to drive the manual operating machine to move without interfering with its operation. A sensing mechanism is located on the manual working machine or the moving mechanism to record path information about the moving path and environmental information about the surrounding environment of the moving path when the manual working machine performs manual work in the manual mode. The control mechanism is connected to the moving mechanism and the sensing mechanism respectively, so as to fit an enclosed area of ​​arbitrary shape based on the path information and environmental information of the manual operation machine in the manual mode, plan an automatic operation path in the enclosed area, and use the boundary of the enclosed area as a safety boundary. And, drive the mobile mechanism to move according to the automatic operation path, thereby driving the manual operation machine to perform automatic operation within the safety boundary until the operation covering the enclosed area is completed; The enclosed area is constructed based on the working path of the manually operated machine in the manual mode, excluding the area where it has already completed its work in the manual mode, and has reserved space for the safety of the manually operated machine; the automatic operating device must first enter the manual mode before entering the automatic mode.

2. The automatic operating device according to claim 1, characterized in that, In the manual mode, the start point and end point of the manual operation are preset on the surface to be worked. After the manual operation machine reaches the manual operation starting point, the sensing mechanism is controlled to continuously record the path information and environmental information of the manual operation machine during the operation process until the manual operation endpoint is reached.

3. The automatic operating device according to claim 1, characterized in that, Based on the environmental information recorded in manual mode, the control mechanism deduces the obstacles on the work surface to be completed. Combined with the safety boundary, the planned automatic work path avoids the obstacles without deviating from the safety boundary.

4. The automatic operating device according to claim 1, characterized in that, The sensing mechanism includes a first sensor located in front of the manual working machine, which detects whether there is an obstacle in the direction of travel when the manual working machine is working automatically. The control mechanism adjusts the movement direction and speed of the moving mechanism based on the information transmitted by the first sensor, so as to realize the automatic obstacle avoidance of the manual working machine during automatic operation, and ensure that the manual working machine is always within the safety boundary during the obstacle avoidance process.

5. The automatic operating device according to claim 1, characterized in that, The sensing mechanism includes a second sensor located behind the manual operating machine, which records the surface to be worked on in real time through images when the manual operating machine is working automatically; The control mechanism evaluates the working effect and area coverage of the manual operation machine on the working surface during automatic operation based on the information transmitted by the second sensor.

6. The automatic operating device according to claim 5, characterized in that, The sensing mechanism includes a third sensor located in front of the manual working machine to record the surface to be worked on in real time via images when the manual working machine is working automatically. The control mechanism evaluates whether the operation of the manual operation machine is normal by comparing the information recorded by the third sensor and the second sensor for the same area over a continuous period of time.

7. The automatic operating device according to claim 1, characterized in that, Expected values ​​are set based on the operational and area coverage effects that the manual operation machine can achieve in manual mode; When the control mechanism determines that the operation effect or coverage effect of a certain area does not meet the expected value, it re-plans the automatic operation path based on the area, so that the manual operation machine can perform automatic operation on the area again according to the new automatic operation path. If the control mechanism determines that the operation effect or area coverage effect after the reoperation still does not meet the expected value, it stops moving the mobile mechanism and reminds the user to put the manual operation machine into the manual mode.

8. The automatic operating device according to claim 7, characterized in that, The manual operating machine includes an operating mechanism, a control module, a motor module, a water outlet module, and a power module. The control module is connected to the power module, the water outlet module, and the motor module. The operating mechanism is connected to the motor module. The power module is connected to the moving mechanism and the control mechanism. The control mechanism is connected to the control module.

9. A control method for an automatic operating device, characterized in that, The control method for controlling the automatic operating device based on a manually operated machine as described in any one of claims 1-8 includes: Build a sensing mechanism on a manually operated machine; Identify the work surface and ensure that manual operation machines can safely operate on that surface; Start manual mode and set the start and end points of the manual operation on the surface to be worked. The manual operation machine is controlled to start from the manual operation starting point and perform a preset manual operation. The path information and environmental information of the manual operation machine during the operation process are continuously recorded by the sensing mechanism until the manual operation end point is reached, and the manual mode ends. Before the automatic mode is activated, a moving mechanism is constructed on the manual operating machine, so that the manual operating machine can perform automatic operation under the control of the control mechanism by means of the moving mechanism. The automatic mode is activated, enabling the control mechanism to fit an enclosed area of ​​arbitrary shape based on the path and environmental information recorded in the manual mode, and to plan an automatic operation path within the enclosed area, using the boundary of the enclosed area as a safety boundary. The control mechanism controls the moving mechanism to move along the automatic operation path, so that the manual operation machine can automatically operate within the safety boundary until the operation covering the enclosed area is completed, and then the automatic mode ends.

10. The control method according to claim 9, characterized in that, The sensing mechanism records the surface to be worked on in real time in the form of images before and after the operation by the manual working machine; After the automatic mode ends, the control mechanism evaluates the working effect and area coverage effect of the manual operation machine on the working surface during automatic operation based on the information transmitted by the sensing mechanism.

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