Autonomous work device and system

Abstract

The application provides an autonomous working device and system. The autonomous working device can include: a body; a driving assembly connected with the body and configured to drive the autonomous working device to move according to a driving instruction; a sensor assembly configured to generate sensing data based on collected information; a controller electrically connected with the driving assembly and the sensor assembly and configured to: receive an input of an approach instruction; in response to the approach instruction, execute an approach control process; wherein the approach control process includes: outputting a corresponding driving instruction according to the sensing data to control the first movement track of the autonomous working device from the vehicle transporting the autonomous working device to the ground of the non-working area; and obtaining map data of a working area to be executed; and outputting a corresponding driving instruction according to the obtained map data and the sensing data to control the second movement track of the autonomous working device from the ground of the non-working area to the working area.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous working device technology, specifically to an autonomous working device, an autonomous working system, and a control method. Background Technology

[0002] For commercial teams providing related services, it's necessary to transport autonomous work devices to a designated drop-off point adjacent to the work area using transport vehicles. This allows the autonomous work devices to move autonomously from the transport vehicle to the drop-off point, which is directly within the work area. This way, once the autonomous work device is off the vehicle, it can immediately perform its tasks within the work area. However, in some scenarios (e.g., where obstacles exist around the work area), the transport vehicle cannot stop near the work area. In this case, after the autonomous work device moves from the transport vehicle to the drop-off point on the ground, the drop-off point is located outside the work area. Therefore, staff still need to manually move the autonomous work device from the drop-off point to the work area, making the autonomous work device overly reliant on manual labor and resulting in insufficient automation.

[0003] Taking an automatic lawnmower as an example of an autonomous working device, some users' homes are located on roads that are not convenient for transport vehicles to pass through. In this case, the transport vehicle cannot drive to the vicinity of the user's lawn. After the automatic lawnmower moves autonomously from the transport vehicle to the drop-off point, the drop-off point is located in a non-working area. There is still a distance between the non-working area and the working area. For this distance, manual handling is the only option, which results in a low degree of automation for the autonomous working device. Summary of the Invention

[0004] In view of this, the present disclosure aims to provide an autonomous working device, an autonomous working system, and a control method. The following mainly describes several aspects related to this application.

[0005] In a first aspect, an autonomous working device is provided, comprising: a body; a drive assembly connected to the body and configured to drive the autonomous working device to move according to a drive command; a sensor assembly configured to generate sensing data based on collected information; and a controller electrically connected to the drive assembly and the sensor assembly and configured to: receive an input of an approach command; and, in response to the approach command, execute an approach control process; wherein the approach control process includes: outputting a corresponding drive command based on the sensing data to control the autonomous working device to move from a vehicle transporting the autonomous working device to a ground surface in a non-working area along a first movement trajectory; and acquiring map data of a working area for a task to be performed; and, based on the acquired map data and the sensing data, outputting a corresponding drive command to control the autonomous working device to move from the ground surface in the non-working area to a second movement trajectory in the working area.

[0006] In a second aspect, an autonomous working device is provided, comprising: a body; a drive assembly connected to the body and configured to drive the autonomous working device to move according to a drive command; a sensor assembly configured to generate sensing data based on collected information, the sensing data including positioning data for indicating the position information of the autonomous working device; and a controller electrically connected to the drive assembly and the sensor assembly, configured to: receive input of a first command; and, in response to the first command, execute a first control process to control the autonomous working device to move from a current starting position to a target position, at least one of the starting position and the target position being located outside a working area; the first... A control process includes: determining whether a preset event has occurred in the autonomous working device based on the sensing data; if so, recording position data of at least one position during the movement of the autonomous working device after the preset event occurs, based on the positioning data in the sensing data, wherein the position data includes initial position data for indicating the position information of the starting position; receiving input of a second instruction; and executing a second control process in response to the second instruction to control the autonomous working device to return from the target position to the starting position; the second control process includes: controlling the autonomous working device to return to the starting position after passing through the at least one position, based on the initial position data.

[0007] Thirdly, an autonomous working device system is provided, which may include an autonomous working device as described in the first or second aspect, a terminal communicatively connected to the autonomous working device, and a server communicatively connected to the autonomous working device and the terminal, configured to store map data of different working areas to send the map data of the working areas to the autonomous working device and / or the terminal during the access control process.

[0008] Fourthly, a control method for an autonomous working device is provided. The autonomous working device includes a body, a sensor assembly, a drive assembly, and a controller. The drive assembly is connected to the body, and the controller is electrically connected to the drive assembly and the sensor assembly. The drive assembly is configured to drive the autonomous working device to move according to a drive command. The sensor assembly is configured to generate sensing data based on collected information. The controller is configured to receive an entry command input and, in response to the entry command, execute an entry control process. The entry control process includes: outputting a corresponding drive command based on the sensing data to control the autonomous working device to move from a vehicle transporting the autonomous working device to a first movement trajectory on the ground in a non-working area; acquiring map data of a working area for a task to be performed; and outputting a corresponding drive command based on the acquired map data and the sensing data to control the autonomous working device to move from the ground in the non-working area to a second movement trajectory in the working area.

[0009] Fifthly, a computer-readable storage medium is provided having executable code stored thereon, which, when executed, enables the implementation of the method as described in the fourth or fifth aspect.

[0010] In a sixth aspect, a computer program product is provided, including executable code that, when executed, enables the implementation of the method as described in the fourth or fifth aspect.

[0011] In this embodiment, the controller in the autonomous working device can execute a control process and output corresponding drive commands based on sensor data to control the autonomous working device to move from the vehicle transporting the device to a first movement trajectory on the ground in a non-working area. Furthermore, based on acquired map data and sensor data, it can output corresponding drive commands to control the autonomous working device to move from the ground in the non-working area to a second movement trajectory in the working area. This allows the autonomous working device to autonomously move from the transport vehicle to the working area along both the first and second movement trajectories. This avoids the need for workers to manually move the autonomous working device from the unloading point of the transport vehicle to the working area when the transport vehicle cannot stop near it, thus improving the automation level of the autonomous working device.

[0012] On the other hand, the controller in the autonomous working device can control the first movement trajectory of the autonomous working device from the transport vehicle to the non-working area based on sensor data, and control the second movement trajectory of the autonomous working device from the non-working area to the working area based on map data and sensor data. This helps to improve the accuracy of the controller in controlling the first and second movement trajectories, or in other words, it helps to improve the accuracy of the controller in controlling the autonomous working device's entry movement trajectory. Attached Figure Description

[0013] Figure 1 The diagram shown is a schematic of a transport vehicle applicable to the embodiments of this application.

[0014] Figure 2 This is a schematic diagram of the autonomous working device according to an embodiment of this application.

[0015] Figure 3 This is a schematic diagram of the movement path of the autonomous working device according to an embodiment of this application.

[0016] Figure 4 This is a schematic diagram of the movement path of an autonomous working device according to another embodiment of this application.

[0017] Figure 5 This is a schematic diagram of an autonomous working device according to another embodiment of this application.

[0018] Figure 6 This is a schematic diagram of the movement path of an autonomous working device according to another embodiment of this application.

[0019] Figure 7 This is a schematic diagram of the autonomous working system according to an embodiment of this application.

[0020] Figure 8 This is a schematic diagram of the control method of the autonomous working device according to an embodiment of this application.

[0021] Figure 9 This is a schematic diagram of the control method of the autonomous working device according to an embodiment of this application. Detailed Implementation

[0022] The technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments.

[0023] See Figure 1 As shown, a traditional business team works by driving their work transport vehicle 100 to different customers' homes throughout the day to perform tasks according to a pre-arranged order. The transport vehicle 100 may carry one or more autonomous work devices 110. In some implementations, the transport vehicle 100 can also charge the autonomous work devices 110.

[0024] Typically, the transport vehicle 100 can drive to the vicinity of the work area. At this time, the ramp 120 in the transport vehicle used for loading and unloading the autonomous working device can be lowered so that the autonomous working device 110 can move directly from the ramp 120 into the work area. It should be noted that the ramp 120 can be lowered automatically or manually by the staff (or user).

[0025] In some implementations, the aforementioned autonomous working device may include at least one of an automatic lawnmower, an automatic snowplow, an automatic watering machine, and an automatic sweeper. The automatic lawnmower is used for lawn maintenance, including mowing, trimming, and pruning. The automatic snowplow is used to clear snow from the work area. The automatic watering machine is used to irrigate the work area. The automatic sweeper is used to sweep the work area.

[0026] As discussed above, especially for commercial teams providing related services, it's necessary to transport autonomous work devices to designated docking points adjacent to the work area using transport vehicles. These devices then autonomously move from the transport vehicle to the docking point, which is directly within the work area. This allows them to perform tasks immediately upon disembarking. However, in some scenarios (e.g., where obstacles exist around the work area), transport vehicles cannot dock near the work area. In such cases, after the autonomous work device moves from the transport vehicle to the docking point on the ground, which is outside the work area, staff must manually move or transport the device from the docking point to the work area. This results in insufficient automation and increased labor costs.

[0027] Taking an automatic lawnmower as an example of an autonomous working device, some users' lawns are located near roads that are inconvenient for transport vehicles to pass through. In this case, the transport vehicle cannot automatically drive to the user's lawn. In other words, after the automatic lawnmower autonomously moves from the transport vehicle to the drop-off point, the drop-off point is located in a non-working area. There is still a distance between the non-working area and the working area. For this distance, manual operation is usually required to control the movement or transport of the lawnmower, resulting in a low degree of automation for the autonomous working device.

[0028] Therefore, in order to improve the automation level of autonomous working devices, embodiments of this application provide an autonomous working device. For ease of understanding, the following description is combined with... Figure 2 The autonomous working device shown illustrates the solution of an embodiment of this application.

[0029] See Figure 2 It is understood that the autonomous working device 200 may include a body 210, a drive assembly 220, a sensor assembly 230, and a controller 240. The drive assembly 220 may be connected to the body 210, and the controller 240 may be electrically connected to the drive assembly 220 and the sensor assembly 230.

[0030] The drive component 220 is configured to drive the autonomous working device to move according to drive commands. In some implementations, the drive component can be used to drive the movement of the walking component of the autonomous working device, wherein the walking component can be, for example, the wheels of the autonomous working device.

[0031] Sensor component 230 is configured to generate sensing data based on acquired information. In some implementations, the sensor component may include one or more of the following: a positioning sensor, a monocular camera, a multi-view camera, a depth camera, an ultrasonic sensor, or an inertial measurement unit.

[0032] The controller 240 is configured to receive an approach command input and, in response to the approach command, execute an approach control process.

[0033] The aforementioned approach control process includes: outputting corresponding drive commands based on the sensing data generated by the sensor components to control the autonomous working device to move from the vehicle transporting the autonomous working device to the ground in the non-working area via a first movement trajectory; and acquiring map data of the working area where the work task to be performed; and outputting corresponding drive commands based on the acquired map data and sensing data to control the autonomous working device to move from the ground in the non-working area to the working area via a second movement trajectory.

[0034] For ease of understanding, the following text will combine... Figure 3 This describes the movement path of the autonomous working device during the approach control process. (See also...) Figure 3 The controller can output corresponding drive commands based on the sensor data to control the autonomous working device 110 to move from the transport vehicle 100 to the ground of the non-working area 310 via a first movement trajectory 320. Then, the controller can acquire map data of the working area where the task to be performed, and based on the acquired map data and sensor data, output corresponding drive commands to continue controlling the autonomous working device 110 to move from the ground of the non-working area 310 to the working area 330 via a second movement trajectory 340.

[0035] The aforementioned entry command is used to instruct the autonomous work device to enter the work area. In some implementations, it can be triggered by a worker; for example, the entry command can be triggered by a worker via a terminal device (e.g., a mobile phone) to the autonomous work device. Alternatively, the autonomous work device can be equipped with an input device (e.g., a button) for inputting entry commands, allowing workers to input the entry command into the autonomous work device.

[0036] In some implementations, obtaining map data for the work area where the work tasks are performed can include retrieving map data from the autonomous work device's own storage device. For example, the autonomous work device can pre-download (or retrieve) map data from the cloud based on the task scheduling order and store it in its local memory. This allows the autonomous work device to directly retrieve map data from its local memory. Of course, in this embodiment, the autonomous work device can also retrieve map data from other devices besides itself. For example, the autonomous work device can retrieve map data from the cloud, such as based on its location information or its daily scheduling information, thus avoiding the need to pre-store map data locally, which would consume a significant amount of storage space on the autonomous work device.

[0037] In this embodiment, the controller in the autonomous working device can execute a control process, outputting corresponding drive commands based on sensor data to control the autonomous working device's movement from the vehicle transporting the device to a first movement trajectory on the ground in a non-working area. Furthermore, based on acquired map data and sensor data, it outputs corresponding drive commands to control the autonomous working device's movement from the ground in the non-working area to a second movement trajectory in the working area. This allows the autonomous working device to autonomously move from the transport vehicle to the working area along both the first and second movement trajectories. This avoids the need for workers to manually move the autonomous working device from the unloading point of the transport vehicle to the working area when the transport vehicle cannot stop near it. This contributes to improving the automation level of the autonomous working device.

[0038] On the other hand, the controller in the autonomous working device can control the first movement trajectory of the autonomous working device from the transport vehicle to the non-working area based on sensor data, and control the second movement trajectory of the autonomous working device from the non-working area to the working area based on map data and sensor data. This helps to improve the accuracy of the controller in controlling the first and second movement trajectories, or in other words, it helps to improve the accuracy of the controller in controlling the autonomous working device's entry movement trajectory.

[0039] As mentioned above, the sensor components may include positioning sensors. The implementation of positioning of the autonomous working device based on positioning sensors may differ in different scenarios. In some scenarios, when the transport vehicle's compartment is fully enclosed, it may affect the reception of real-time kinematic (RTK) signals. In this case, inside the transport vehicle, the positioning sensor in the autonomous working device can use non-RTK signals to form relative coordinates for positioning. Later, after the autonomous working device moves out of the transport vehicle into a wider area, the reception of RTK signals returns to normal. At this time, the autonomous working device can use RTK signals to form more accurate absolute coordinates for positioning.

[0040] In other scenarios, when the cargo compartment of the transport vehicle is semi-enclosed, the impact on RTK signal reception may be relatively small. In this case, the positioning sensors in the autonomous working device inside the transport vehicle can also use the RTK signal to form relatively accurate absolute coordinates for positioning.

[0041] To further improve the automation level of the autonomous working device, the autonomous working device in this application embodiment can also autonomously move from the working area to the non-working area, and then autonomously move from the non-working area to the transport vehicle. In other words, the autonomous working device can autonomously complete the departure process.

[0042] In some implementations, the controller can also be configured to: receive input of a carriage return command; and, in response to a carriage return command, execute a carriage return control process.

[0043] The aforementioned return control process includes: outputting corresponding drive commands based on the acquired map data and sensor data to control the autonomous working device to move from the working area to the ground of the non-working area via a third movement trajectory; and acquiring vehicle position data to indicate the vehicle's position information; and outputting corresponding drive commands based on the vehicle position data and sensor data to control the autonomous working device to move from the ground of the non-working area to the vehicle's fourth movement trajectory.

[0044] See also Figure 3 The controller can output corresponding drive commands based on the acquired map data and sensor data to control the autonomous working device to move from the working area 330 to the ground 310 of the non-working area via a third movement trajectory 350; and acquire vehicle position data for indicating vehicle position information; and output corresponding drive commands based on the vehicle position data and sensor data to control the autonomous working device to move from the ground of the non-working area 310 to the transport vehicle 100 via a fourth movement trajectory 360.

[0045] The aforementioned Enter command is used to instruct the autonomous working device to move back to the transport vehicle. In some implementations, the Enter command can be triggered by a worker; for example, the Enter command can be triggered by a worker via a terminal device (e.g., a mobile phone) to the autonomous working device. Alternatively, the autonomous working device can be equipped with an input device (e.g., a button) for inputting the Enter command, allowing the worker to input the Enter command into the autonomous working device.

[0046] The vehicle location data indicating the vehicle's position information can include many types, and this application embodiment does not limit this. For example, the vehicle location data can include data on the location of the autonomous working device's disembarkation point. Another example is that the vehicle location data can include data on a specific location on a ramp. Yet another example is that the aforementioned vehicle location data can also include data on the autonomous working device's confirmed heading position. Furthermore, the aforementioned vehicle location data can also be included in the location data after the autonomous working device's positioning data meets accuracy conditions (e.g., convergence is complete). In some implementations, the vehicle location data can be represented as absolute coordinates.

[0047] For ease of understanding, the following text will combine... Figure 4 This application describes vehicle data according to embodiments. It should be noted that... Figure 4 Zhongyu Figure 3 Elements with the same meaning use the same number.

[0048] In some implementations, vehicle location data may include the location of the disembarkation point of the autonomous working device 110. See also Figure 4 If the autonomous working device 110 moves from the transport vehicle 100 to the ground of the non-working area 310 via the ramp 120, then the location of the disembarkation point 410 can be the location where the drive unit (e.g., four wheels) of the autonomous working device is fully on the ground.

[0049] In other implementations, vehicle position data may include the heading confirmation position of the autonomous working device 110. See also Figure 4 After the autonomous working device 110 moves from the transport vehicle 100 to the ground of the non-working area 310 via the ramp 120, it can continue to move a certain distance (e.g., 1m to 2m) to confirm the heading angle of the autonomous working device. Therefore, the heading confirmation position 420 can be a certain distance away from the disembarkation point 410. In some implementations, the movement path for heading angle confirmation can be a straight path.

[0050] There are many ways to obtain vehicle location data. In some implementations, the positioning sensors on the transport vehicle 100 send the vehicle location data of the transport vehicle 100 to the autonomous working device 110. Specifically, the positioning sensors of the transport vehicle 100 can directly send the vehicle location to the autonomous working device 110, or the positioning sensors of the transport vehicle 100 can send the vehicle location to the autonomous working device 110 through a worker's terminal or a cloud server.

[0051] In other implementations, the autonomous working device 110 can determine its own position based on its positioning sensors and, based on that position, information related to the position of the transport vehicle 100. For example, after the autonomous working device 110 completes RTK signal convergence, it can determine coordinate data related to the position of the transport vehicle 100 based on its own positioning. The coordinate data related to the position of the transport vehicle 100 can be found above and will not be repeated here. On the other hand, through the embodiments of this application, the autonomous working device 110 can autonomously locate the ramp 120 so that it can subsequently return to the transport vehicle 100 via the ramp 120.

[0052] In this embodiment, the controller of the autonomous working device can execute a return control process and output drive commands based on acquired map data and sensor data to control the autonomous working device to move from the working area to the ground in a third movement trajectory (non-working area). Furthermore, based on vehicle position data and sensor data, it outputs drive commands to control the autonomous working device to move from the ground in the non-working area to the vehicle's fourth movement trajectory, which helps improve the accuracy of the controller in controlling the third and fourth movement trajectories.

[0053] As described above, the entry movement path involved in the autonomous working device's entry process includes a first movement trajectory and a second movement trajectory, while the exit movement path involved in the autonomous working device's exit process includes a third movement trajectory and a fourth movement trajectory. To simplify the complexity of controlling the entry and exit of the autonomous working device, the exit movement path of the autonomous working device can be controlled based on one or more positions on the entry movement path.

[0054] In some implementations, the sensing data includes positioning data used to indicate the location information of the autonomous working device; the controller is further configured to: provide the sensing data to a first judgment process, the first judgment process being used to determine whether a preset event has occurred in the autonomous working device; if the judgment result is that an event has occurred, then based on the positioning data in the sensing data, record the position data of the autonomous working device at at least one position in a first movement trajectory and / or a second movement trajectory after the preset event occurs; acquire the position data, and control the autonomous working device to return to the vehicle via at least one position. The aforementioned position data may include the vehicle's position data. At this time, the controller can, based on the vehicle's position data, control the autonomous working device to return to the vehicle via the vehicle position indicated by the aforementioned vehicle position data. The aforementioned preset event includes one or more events that can be used to mark the area where the vehicle's position is located, which may be referred to as a first type of preset event. For example, a first type of preset event may include detecting that the autonomous working device has moved to a disembarkation point. Another example is that a first type of preset event may include detecting that the autonomous working device has moved to a heading confirmation position. Yet another example is that a first type of preset event may include detecting that the positioning data of the autonomous working device meets a preset accuracy condition.

[0055] As an example, the first judgment process described above can be implemented based on environmental data from the sensor data and a second judgment process. The second judgment process is used to determine, based on the environmental data, whether the autonomous working device has moved from the vehicle to the ground in a non-working area. That is, if the result of the second judgment process is yes, then the result of the first judgment process is also yes. At this time, the controller can record the location data of at least one position of the autonomous working device after it arrives at the ground in the non-working area, based on the positioning data from the sensor data. This at least one position may, for example, include a disembarkation point 410 and / or a heading confirmation position 420, etc.

[0056] As another example, the autonomous working device can move from the transport vehicle to a non-working area via a ramp. Therefore, the second determination process described above can be performed based on sensing data from the tilt sensor and the slope sensor in the sensor assembly. The tilt sensor (e.g., an inertial measurement unit) is used to detect the vehicle's tilt angle, and the slope sensor is used to detect the slope of the surface in the direction of movement of the autonomous working device. The sensing data can include tilt data and slope data. Accordingly, the controller can be configured to determine whether the autonomous working device has moved from the vehicle to the ground in the non-working area via the ramp based on the tilt data and slope data in the sensing data. If the controller determines, based on the tilt data and slope data, that the autonomous working device has moved from the vehicle to the ground in the non-working area via the ramp, the result of the second determination process is yes, and correspondingly, the result of the first determination process is also yes. The controller can record position data of at least one location after the autonomous working device reaches the ground in the non-working area.

[0057] The aforementioned determination of whether the autonomous working device has moved from the vehicle across the slope to the ground in the non-working area based on tilt angle and slope data can include the following: if the tilt angle detected by the tilt sensor is less than a tilt angle threshold and the slope detected by the slope sensor is less than a slope threshold, then the autonomous working device has moved from the vehicle across the slope to the ground in the non-working area. Conversely, if the tilt angle detected by the tilt sensor is greater than or equal to the tilt angle threshold and / or the slope detected by the slope sensor is greater than or equal to the slope threshold, then the autonomous working device has not moved from the vehicle across the slope to the ground in the non-working area.

[0058] As described above, during the first judgment process, if the controller determines that the judgment result of the first judgment process is yes, it will record the position data of the autonomous working device at at least one location in the first and / or second movement trajectories based on the positioning data. Therefore, the accuracy of the positioning data directly affects the accuracy of the position data. The higher the accuracy of the position data, the higher the success rate of the autonomous working device locating the transport vehicle, which helps the autonomous working device return to the transport vehicle. Therefore, the controller can determine whether the positioning data meets the preset accuracy conditions by executing the third judgment process.

[0059] In some implementations, the controller may also be configured to: provide the positioning data from the sensing data to the third judgment process; if the judgment result is yes, then, based on the positioning data from the sensing data, record the position data of the autonomous working device at at least one position in the first moving trajectory and / or the second moving trajectory after the positioning data meets the preset accuracy conditions.

[0060] Typically, when the positioning data meets the preset accuracy conditions, it indicates that the positioning accuracy of the autonomous working device is high. Correspondingly, the recorded position data of at least one position of the autonomous working device in the first and / or second movement trajectories is also relatively accurate. At this time, when planning the return path of the autonomous working device based on the position data, it is helpful to rationally plan the return path of the autonomous working device.

[0061] See also Figure 4 The position data of the aforementioned autonomous working device in the first movement trajectory 320 may include the position data of the disembarkation point 410. For example, see... Figure 4 The position data of the aforementioned autonomous working device in the second movement trajectory 340 may include the position data of the heading determination position 420.

[0062] In some implementations, the position data of the autonomous working device in the first movement trajectory 320 may include the position data of the disembarkation point 410. For example, when the autonomous working device enters the field, the disembarkation point 410 may serve as the end point of the first movement trajectory 320, and correspondingly, when the autonomous working device returns, the disembarkation point 410 may serve as the starting point of the fourth movement trajectory 360.

[0063] In some implementations, the position data of the autonomous working device in the second movement trajectory 340 may include the position data of the heading determination position 420. For example, when the autonomous working device approaches the site, the heading determination position 420 may serve as the starting point of the second movement trajectory 340, and correspondingly, when the autonomous working device returns, the heading determination position 420 may serve as the ending point of the third movement trajectory 350.

[0064] In some implementations, the controller is further configured to: if the judgment result of the third judgment process is yes, then record the first trajectory data of the first moving trajectory and the second trajectory data of the second moving trajectory after the positioning data meets the preset accuracy conditions, based on the positioning data in the sensing data; control the third moving trajectory of the autonomous working device based on the second trajectory data and the sensing data; and control the fourth moving trajectory of the autonomous working device based on the first trajectory data and the sensing data.

[0065] The first moving trajectory may partially or completely overlap with the fourth moving trajectory, and the second moving trajectory may partially or completely overlap with the third moving trajectory. In this embodiment, when the positioning data is highly accurate, the first and second moving trajectory data can be recorded based on the positioning data during the movement of the autonomous working device. Accordingly, the fourth moving trajectory of the autonomous working device is controlled based on the first moving trajectory data and sensor data, and the third moving trajectory of the autonomous working device is controlled based on the second moving trajectory data and sensor data, which helps to improve the accuracy of the third and fourth moving trajectories.

[0066] As described above, the autonomous working device may need to move between the vehicle and the non-working area via ramps, both during the entry and exit processes. In this embodiment, the purpose of controlling the movement path of the autonomous working device along the ramp is to prevent it from sliding off the ramp. Therefore, the movement path of the autonomous working device can be controlled based on its distance from the edge of the ramp.

[0067] In some implementations, the sensing data also includes environmental data reflecting the environment in which the autonomous working device is located; the controller is further configured to: provide the environmental data from the sensing data to a processing procedure, which extracts environmental data related to the slope from the environmental data; determine the distance of the autonomous working device from the edge of the slope based on the extracted environmental data; and output corresponding drive commands based on the distance to control the movement trajectory of the autonomous working device across the slope.

[0068] In some implementations, the aforementioned drive command output based on distance may include, when the distance is less than a distance threshold, indicating a risk of the autonomous working device moving outside the ramp, the drive command may include adjusting the movement direction of the autonomous working device to prevent it from moving outside the ramp. Conversely, when the distance is greater than or equal to the distance threshold, indicating no risk of the autonomous working device moving outside the ramp, the drive component may control the autonomous working device to continue moving in the current direction according to the drive command.

[0069] In this embodiment of the application, if the autonomous working device moves along the slope, the controller can extract environmental data related to the slope by executing a processing procedure, determine the distance between the autonomous working device and the edge of the slope based on the environmental data related to the slope, and output corresponding drive commands based on the distance to control the movement trajectory of the autonomous working device across the slope. This helps to prevent the autonomous working device from moving out of the slope and causing damage to the autonomous working device, thereby improving the safety of the autonomous working device moving along the slope.

[0070] In some implementations, the starting position of the autonomous working device when it enters the working area from the non-working area, or the arrival position of the autonomous working device when it arrives at the working area from the non-working area, can be taken as the standby position of the autonomous working device. In this way, after the autonomous working device moves to the standby position, it can wait to see whether to execute a work task.

[0071] In some implementations, the sensing data includes positioning data for indicating the location information of the autonomous working device, and environmental data reflecting the environment in which the autonomous working device is located; the controller is further configured to: provide the environmental data in the sensing data to a fourth judgment process, the fourth judgment process being used to determine whether the autonomous working device has moved from the ground in a non-working area to a working area; if the judgment result is yes, then based on the positioning data in the sensing data, record the location data of the autonomous working device when it arrives at the working area; wherein, the recorded location data is used to indicate the standby position of the autonomous working device.

[0072] In this application example, the autonomous working device can interact with the user from a standby position. For example, during the entry process, the autonomous working device can first reach the standby position and then confirm the working parameters related to the task with the user. Similarly, during the exit preparation process, the autonomous working device can first reach the standby position and then confirm with the user whether it is safe to exit. The following sections describe the schemes for the autonomous working device to interact with the user from the standby position from the perspectives of the entry and exit processes.

[0073] In the embodiments of this application, see Figure 2 The autonomous working device may be equipped with an interaction component 250, which is electrically connected to the controller and configured to interact with the user. The interaction component may, for example, include a display screen. Additionally, the autonomous working device may be equipped with a working component 260, electrically connected to the controller and configured to perform one or more work tasks. Taking a lawnmower as an example, the working component may, for example, include a cutting mechanism.

[0074] If the autonomous working device enters the field, the controller is also configured to: control the autonomous working device to stay in the standby position when it is detected that the autonomous working device has arrived at the work area; control the interactive component to display the working parameter information corresponding to the work area; receive the user's confirmation information about the working parameter information; and output corresponding instructions to control the autonomous working device to activate the working component 360 and start executing at least one working task.

[0075] The working parameter information corresponding to the aforementioned working area can include historical working parameter information for that area. For example, historical working parameter information could be the working parameters used by the autonomous working device when performing tasks in that area previously. Alternatively, historical working parameter information could be the working parameters for that area pushed based on a big data model. Taking an automatic lawnmower as an example, the aforementioned working parameters could include the area to be cut by the automatic lawnmower, the height of the remaining grass after cutting, the cutting height, and the moving speed.

[0076] In this embodiment, after the autonomous working device enters the working area, it can confirm working parameters with the user from the standby position. On the other hand, the controller in the autonomous working device can control the interactive components to display working parameter information corresponding to the working area for user confirmation, thus simplifying the process of confirming working parameters and improving the user experience.

[0077] If the autonomous working device is ready to leave the field, the controller can also be configured to: after detecting the completion of the current working task, control the autonomous working device to deactivate the working components and return to the standby position; control the interactive components to display information for indicating the selection of Enter / continue execution of at least one working task; receive user input of confirmation information regarding Enter / continue execution of at least one working task; and output corresponding instructions to control the autonomous working device to Enter / continue execution of at least one working task.

[0078] In some implementations, the interactive component can simultaneously display two options: whether to press Enter (or agree to press Enter) and whether to continue the work task, allowing the user to choose. Alternatively, the interactive component can display only one type of option. For example, displaying both "agree" and "disagree" options within the "agree" option. Thus, if the user selects the "agree" option, the autonomous work device can return to the transport vehicle using the Enter key method described above. Conversely, if the user selects the "disagree" option, the autonomous work device can continue performing the work task within the work area.

[0079] Of course, in this embodiment, the interactive component may also display a confirmation option for whether to perform other types of tasks (e.g., whether to perform a charging task), or the interactive component may also display a confirmation option for whether to go to another nearby work area to perform the task. This embodiment does not limit this.

[0080] Taking the option of displaying whether to continue the work task as an example, the interactive component can display both "continue the work task" and "do not continue the work task" options. Thus, if the user selects the option to do not continue the work task, the autonomous work device can return to the transport vehicle using the Enter key method described above. Conversely, if the user selects the option to continue the work task, the autonomous work device can continue performing the aforementioned work task within the work area.

[0081] In this embodiment, the autonomous working device can autonomously move from a vehicle to a non-working area and then from the non-working area to a working area. Therefore, improving the safety of the autonomous working device during movement is another issue considered in this embodiment. The following describes solutions for improving the safety of the autonomous working device during movement in this embodiment.

[0082] As mentioned above, in some scenarios, autonomous working devices may traverse ramps during their movement from transport vehicles to non-working areas. To improve the safety of autonomous working devices moving on ramps, their speed on ramps can be controlled; for example, the speed on ramps can be controlled to be lower than their speed within the working area.

[0083] For example, the drive component can be configured to drive the autonomous working device to move on a slope with a first preset power, and the autonomous working device has a first moving speed; the drive component can be configured to drive the autonomous working device to move and work within a working area with a second preset power, and the autonomous working device has a second moving speed; wherein the first moving speed is less than the second moving speed.

[0084] To improve the safety of the autonomous working device during movement, the controller can stop the working components of the autonomous working device from operating during the approach control process and the return control process. For example, the controller is also configured to disable the working components of the autonomous working device during the approach control process and the return control process.

[0085] During the autonomous movement of an autonomous working device, unforeseen events may occur, potentially preventing the device from safely returning to the transport vehicle or from safely reaching the work area. Therefore, to improve the safety of the autonomous working device during movement, it can be configured to issue alerts to external parties (e.g., users or people around the device) and brake in the event of an emergency.

[0086] In some implementations, the aforementioned alert instruction can be issued to the outside world by the alert component 270 in the autonomous working device. For example, the controller is also configured to: provide environmental data from the sensor data to a fifth judgment process, which determines whether the autonomous working device has encountered a sudden event; if the judgment result is yes, output an alert instruction to the alert component; and output a braking instruction to the drive component to control the braking of the autonomous working device. The aforementioned environmental data reflects the environment in which the autonomous working device is located.

[0087] In some implementations, the aforementioned reminder component 270 may include, for example, a voice broadcast component, a light alarm component, etc.

[0088] It should be noted that the judgment process mentioned above includes the first judgment process to the fifth judgment process. Some or all of the judgment functions in the above five judgment processes can be implemented by one judgment process or by multiple judgment processes independently. This application embodiment does not limit this.

[0089] In some implementations, the aforementioned emergencies include at least one of the following: abnormal detection of vehicle-related features before boarding; abnormal detection of distance deviation from the predetermined movement route during obstacle avoidance; and abnormal detection of slope of the environment in which the autonomous working device is located during movement.

[0090] The aforementioned vehicle-related feature detection anomalies can include the inability to detect a ramp at the vehicle's location indicated by vehicle location data. For example, such sudden events of vehicle-related feature detection anomalies typically occur when a transport vehicle is moved.

[0091] In this embodiment of the application, when the detection of vehicle-related features is abnormal, the autonomous working device may not be able to safely return to the transport vehicle. Therefore, treating the above-mentioned event as an emergency helps to increase the possibility of the autonomous working device moving safely.

[0092] The aforementioned abnormal distance detection during obstacle avoidance can include situations where the autonomous working device deviates from the predetermined movement path by a distance greater than or equal to a distance threshold. For example, during the movement of the autonomous working device, obstacles on the movement path may change. When the autonomous working device detours a considerable distance to avoid obstacles, the aforementioned emergency situation may be triggered.

[0093] In this embodiment of the application, when an abnormal distance detection occurs during obstacle avoidance that deviates from the predetermined movement route, the autonomous working device may be unable to return to the movement path, causing the autonomous working device to lose its direction. Therefore, treating the above-mentioned event as an emergency helps to improve the possibility of the autonomous working device moving safely.

[0094] The aforementioned slope detection anomaly in the environment where the autonomous working device is located during the movement process can include the autonomous working device detecting a slope greater than or equal to a slope threshold during the movement. For example, if the autonomous working device falls into a pit during its movement, the aforementioned emergency situation can be triggered.

[0095] In this embodiment of the application, if the slope of the environment in which the autonomous working device is located is abnormal during the movement process, the autonomous working device may fall into a pit and become unable to move. Therefore, treating the above-mentioned event as an emergency helps to increase the possibility of the autonomous working device moving safely.

[0096] In this embodiment, after the autonomous working device moves to the vehicle, it needs to park inside the vehicle. Accordingly, a distance needs to be set between the autonomous working device and the vehicle's cargo compartment to avoid collisions between the autonomous working device and the vehicle's cargo compartment caused by braking or acceleration during the transport vehicle's operation. Typically, the distance between the autonomous working device and the vehicle's cargo compartment can be set to be greater than or equal to 30cm.

[0097] In some implementations, the sensing data also includes environmental data reflecting the environment in which the autonomous working device is located; the controller is further configured to: provide the environmental data from the sensing data to a processing procedure, the processing procedure being used to extract environmental data related to the rear of the vehicle body from the environmental data; determine the distance between the autonomous working device and the vehicle body based on the extracted environmental data; and output a stop command if the detected distance meets a preset distance range.

[0098] In some implementations, the distance between the autonomous working device and the vehicle body may include the vertical distance between the autonomous working device and the rear of the vehicle body. Of course, the distance between the autonomous working device and the vehicle body may also include the distance between the autonomous working device and the front of the vehicle body. This application does not limit this aspect.

[0099] In addition, when multiple autonomous working units need to be parked in a vehicle, to avoid collisions between autonomous working units due to braking or acceleration of the transport vehicle during operation, multiple autonomous working units can typically be parked longitudinally (e.g., along the front and rear of the vehicle body). A safe distance can be set between autonomous working units and adjacent autonomous working units, typically greater than or equal to 30cm.

[0100] This application also provides an autonomous working device capable of moving autonomously between a target position and a starting position. Furthermore, during the movement from the target position to the starting position, the autonomous working device can control its movement path based on position data recorded at one or more locations during this movement, thereby simplifying the complexity of controlling the autonomous working device.

[0101] Figure 5 A schematic diagram of an autonomous working device according to another embodiment of this application is shown. It should be noted that... Figure 5 The autonomous working device shown is in conjunction with Figure 2 In the autonomous working device shown, components with the same function use the same numbering. Please refer to the above description for details; for the sake of brevity, it will not be repeated below.

[0102] See Figure 5 The autonomous working device 500 may include a body 210, a drive assembly 220, a sensor assembly 230, and a controller 240.

[0103] The drive component 220 is configured to drive the autonomous working device to move according to drive commands.

[0104] Sensor assembly 230 is configured to generate sensing data based on acquired information, including positioning data for indicating the position information of the autonomous working device.

[0105] The controller 240 is configured to: receive input of a first instruction; and, in response to the first instruction, execute a first control process to control an autonomous working device to move from a current starting position to a target position, wherein at least one of the starting position and the target position is located outside the working area; the first control process includes: determining, based on sensor data, whether a preset event has occurred in the autonomous working device; if so, recording, based on positioning data in the sensor data, position data of at least one position during the movement of the autonomous working device after the preset event occurs, the position data including starting position data for indicating the starting position; receiving input of a second instruction; and, in response to the second instruction, execute a second control process to control the autonomous working device to return from the target position to the starting position; the second control process includes: controlling the autonomous working device to return to the starting position via at least one position based on the starting position data.

[0106] In some implementations, at least one of the starting and target positions is located outside the working area, which may include a starting and target position located outside the working area. For example, see... Figure 3 As shown, the autonomous working device moves from the non-working area 310 to the working area 330. Alternatively, the autonomous working device can move from the working area 330 to the non-working area 310.

[0107] In other implementations, at least one of the starting and target positions is located outside the working area, which may include situations where both the starting and target positions are located outside the working area. For example, see... Figure 6 As shown, the autonomous working device can move from the first non-working area 610 of the parked transport vehicle 100 to the second non-working area 620. Alternatively, the autonomous working device can move from the second non-working area 620 to the first non-working area 610 of the parked transport vehicle 100. In other implementations, the transport vehicle 100 itself may also serve as the non-working area 310 or the first non-working area 610.

[0108] It should be noted that the aforementioned location data can indicate the starting position of the autonomous working device as it enters the second non-working area from the first non-working area, such as the disembarkation point described above. Accordingly, the preset events in this embodiment include one or more events that can be used to mark the area where the starting position is located, which can be referred to as the second type of preset events. For example, it may include detecting that the autonomous working device has entered the second non-working area from the first non-working area.

[0109] In this embodiment, during the process of the autonomous working device moving from the starting position to the target position, the controller executes a first control process to record the position data of the autonomous working device during the movement after a preset event occurs. When the autonomous working device moves back from the target position to the starting position, the controller executes a second control process to control the autonomous working device to return to the starting position through the position corresponding to the above position data, thereby simplifying the complexity of controlling the autonomous working device to return from the target position to the starting position.

[0110] In some implementations, the aforementioned second type of preset event may also include at least one of the following: the change in position and height of the autonomous working device during movement meets preset conditions; the positioning data of the autonomous working device during movement meets preset accuracy conditions.

[0111] The aforementioned autonomous working device's positional height change during movement meets preset conditions, which may include the autonomous working device's positional height change during movement exceeding a height threshold. For example, when the autonomous working device moves from a non-working area on the ground to inside a vehicle via a ramp, the positional height change of the autonomous working device during movement exceeds the height threshold. As another example, when the autonomous working device moves from inside a vehicle to a non-working area on the ground via a ramp, the positional height change of the autonomous working device during movement exceeds the height threshold.

[0112] The positioning data of the aforementioned autonomous working device meets preset accuracy conditions during movement. For example, this may include the RTK signal completing convergence, or it may include the positioning data accuracy being greater than an accuracy threshold during movement. This application embodiment does not limit this.

[0113] In some implementations, the sensing components include a tilt sensor for detecting the fuselage tilt angle and a slope sensor for detecting the slope of the surface in the direction of movement of the autonomous working device; the sensing data includes tilt angle data and slope data; the judgment process includes: determining, based on the tilt angle data and slope data in the sensing data, whether the autonomous working device has moved from the starting position to the target position via the slope. If the judgment result is yes, then based on the positioning data in the sensing data, recording the position data of at least one position of the autonomous working device after passing the slope.

[0114] It should be noted that the autonomous working device 500 may also have functions similar to those of the autonomous working device 200, such as the functions of the reminder component 270 and the functions of the interaction component 250. For the sake of brevity, these will not be elaborated further below.

[0115] In this application embodiment, an autonomous working system is also provided. Figure 7 This is a schematic diagram of the autonomous working system 700 in an embodiment of this application. See also... Figure 7As shown, the autonomous working system 700 may include: an autonomous working device 710, a terminal 720, and a server 730.

[0116] The aforementioned autonomous working device 710 can be any of the autonomous working devices described above.

[0117] The aforementioned terminal 720 is communicatively connected to the autonomous working device. Terminal 720 can also be referred to as user equipment (UE), access terminal, mobile device, user terminal, wireless communication device, user agent, or user device. In this application embodiment, the terminal device can be a device that provides voice and / or data connectivity to the user, such as a handheld device with wireless connectivity, an in-vehicle device, etc. In this application embodiment, the terminal device can be a mobile phone, tablet computer, laptop computer, PDA, mobile internet device (MID), wearable device, etc.

[0118] The aforementioned server 730 is communicatively connected to the autonomous working device 710 and the terminal 720. It can be configured to store map data for different working areas, so as to send the map data of the working areas to the autonomous working device and / or the terminal during the approach control process. In some implementations, the aforementioned server 730 may be a cloud server.

[0119] The above text combined Figures 1 to 7 The present disclosure describes in detail the device embodiments, which are described below in conjunction with... Figures 8 to 9 The present disclosure provides a detailed description of the method embodiments. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments; therefore, any parts not described in detail can be referred to the preceding method embodiments. Furthermore, the method embodiments described below can be implemented by any of the apparatuses mentioned above.

[0120] Figure 8 This is a schematic diagram of the control method of the autonomous working device according to an embodiment of this application. Figure 8 The method shown includes steps S810 to S820. It should be understood that... Figure 8 The method shown can be executed by the controller in the autonomous working device.

[0121] In step S810, the input of the approach command is received;

[0122] In step S820, in response to the approach command, the approach control process is executed;

[0123] The approach control process includes: outputting corresponding drive commands based on the sensor data to control the autonomous working device to move from the vehicle transporting the autonomous working device to a first movement trajectory on the ground in a non-working area; and acquiring map data of the working area where the work task to be performed; and outputting corresponding drive commands based on the acquired map data and the sensor data to control the autonomous working device to move from the ground in the non-working area to a second movement trajectory in the working area.

[0124] In one possible implementation, the method further includes: receiving an input of a return command; and in response to the return command, executing a return control process; wherein the return control process includes: outputting corresponding drive commands based on the acquired map data and the sensor data to control the autonomous working device to move from the working area to a third movement trajectory on the ground in a non-working area; and acquiring vehicle position data for indicating the vehicle's position information; and outputting corresponding drive commands based on the vehicle position data and the sensor data to control the autonomous working device to move from the ground in the non-working area to a fourth movement trajectory on the vehicle.

[0125] In one possible implementation, the sensing data includes positioning data for indicating the location information of the autonomous working device; the method further includes: providing the sensing data to a first judgment process, the first judgment process being used to determine whether a preset event has occurred in the autonomous working device; if the judgment result is that an event has occurred, then based on the positioning data in the sensing data, recording the location data of the autonomous working device at at least one location in the first movement trajectory and / or the second movement trajectory after the preset event has occurred, the location data including the vehicle location data; acquiring the location data, and controlling the autonomous working device to return to the vehicle after passing through the at least one location.

[0126] In one possible implementation, the sensing data further includes environmental data reflecting the environment in which the autonomous working device is located; the method further includes: providing the environmental data in the sensing data to a second judgment process, the second judgment process being used to determine whether the autonomous working device has moved from the vehicle to the ground of a non-working area; if the judgment result is yes, then based on the positioning data in the sensing data, recording the position data of at least one position of the autonomous working device after it has reached the ground of the non-working area.

[0127] In one possible implementation, the sensor assembly includes a tilt sensor for detecting the tilt angle of the fuselage and a slope sensor for detecting the slope of the surface in the direction of movement of the autonomous working device; the sensing data includes tilt angle data and slope data; the second determination process includes: determining whether the autonomous working device has moved from the vehicle across the slope to the ground in a non-working area based on the tilt angle data and slope data in the sensing data.

[0128] In one possible implementation, the drive component is configured to drive the autonomous working device to move on a slope with a first preset power, the autonomous working device having a first moving speed; the drive component is configured to drive the autonomous working device to move and work within the working area with a second preset power, the autonomous working device having a second moving speed; wherein the first moving speed is less than the second moving speed.

[0129] In one possible implementation, the method further includes: providing the positioning data in the sensing data to a third judgment process, the third judgment process being used to determine whether the positioning data meets a preset accuracy condition; if the judgment result is yes, then based on the positioning data in the sensing data, recording the position data of the autonomous working device at at least one position in the first moving trajectory and / or the second moving trajectory after the positioning data meets the preset accuracy condition.

[0130] In one possible implementation, the above method further includes: if the determination result is yes, then based on the positioning data in the sensing data, recording the first trajectory data of the first moving trajectory and the second trajectory data of the second moving trajectory after the positioning data meets the preset accuracy condition; controlling the third moving trajectory of the autonomous working device based on the second trajectory data and the sensing data; and controlling the fourth moving trajectory of the autonomous working device based on the first trajectory data and the sensing data.

[0131] In one possible implementation, the autonomous working device further includes a working component electrically connected to the controller; the method further includes controlling the autonomous working device to deactivate the working component during the execution of the entry control process and the return control process.

[0132] In one possible implementation, the sensing data includes positioning data indicating the location information of the autonomous working device, and environmental data reflecting the environment in which the autonomous working device is located; the method further includes: providing the environmental data in the sensing data to a fourth judgment process, the fourth judgment process being used to determine whether the autonomous working device has moved from the ground of a non-working area to the working area; if the judgment result is yes, then based on the positioning data in the sensing data, recording the location data of the autonomous working device when it arrives at the working area; wherein the recorded location data is used to indicate the standby position of the autonomous working device.

[0133] In one possible implementation, the autonomous working device further includes: an interaction component electrically connected to the controller and configured to interact with the user; the method further includes: after detecting the completion of the current work task, controlling the autonomous working device to deactivate the working component and return to the standby position; controlling the interaction component to display information indicating the selection to press Enter / continue executing at least one work task; receiving user input regarding confirmation information about pressing Enter / continuing executing at least one work task; and outputting corresponding instructions to control the autonomous working device to press Enter / continuing executing at least one work task.

[0134] In one possible implementation, the method further includes: when the autonomous working device is detected to have arrived at the working area, controlling the autonomous working device to remain in the standby position; controlling the interactive component to display working parameter information corresponding to the working area; receiving user input of confirmation information regarding the working parameter information; and outputting corresponding instructions to control the autonomous working device to activate the working component and begin executing at least one working task.

[0135] In one possible implementation, the sensing data further includes environmental data reflecting the environment in which the autonomous working device is located; the method further includes: providing the environmental data in the sensing data to a processing procedure, the processing procedure being used to extract environmental data related to the slope from the environmental data; determining the distance of the autonomous working device from the edge of the slope based on the extracted environmental data; and outputting a corresponding drive command based on the distance to control the movement trajectory of the autonomous working device across the slope.

[0136] In one possible implementation, the sensing data further includes environmental data reflecting the environment in which the autonomous working device is located; the autonomous working device further includes: an alerting component electrically connected to the controller, configured to send an alert signal to the outside world according to an alerting command; the method further includes: providing the environmental data in the sensing data to a fifth judgment process, the fifth judgment process being used to determine whether the autonomous working device has encountered a sudden event; if the judgment result is yes, then outputting the alerting command to the alerting component; and outputting a braking command to the driving component to control the braking of the autonomous working device.

[0137] In one possible implementation, the sudden event includes at least one of the following events: abnormal detection of vehicle-related features before boarding; abnormal detection of distance deviation from the predetermined movement route during obstacle avoidance; and abnormal detection of slope of the environment in which the autonomous working device is located during movement.

[0138] In one possible implementation, the sensing data further includes environmental data reflecting the environment in which the autonomous working device is located; the method further includes: providing the environmental data in the sensing data to a processing procedure, the processing procedure being used to extract environmental data related to the rear of the carriage from the environmental data; determining the vertical distance between the autonomous working device and the rear of the carriage based on the extracted environmental data; and outputting a stop command if the distance is detected to meet a preset distance range.

[0139] In one possible implementation, the sensing component includes at least one of a positioning sensor, a monocular camera, a multi-view camera, a depth camera, an ultrasonic sensor, and an inertial measurement unit.

[0140] In one possible implementation, the autonomous working device includes at least one of an automatic lawnmower, an automatic snowplow, an automatic watering machine, and an automatic sweeper.

[0141] Figure 9 This is a schematic diagram of a control method for an autonomous working device according to another embodiment of this application. Figure 9 The method shown includes steps S910 to S920. It should be understood that... Figure 9 The method shown can be executed by the controller in the autonomous working device.

[0142] In step S910, the input of the first instruction is received;

[0143] In step S920, in response to the first instruction, a first control process is executed to control the autonomous working device to move from the current starting position to the target position, at least one of the starting position and the target position being located outside the working area;

[0144] The first control process includes: determining whether a preset event has occurred in the autonomous working device based on the sensing data; if so, recording position data of at least one position during the movement of the autonomous working device after the preset event occurs, based on the positioning data in the sensing data, wherein the position data includes starting position data for indicating the starting position; receiving input of a second instruction; and executing a second control process in response to the second instruction to control the autonomous working device to return from the target position to the starting position; the second control process includes: controlling the autonomous working device to return to the starting position after passing through the at least one position, based on the starting position data.

[0145] In one possible implementation, the preset event includes at least one of the following: the change in position and height of the autonomous working device during movement meets a preset condition; the positioning data of the autonomous working device during movement meets a preset accuracy condition; the autonomous working device moves from the ground of a non-working area to the working area / from the working area to the ground of a non-working area.

[0146] In one possible implementation, the sensing components include a tilt sensor for detecting the fuselage tilt angle and a slope sensor for detecting the slope of the surface in the direction of movement of the autonomous working device; the sensing data includes tilt angle data and slope data; the determination process includes: determining, based on the tilt angle data and slope data in the sensing data, whether the autonomous working device has moved from the starting position to the target position via the slope. If the determination result is yes, then based on the positioning data in the sensing data, recording the position data of at least one position of the autonomous working device after passing the slope.

[0147] It should be understood that in the embodiments of this disclosure, the controller may include a processor, which may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, for executing related programs to implement the technical solutions provided in the embodiments of this disclosure.

[0148] The storage device (also referred to as memory) in the embodiments of this application may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the processor may also include non-volatile random access memory. For example, the processor may also store device type information.

[0149] In implementation, each step of the above method can be completed through integrated logic circuits in the hardware of the controller or through software instructions. The method for requesting uplink transmission resources disclosed in this embodiment can be directly implemented by a hardware processor, or by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the controller reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0150] It should be understood that in the embodiments of this disclosure, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0151] It should be understood that in the embodiments of this disclosure, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0152] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0153] It should be understood that in the various embodiments of this disclosure, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure.

[0154] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0155] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0156] In addition, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0157] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can read or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs, DVDs) or semiconductor media (e.g., solid-state disks, SSDs), etc.

[0158] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An autonomous working device, characterized in that, include, body; A drive component, connected to the body, is configured to drive the autonomous working device to move according to drive commands; The sensor component is configured to generate sensing data based on the acquired information; The controller, electrically connected to the drive assembly and the sensor assembly, is configured to: Receive the input of the entry command; In response to the approach command, the approach control process is executed; The approach control process includes: Based on the sensor data, corresponding drive commands are output to control the autonomous working device to move from the vehicle transporting the autonomous working device to a first movement trajectory on the ground in a non-working area; and, Obtain map data of the work area for the task to be performed; Based on the acquired map data and sensor data, corresponding driving commands are output to control the autonomous working device to move from the ground in the non-working area to the second movement trajectory in the working area. The sensing data includes positioning data used to indicate the location information of the autonomous working device; The controller is also configured to: The sensing data is provided to a first judgment process, which is used to determine whether the autonomous working device has experienced a preset event. If the determination result is that the event has occurred, then based on the positioning data in the sensing data, the location data of the autonomous working device at at least one position in the first movement trajectory and / or the second movement trajectory after the preset event has occurred is recorded, and the location data includes vehicle location data for indicating the location information of the vehicle. The autonomous working device is controlled to return to the vehicle after passing through at least one of the locations.

2. The autonomous working device according to claim 1, characterized in that, The controller is also configured to: Receives input via Enter command; In response to the Enter command, the Enter control process is executed; The carriage return control process includes: Based on the acquired map data and sensor data, corresponding drive commands are output to control the autonomous working device to move from the working area to a third movement trajectory on the ground outside the working area; and, Acquire vehicle location data used to indicate the location information of the vehicle; Based on the vehicle location data and the sensor data, corresponding driving commands are output to control the autonomous working device to move from the ground in the non-working area to the vehicle's fourth movement trajectory.

3. The autonomous working device according to claim 1, characterized in that, The sensing data also includes environmental data reflecting the environment in which the autonomous working device is located; The controller is configured to: The environmental data in the sensor data is provided to the second judgment process, which is used to determine whether the autonomous working device has moved from the vehicle to the ground in a non-working area. If the determination result is yes, then based on the positioning data in the sensing data, record the position data of at least one location after the autonomous working device reaches the ground in the non-working area.

4. The autonomous working device according to claim 3, characterized in that, The sensor assembly includes a tilt sensor for detecting the tilt angle of the fuselage and a slope sensor for detecting the slope of the surface in the direction of movement of the autonomous working device. The sensing data includes tilt angle data and slope data; The second judgment process includes: Based on the tilt angle and slope data in the sensor data, it is determined whether the autonomous working device has moved from the vehicle across the slope to the ground in the non-working area.

5. The autonomous working device according to claim 4, characterized in that, The drive component is configured to drive the autonomous working device to move on the slope with a first preset power, and the autonomous working device has a first moving speed. The drive component is configured to drive the autonomous working device to move and work within the working area at a second preset power, and the autonomous working device has a second moving speed. Wherein, the first moving speed is less than the second moving speed.

6. The autonomous working device according to claim 1, characterized in that, The controller is also configured to: The positioning data in the sensing data is provided to a third judgment process, which is used to determine whether the positioning data meets a preset accuracy condition. If the determination result is yes, then based on the positioning data in the sensing data, record the position data of the autonomous working device at at least one position in the first moving trajectory and / or the second moving trajectory after the positioning data meets the preset accuracy conditions.

7. The autonomous working device according to claim 6, characterized in that, The controller is also configured to: If the judgment result is yes, then based on the positioning data in the sensing data, record the first trajectory data of the first moving trajectory and the second trajectory data of the second moving trajectory after the positioning data meets the preset accuracy condition; Based on the second trajectory data and the sensor data, control the third movement trajectory of the autonomous working device; Based on the first trajectory data and the sensor data, the fourth movement trajectory of the autonomous working device is controlled.

8. The autonomous working device according to claim 2, characterized in that, The autonomous working device also includes: The working component is electrically connected to the controller; The controller is also configured to: During the execution of the entry control process and the return control process, the autonomous working device is controlled to deactivate the working components.

9. The autonomous working device according to claim 8, characterized in that, The sensing data includes positioning data for indicating the location information of the autonomous working device, and environmental data reflecting the environment in which the autonomous working device is located. The controller is also configured to: The environmental data in the sensor data is provided to the fourth judgment process, which is used to determine whether the autonomous working device has moved from the ground in the non-working area to the working area. If the judgment result is yes, then based on the positioning data in the sensing data, record the location data of the autonomous working device when it arrives at the working area; The recorded location data is used to indicate the standby position of the autonomous working device.

10. The autonomous working device according to claim 9, characterized in that, The autonomous working device also includes: An interactive component, electrically connected to the controller, is configured to interact with the user. The controller is also configured to: After detecting that the current work task has been completed, the autonomous working device is controlled to deactivate the working components and return to the standby position; The interactive component is controlled to display information indicating whether to press Enter or continue executing at least one task. Receive user input confirming whether to press Enter or continue performing at least one task; Output corresponding instructions to control the autonomous working device to return to Enter or continue executing at least one working task.

11. The autonomous working device according to claim 10, characterized in that, The controller is also configured to: When the autonomous working device is detected to have arrived at the working area, the autonomous working device is controlled to remain in the standby position. Control the interactive component to display working parameter information corresponding to the working area; Receive user confirmation information regarding the operating parameters; Output corresponding instructions to control the autonomous working device to activate the working components and start executing at least one working task.

12. The autonomous working device according to claim 2, characterized in that, The sensing data also includes environmental data reflecting the environment in which the autonomous working device is located; The controller is also configured to: The environmental data in the sensing data is provided to the processing process, which is used to extract environmental data related to the slope from the environmental data. The distance between the autonomous working device and the edge of the slope is determined based on the extracted environmental data; Based on the distance, corresponding drive commands are output to control the movement trajectory of the autonomous working device across the slope.

13. The autonomous working device according to claim 2, characterized in that, The sensing data also includes environmental data reflecting the environment in which the autonomous working device is located; The autonomous working device also includes: The reminder component, electrically connected to the controller, is configured to send a reminder signal to the outside world according to a reminder instruction; The controller is also configured to: The environmental data in the sensor data is provided to the fifth judgment process, which is used to determine whether the autonomous working device has encountered a sudden event. If the determination result is yes, then the reminder command is output to the reminder component; and a braking command is output to the drive component to control the braking of the autonomous working device.

14. The autonomous working device according to claim 13, characterized in that, The emergency includes at least one of the following events: Abnormalities were detected in vehicle-related features before boarding; An anomaly was detected in the distance detected during obstacle avoidance when the vehicle deviated from the planned path. as well as The slope of the environment in which the autonomous working device is located is abnormal during the movement.

15. The autonomous working device according to claim 2, characterized in that, The sensing data also includes environmental data reflecting the environment in which the autonomous working device is located; The controller is also configured to: The environmental data in the sensor data is provided to a processing procedure, which is used to extract environmental data related to the rear of the carriage from the environmental data. The vertical distance between the autonomous working device and the rear of the carriage is determined based on the extracted environmental data. If the distance is detected to meet the preset distance range, a stop command is output.

16. The autonomous working device according to any one of claims 1-15, characterized in that, The sensor assembly includes at least one of a positioning sensor, a monocular camera, a multi-view camera, a depth camera, an ultrasonic sensor, and an inertial measurement unit.

17. The autonomous working device according to any one of claims 1-15, characterized in that, The autonomous working device includes at least one of an automatic lawnmower, an automatic snowplow, an automatic watering machine, and an automatic sweeper.

18. An autonomous working device, characterized in that, include, body; A drive component, connected to the body, is configured to drive the autonomous working device to move according to drive commands; The sensor assembly is configured to generate sensing data based on the collected information, the sensing data including positioning data for indicating the position information of the autonomous working device; as well as, The controller, electrically connected to the drive assembly and the sensor assembly, is configured to: Receive the input of the first instruction; In response to the first instruction, a first control process is executed to control the autonomous working device to move from its current starting position to a target position, at least one of the starting position and the target position being located outside the working area; The first control process includes: Based on the sensor data, determine whether the autonomous working device has experienced a preset event. If this occurs, then based on the positioning data in the sensing data, record the position data of at least one position during the movement of the autonomous working device after the occurrence of the preset event, the position data including starting position data for indicating the starting position. Receive the input of the second instruction; In response to the second instruction, a second control process is executed to control the autonomous working device to return from the target position to the starting position; The second control process includes: The autonomous working device is controlled to return to the starting position after passing through at least one of the positions.

19. The autonomous working device according to claim 18, characterized in that, The preset event includes at least one of the following: The position and height change of the autonomous working device during the movement meets preset conditions; The positioning data of the autonomous working device meets the preset accuracy conditions during the movement process; The autonomous working device moves from a first non-working area to a second non-working area, the first non-working area and the second non-working area are different and both are located outside the working area.

20. The autonomous working device according to claim 18, characterized in that, The sensor assembly includes a tilt sensor for detecting the tilt angle of the fuselage and a slope sensor for detecting the slope of the surface in the direction of movement of the autonomous working device; the sensing data includes tilt angle data and slope data. The judgment process includes: Based on the tilt angle and slope data in the sensor data, it is determined whether the autonomous working device has moved from the starting position to the target position via the slope. If the judgment result is yes, then based on the positioning data in the sensing data, record the position data of at least one position of the autonomous working device after passing the slope.

21. An autonomous working system, characterized in that, include: The autonomous working device as described in any one of claims 1-17; The terminal is communicatively connected to the autonomous working device; as well as, The server, which is communicatively connected to the autonomous working device and the terminal, is configured to store map data of different working areas in order to send the map data of the working areas to the autonomous working device and / or the terminal during the access control process.

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